CN111555657A - Traveling wave rotary ultrasonic motor friction plate with groove - Google Patents
Traveling wave rotary ultrasonic motor friction plate with groove Download PDFInfo
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- CN111555657A CN111555657A CN202010494829.7A CN202010494829A CN111555657A CN 111555657 A CN111555657 A CN 111555657A CN 202010494829 A CN202010494829 A CN 202010494829A CN 111555657 A CN111555657 A CN 111555657A
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- 230000009471 action Effects 0.000 claims abstract description 5
- 230000005284 excitation Effects 0.000 claims abstract description 5
- 239000002245 particle Substances 0.000 claims description 5
- 230000000903 blocking effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000007935 neutral effect Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
- H02N2/163—Motors with ring stator
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Abstract
The invention discloses a traveling wave rotary ultrasonic motor friction plate with a groove, which comprises a stator, a rotor, a friction plate and piezoelectric ceramics, wherein the rotor is positioned above the stator; the stator and the rotor are kept in contact under the action of a pre-pressure force, and an excitation signal is applied to the piezoelectric ceramic; the friction plate is of a circular ring-shaped structure, and a groove structure is arranged on one side, facing the stator, of the friction plate. The friction plate provided by the invention is applied to the traveling wave rotary ultrasonic motor, can reduce energy loss caused by circumferential slippage and radial slippage of a contact interface, and improves the output torque and the working efficiency of the ultrasonic motor.
Description
Technical Field
The invention belongs to the technical field of ultrasonic motors, and particularly relates to a traveling wave rotary type ultrasonic motor friction plate with grooves.
Background
The traveling wave rotary ultrasonic motor has the advantages of large mass ratio of output torque, low speed and large torque, no need of a gear reduction mechanism, direct drive, no magnetic field interference, power failure self-locking and the like, and is widely applied to the fields of medical equipment, aerospace instruments, robots, automobiles and the like.
In the existing structural model of traveling wave rotary ultrasonic motor, piezoelectric ceramics is adhered to the surface of a stator, and an excitation signal with a certain frequency is applied to the piezoelectric ceramics to generate traveling wave type vibration on the surface of the stator.
The friction plate is stuck on the surface of the rotor and is used as a part of the rotor to be in contact transmission with the stator. The contact area of the stator and the rotor of the ultrasonic motor is an important part for realizing energy conversion, so that the friction plate is a key part for forming the ultrasonic motor. The energy loss mode of the stator and rotor contact surface of the ultrasonic motor mainly comprises radial sliding loss and circumferential friction loss. Under the action of the pre-pressure, the contact area of the stator and the friction plate is divided into a driving rotor rotation area and a rotor rotation blocking area when the ultrasonic motor works, wherein the surface particles of the stator teeth and the friction plate in the rotor rotation blocking area slide in the circumferential direction, and energy consumption is caused. When the load is small, most of the contact area is a part for blocking the rotation of the rotor, and the energy loss is larger; when the load is large, the contact area is mostly the driving rotor rotating part, and the energy loss is small.
The energy loss caused by radial sliding is pure consumption, when the load is smaller, the radial friction loss of the ultrasonic motor can reach 60% of the energy loss of the whole contact interface, the friction loss caused by radial sliding is gradually reduced along with the increase of the load, and the reduction of the radial sliding of the contact surface is the key for improving the efficiency of the ultrasonic motor.
The main problems and drawbacks of the prior art include:
the friction plate of the ultrasonic motor in the current market is annular and uniform in thickness, one surface of the friction plate is bonded on the surface of a rotor, and the other surface of the friction plate is in contact with teeth of a stator, so that the motor is easy to slip circumferentially when working and further certain energy loss is caused; furthermore, the motion trail of the mass points on the surfaces of the stator teeth is a three-dimensional space curve, and the pure consumption of contact interface energy is caused by the radial sliding of the contact area and the friction plate. Because the ultrasonic motor does not work under the working condition of large load most of the time, the energy loss caused by circumferential sliding and radial sliding of the contact interface is large, and the output torque and the working efficiency of the ultrasonic motor are influenced.
Disclosure of Invention
Aiming at the problems and defects in the prior art, the invention provides a traveling wave rotary ultrasonic motor friction plate with a groove, which is applied to a traveling wave rotary ultrasonic motor, can reduce energy loss caused by circumferential slippage and radial slippage of a contact interface, and improves the output torque and the working efficiency of the ultrasonic motor.
Therefore, the invention adopts the following technical scheme:
a traveling wave rotary ultrasonic motor friction plate with a groove comprises a stator, a rotor, a friction plate and piezoelectric ceramics, wherein the rotor is positioned above the stator, the piezoelectric ceramics is bonded on the lower surface of the stator, and the friction plate is bonded on the lower surface of the rotor; the stator and the rotor are kept in contact under the action of a pre-pressure force, and an excitation signal is applied to the piezoelectric ceramic; the friction plate is of a circular ring-shaped structure, and a groove structure is arranged on one side, facing the stator, of the friction plate.
Preferably, the direction of the groove points to the center of the friction plate.
Preferably, the groove is in a closed-end shape, and the size of the outer ring groove is larger than that of the inner ring groove.
Preferably, the grooves are uniformly distributed along the circumferential direction, and the intervals between the adjacent grooves are equal.
Preferably, the grooves are used for reducing the relative sliding of the friction plates and the stator teeth on the contact surface of the ultrasonic motor and increasing the output torque.
Preferably, the grooves are matched to the travelling wave vibration generated by the stator teeth.
Preferably, the vibration magnitude of the surface particles of the stator teeth in the circumferential direction is related to the size in the radial direction.
Compared with the prior art, the invention has the beneficial effects that:
(1) the output torque of the ultrasonic motor is increased, so that the ultrasonic motor has good load characteristics. The load of the ultrasonic motor adopting the traveling wave rotary type ultrasonic motor friction plate with the groove provided by the invention is improved by about one fourth under the same boundary condition through finite element analysis and calculation.
(2) The size of a contact area obstructing the rotation area of the rotor and the energy loss caused by circumferential sliding and radial sliding are reduced, so that the contact stress is uniformly distributed along the radial direction, and the efficiency of the ultrasonic motor is improved.
(3) Simple structure, convenient to use has improved the mechanical properties of supersound motor.
Drawings
Fig. 1 is a schematic structural diagram of a traveling wave rotary ultrasonic motor friction plate with grooves according to the present invention.
Fig. 2 is a schematic cross-sectional view of a stator/rotor model of a traveling-wave rotary ultrasonic motor according to an embodiment of the present invention.
Fig. 3 is a schematic cross-sectional structural view of a rotor according to an embodiment of the present invention.
Fig. 4 is a top view of a rotor provided by an embodiment of the present invention.
Fig. 5 is a schematic cross-sectional structure diagram of a stator provided in an embodiment of the present invention.
Fig. 6 is a top view of a stator provided by an embodiment of the present invention.
FIG. 7 is a cross-sectional view of a friction plate according to an embodiment of the present invention.
Figure 8 is a top view of a friction plate provided by an embodiment of the present invention.
Fig. 9 is a schematic view of a traveling wave rotary type ultrasonic motor provided in an embodiment of the present invention.
FIG. 10 is a diagram of the particle motion trajectory on the surface of a stator tooth according to an embodiment of the present invention.
Fig. 11 is a finite element analysis model of a traveling wave rotary type ultrasonic motor according to an embodiment of the present invention.
Fig. 12 is a load characteristic curve of the traveling wave rotary type ultrasonic motor according to the embodiment of the present invention.
Fig. 13 is a contact stress distribution diagram (conventional friction plate) of the traveling wave rotary type ultrasonic motor according to the embodiment of the present invention.
Fig. 14 is a contact stress distribution diagram (friction plate of the present invention) of the traveling wave rotary type ultrasonic motor provided by the embodiment of the present invention.
Description of reference numerals: 1. a stator; 2. piezoelectric ceramics; 3. a friction plate; 4. and a rotor.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are provided for illustration only and are not to be construed as limiting the invention.
As shown in fig. 1, the present invention discloses a traveling wave rotary type ultrasonic motor friction plate with grooves, and the key point of the present invention is the arrangement of the groove structure on the friction plate. The direction of the groove points to the center of the friction plate and is matched with the traveling wave vibration generated by the stator teeth, and the vibration size of the surface particles of the stator teeth in the circumferential direction is related to the size in the radial direction, so that the groove is designed to be in a closed shape, the size of the outer ring groove is large, the size of the inner ring groove is small, and the grooves are at equal intervals. The grooves are used for reducing the relative sliding between the friction plates of the contact surface of the ultrasonic motor and the teeth of the stator and increasing the output torque.
Examples
The stator and rotor model of the traveling wave rotary ultrasonic motor is shown in fig. 2, wherein the structures of the rotor, the stator and the novel friction plate are respectively shown in fig. 3-8.
The piezoelectric ceramic 2 is adhered to the lower surface of the stator 1, the friction plate 3 is adhered to the lower surface of the rotor 4, the stator 1 and the rotor 4 are kept in contact under the action of a pre-pressure force, a certain excitation signal is applied to the piezoelectric ceramic 2, traveling wave vibration is generated on the surface of the stator 1 due to the inverse piezoelectric effect of the piezoelectric ceramic 2, the motion form of the mass points on the surface of the stator teeth is shown in fig. 9 and 10, wherein the motion component of the mass points along the radial direction (the X direction) is small, but the energy loss caused by the friction of the mass points along the radial direction in the contact area is pure consumption, and the motion direction of the mass points of the stator teeth is. The component of the circumferential motion drives the rotor 4 to rotate through friction, the rotating direction of the rotor 4 is opposite to the traveling wave vibration direction of the stator 1, and the rotor 4 is fixed on an output shaft so as to output torque.
A traveling wave rotary type ultrasonic motor contact analysis three-dimensional model was created using finite element analysis software ANSYS, and the finite element analysis model is shown in fig. 11. And selecting an eight-node hexahedron unit Soid185 to perform grid division on the analysis model, and performing dense processing on the contact area grid by adopting a swept grid division method. According to the transmission mechanism of the ultrasonic motor, the contact form of the contact surface of the stator and the rotor belongs to surface-surface contact, the target unit Targe170 and the contact unit Conta174 are used, and because the stator has higher hardness, the surface of the teeth of the stator is set as the target surface, the lower surface of the friction plate is set as the contact surface, and the friction coefficient of the contact surface is specified. In order to conform the model to the actual work, a pre-stress F is applied to the upper surface of the rotor, radial constraints are applied to the rotor bore, and full constraints are applied to the screw holes of the stator. According to the knowledge about the neutral plane, the part below the neutral plane of the stator is omitted, and only the part above the neutral plane is considered, so that the traveling wave vibration equation is applied to the neutral plane of the stator, and the ultrasonic motor load is applied to the surface of the rotor hole. The ultrasonic motor analysis model parameters are shown in table 1.
TABLE 1 ultrasonic Motor analysis model parameters
Under the same boundary conditions, the load characteristic curve of the ultrasonic motor is shown in fig. 12.
The contact area can be divided into a rotor rotation blocking area and a rotor rotation driving area, wherein mass points on the surface of the stator tooth at the wave crest of the contact area (namely the position where the contact stress is maximum) have the maximum speed of motion along the circumferential direction, and when the circumferential speed of the mass points on the surface of the stator tooth at the contact area is lower than the rotation speed of the rotor, the mass points are positioned in the rotor rotation blocking area, and the sliding of the mass points on the surface of the stator in the area causes certain energy loss; when the circumferential speed of the mass points on the surfaces of the mass points of the stator teeth in the contact area is higher than the rotating speed of the rotor, the mass points on the surfaces of the stator rub to drive the rotor to rotate, and the area is the area for driving the rotor to rotate. Under the same boundary condition, the distribution of the contact stress in a wavelength contact area is respectively shown in fig. 13 (the conventional friction plate) and fig. 14 (the friction plate of the invention).
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be covered thereby.
Claims (7)
1. The utility model provides a take rotary-type supersound motor friction disc of travelling wave of slot, rotary-type supersound motor of travelling wave includes stator, rotor, friction disc and piezoceramics, its characterized in that: the rotor is positioned above the stator, the piezoelectric ceramic is bonded to the lower surface of the stator, and the friction plate is bonded to the lower surface of the rotor; the stator and the rotor are kept in contact under the action of a pre-pressure force, and an excitation signal is applied to the piezoelectric ceramic; the friction plate is of a circular ring-shaped structure, and a groove structure is arranged on one side, facing the stator, of the friction plate.
2. The grooved traveling wave rotary-type ultrasonic motor friction plate of claim 1, wherein: the direction of the groove points to the center of the friction plate.
3. The grooved traveling wave rotary-type ultrasonic motor friction plate of claim 2, wherein: the groove is in a closed shape, and the size of the outer ring groove is larger than that of the inner ring groove.
4. The grooved traveling wave rotary-type ultrasonic motor friction plate of claim 2, wherein: the grooves are uniformly distributed along the circumferential direction, and the intervals between the adjacent grooves are equal.
5. The grooved traveling wave rotary-type ultrasonic motor friction plate according to any one of claims 1 to 4, wherein: the groove is used for reducing the relative sliding between the friction plate of the contact surface of the ultrasonic motor and the teeth of the stator and increasing the output torque.
6. The grooved traveling wave rotary-type ultrasonic motor friction plate of claim 5, wherein: the grooves are matched with the traveling wave vibration generated by the stator teeth.
7. The grooved traveling wave rotary-type ultrasonic motor friction plate of claim 6, wherein: the vibration magnitude of the surface particles of the stator teeth in the circumferential direction is related to the size in the radial direction.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010494829.7A CN111555657B (en) | 2020-06-03 | 2020-06-03 | Traveling wave rotary ultrasonic motor friction plate with groove |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010494829.7A CN111555657B (en) | 2020-06-03 | 2020-06-03 | Traveling wave rotary ultrasonic motor friction plate with groove |
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| CN111555657A true CN111555657A (en) | 2020-08-18 |
| CN111555657B CN111555657B (en) | 2021-09-21 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101719735A (en) * | 2010-01-12 | 2010-06-02 | 南京航空航天大学 | Large-moment double-rotor stress type longitudinal-torsional composite ultrasonic motor and electric excitation method thereof |
| CN105305876A (en) * | 2015-11-16 | 2016-02-03 | 南京航空航天大学 | Rib plate stress type longitudinal-torsional composite ultrasonic motor |
| CN107134946A (en) * | 2017-05-24 | 2017-09-05 | 宁波大学 | A kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth |
| CN207504784U (en) * | 2017-11-16 | 2018-06-15 | 郑州大学 | Stator module and rotary type travelling wave ultrasonic motor |
| US10775681B2 (en) * | 2015-11-27 | 2020-09-15 | Canon Kabushiki Kaisha | Ultrasonic motor, drive control system, optical apparatus, and vibrator |
-
2020
- 2020-06-03 CN CN202010494829.7A patent/CN111555657B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101719735A (en) * | 2010-01-12 | 2010-06-02 | 南京航空航天大学 | Large-moment double-rotor stress type longitudinal-torsional composite ultrasonic motor and electric excitation method thereof |
| CN105305876A (en) * | 2015-11-16 | 2016-02-03 | 南京航空航天大学 | Rib plate stress type longitudinal-torsional composite ultrasonic motor |
| US10775681B2 (en) * | 2015-11-27 | 2020-09-15 | Canon Kabushiki Kaisha | Ultrasonic motor, drive control system, optical apparatus, and vibrator |
| CN107134946A (en) * | 2017-05-24 | 2017-09-05 | 宁波大学 | A kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth |
| CN207504784U (en) * | 2017-11-16 | 2018-06-15 | 郑州大学 | Stator module and rotary type travelling wave ultrasonic motor |
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| CN111555657B (en) | 2021-09-21 |
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