CN112260577B - Longitudinal-bending coupling type linear ultrasonic motor based on anisotropic eccentric stator - Google Patents
Longitudinal-bending coupling type linear ultrasonic motor based on anisotropic eccentric stator Download PDFInfo
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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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/003—Driving devices, e.g. vibrators using longitudinal or radial modes combined with bending modes
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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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
Abstract
The invention provides a longitudinal bending coupling type linear ultrasonic motor based on a counter-rotating eccentric stator, which comprises a stator unit and a rotor unit, wherein the rotor unit comprises an upper rotor and a lower rotor, the upper rotor and the lower rotor are respectively arranged at two sides of the stator unit, the stator unit comprises a metal elastomer, end piezoelectric ceramics, an upper right protruding part, a lower right protruding part, an upper left protruding part, a lower left protruding part, an upper right driving foot, a lower right driving foot, an upper left driving foot and a lower left driving foot, the end piezoelectric ceramics comprise right end piezoelectric ceramics and left end piezoelectric ceramics, and the stator unit adopts a stator unit with mass counter-rotating eccentricity; the motor forms a coupling mode of first-order longitudinal vibration and second-order bending vibration by constructing anisotropic eccentricity of the mass of the stator unit, does not need to carry out mode degeneracy, and simultaneously realizes excitation of the bending vibration mode and the longitudinal vibration mode by applying excitation in the bending vibration direction by utilizing the coupling characteristic of the stator unit. The motor has compact structure and simple design.
Description
Technical Field
The invention relates to a longitudinal and bending coupling type linear ultrasonic motor based on a counter-rotating eccentric stator.
Background
The linear standing wave type ultrasonic motor can be divided into a single-mode linear ultrasonic motor and a multi-mode linear ultrasonic motor. The existing types of the multi-mode linear ultrasonic motor are longitudinal-bending compounding, longitudinal-longitudinal compounding, longitudinal-torsion compounding and bending-bending compounding, and the research is relatively complete at present.
However, the above-mentioned composite linear ultrasonic motors need to adjust the size of the stator unit to approach the frequencies of the two vibration modes required for operation to realize mode degeneracy, so that the two operation modes are simultaneously excited at the same frequency to form a composite mode, and thus the design is complicated.
The above problems should be considered and solved in the design and production process of the longitudinal bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator.
Disclosure of Invention
The invention aims to provide a longitudinal bending coupling type linear ultrasonic motor based on a heterodromous eccentric stator, which solves the problem that in the prior art, the size of a stator unit needs to be adjusted to approach the frequencies of two vibration modes required by work to realize mode degeneracy, so that the two work modes are simultaneously excited to form a composite mode at the same frequency, and the structural design is complicated.
The technical solution of the invention is as follows:
a longitudinal bending coupling type linear ultrasonic motor based on an opposite-direction eccentric stator comprises a stator unit and a rotor unit, wherein the rotor unit comprises an upper rotor and a lower rotor which are respectively arranged at two sides of the stator unit, the stator unit comprises a metal elastic body, end piezoelectric ceramics, an upper right protruding part, a lower right protruding part, an upper left protruding part, a lower left protruding part, an upper right driving foot, a lower right driving foot, an upper left driving foot and a lower left driving foot, the end piezoelectric ceramics comprise right end piezoelectric ceramics and left end piezoelectric ceramics, the right end of the metal elastic body is sequentially provided with the upper right protruding part, the right end piezoelectric ceramics and the lower right protruding part from top to bottom, the left end of the metal elastic body is sequentially provided with the upper left protruding part, the left end piezoelectric ceramics and the lower left protruding part from top to bottom, the stator unit adopts the stator unit with the mass opposite-direction eccentric, the upper left driving foot is arranged at the leftmost side of the upper surface of the upper left protruding part, the left lower driving foot is arranged at the leftmost side of the lower surface of the left lower protruding part, the right upper driving foot is arranged at the rightmost side of the upper surface of the right upper protruding part, and the right lower driving foot is arranged at the rightmost side of the lower surface of the right lower protruding part.
Furthermore, the polarization directions of the left-end piezoelectric ceramic and the right-end piezoelectric ceramic are Z-axis positive directions, a homodromous high-frequency electric field is applied to the left-end piezoelectric ceramic and the right-end piezoelectric ceramic at the left end and the right end, the left-end piezoelectric ceramic and the right-end piezoelectric ceramic generate torsional vibration, and a vibration mode of coupling first-order longitudinal vibration and second-order bending vibration is excited in the stator unit.
Furthermore, the mass heterodromous eccentric stator unit takes a center point in the x-axis direction as a boundary line, the boundary line is parallel to the z-axis, the equivalent mass centers of the left and right metal elastic bodies of the boundary line deviate from a center line in the height direction of the metal elastic body in the upward or downward heterodromous direction along the z-axis direction respectively, and the center line is parallel to the x-axis and is positioned at a half height position in the z-axis direction of the metal elastic body.
Further, the mass of the upper right driving foot is larger than that of the lower right driving foot, and the mass of the upper left driving foot is smaller than that of the lower left driving foot, so that mass heterodromous eccentricity of the stator unit is realized.
Furthermore, mass bodies with the same shape are respectively dug on the upper surface and the lower surface of the left part and the right part of the metal elastic body, so that mass heterodromous eccentricity of the stator unit is realized.
The invention has the beneficial effects that:
the longitudinal-bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator forms a first-order longitudinal vibration coupling mode and a second-order bending vibration coupling mode by constructing anisotropic eccentricity of the mass of a stator unit, does not need to carry out mode degeneracy, and simultaneously can realize excitation of a bending vibration mode and a longitudinal vibration mode by applying excitation in the bending vibration direction by using the coupling characteristics of the stator unit. The motor has compact structure and simple design.
The longitudinal and bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator utilizes torsional vibration of piezoelectric ceramics at the end part to excite the bending vibration mode of the stator unit and simultaneously excites the longitudinal vibration mode of the stator unit through a coupling effect. Therefore, the motor only adopts one piezoelectric ceramic and one power supply. The motor has compact structure.
All the piezoelectric ceramics used by the invention are uniformly distributed at the end part of the stator unit, and the piezoelectric ceramics are not arranged on the upper surface and the lower surface of the metal elastic body, so that the structure of the motor is ensured to be compact, the driving feet can be conveniently arranged on the upper surface and the lower surface of the single metal elastic body at the same time, and the bidirectional operation of the upper rotor and the lower rotor is realized.
Drawings
Fig. 1 is a schematic structural diagram of a longitudinal-bending coupling type linear ultrasonic motor based on a counter-rotating eccentric stator according to the present invention.
Wherein: 1-upper mover, 2-lower mover, 3-right end piezoelectric ceramic, 4-left end piezoelectric ceramic, 5-upper right drive foot, 6-upper left drive foot, 7-lower right drive foot, 8-lower left drive foot, 9-upper right protrusion, 10-lower right protrusion, 11-upper left protrusion, 12-lower left protrusion, 13-metal elastomer.
Fig. 2 is a schematic structural view of a longitudinal bending coupling type linear ultrasonic motor based on a counter-rotating eccentric stator according to the present invention, which is formed by excavating mass bodies having the same shape on the upper surface and the lower surface of the left and right portions of a metal elastic body.
Wherein: 1-upper mover, 2-lower mover, 3-right end piezoelectric ceramic, 4-left end piezoelectric ceramic, 5-upper right drive foot, 6-upper left drive foot, 7-lower right drive foot, 8-lower left drive foot, 9-upper right protrusion, 10-lower right protrusion, 11-upper left protrusion, 12-lower left protrusion, 13-metal elastomer.
FIG. 3 is a schematic diagram illustrating a deformation scheme of the left-end piezoelectric ceramic in the example.
Wherein: e-the electric field applied by the left-end piezoelectric ceramic, P-the polarization direction of the left-end piezoelectric ceramic, T-the deformation direction of the left-end piezoelectric ceramic, and an XYZ-space coordinate system.
FIG. 4 is a schematic diagram illustrating a deformation scheme of a piezoelectric ceramic at the right end in the embodiment.
Wherein: e-the electric field applied by the piezoelectric ceramic at the right end, P-the polarization direction of the piezoelectric ceramic at the right end, T-the deformation direction of the piezoelectric ceramic at the right end, and an XYZ-space coordinate system.
Fig. 5 is a mechanism diagram for generating a waveform of a first half period of a longitudinal bending coupling type linear ultrasonic motor based on an anisotropic eccentric stator in an embodiment.
Wherein: 1-upper mover, 2-lower mover, 3-right end piezoceramic, 4-left end piezoceramic, 5-upper right drive foot, 6-upper left drive foot, 7-lower right drive foot, 8-lower left drive foot, 9-upper right protrusion, 10-lower right protrusion, 11-upper left protrusion, 12-lower left protrusion, 13-metal elastomer, polarization direction of P-end piezoceramic, electric field direction of E-end piezoceramic, V-end piezoceramic, and method of making1Upper mover movement direction, V2-a lower mover movement direction. The dotted line is that when the electric field in the piezoelectric ceramic at the end part is zero, the motor stator unit deforms; except the solid lines of the upper rotor and the lower rotor, when the electric field in the end piezoelectric ceramic is the maximum component in the X-axis negative direction, the motor stator unit deforms.
Fig. 6 is a mechanism diagram for generating a second half cycle waveform of a longitudinal bending coupling type linear ultrasonic motor based on an anisotropic eccentric stator in an embodiment.
Wherein: 1-upper mover, 2-lower mover, 3-right end piezoceramic, 4-left end piezoceramic, 5-upper right drive foot, 6-upper left drive foot, 7-lower right drive foot, 8-lower left drive foot, 9-upper right protrusion, 10-lower right protrusion, 11-upper left protrusion, 12-lower left protrusion, 13-metal elastomer, polarization direction of P-end piezoceramic, electric field direction of E-end piezoceramic, V-end piezoceramic, and method of making1Upper mover movement direction, V2-a lower mover movement direction. The dotted line is that when the electric field in the piezoelectric ceramic at the end part is zero, the motor stator unit deforms; the solid lines except the upper rotor and the lower rotor are that when the electric field in the end piezoelectric ceramic is the maximum in the positive direction component of the X axis, the motor stator unit deforms.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Examples
A longitudinal bending coupling type linear ultrasonic motor based on a counter-rotating eccentric stator comprises a stator unit and a rotor unit, wherein the rotor unit comprises an upper rotor 1 and a lower rotor 2, the upper rotor 1 and the lower rotor 2 are respectively arranged on two sides of the stator unit, the stator unit comprises a metal elastic body 13, an end piezoelectric ceramic, an upper right protruding part 9, a lower right protruding part 10, an upper left protruding part 11, a lower left protruding part 12, an upper right driving foot 5, a lower right driving foot 7, an upper left driving foot 6 and a lower left driving foot 8, the end piezoelectric ceramic comprises a right piezoelectric ceramic 3 and a left piezoelectric ceramic 4, the right end of the metal elastic body 13 is sequentially provided with the upper right protruding part 9, the right piezoelectric ceramic 3 and the lower right protruding part 10 from top to bottom, the left end of the metal elastic body 13 is sequentially provided with the upper left protruding part 11, the left piezoelectric ceramic 4 and the lower left protruding part 12 from top to bottom, the stator unit adopts a stator unit with mass heterodromous eccentricity, the upper left driving foot 6 is arranged at the leftmost side of the upper surface of the upper left protruding part 11, the lower left driving foot 8 is arranged at the leftmost side of the lower surface of the lower left protruding part 12, the upper right driving foot 5 is arranged at the rightmost side of the upper surface of the upper right protruding part 9, and the lower right driving foot 7 is arranged at the rightmost side of the lower surface of the lower right protruding part 10.
According to the longitudinal and bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator, the anisotropic eccentricity of the mass of the stator unit is constructed, so that a first-order longitudinal vibration coupling mode and a second-order bending vibration coupling mode are formed, mode degeneracy is not required, and meanwhile, the excitation of the bending vibration mode and the longitudinal vibration mode can be simultaneously realized only by applying excitation in the bending vibration direction by utilizing the coupling characteristics of the stator unit. The motor has compact structure and simple design.
The longitudinal and bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator excites bending vibration of a metal elastic body 13 of a stator unit by utilizing a torsional vibration mode of piezoelectric ceramics at the end part, simultaneously excites longitudinal vibration of the elastic body of the stator unit through a coupling effect caused by anisotropic eccentricity of the mass of the stator unit, thereby forming a vibration mode of a first-order longitudinal vibration and a second-order bending vibration coupling vibration mode in the stator unit, generating oblique linear motion at an upper right driving foot 5, a lower right driving foot 7, an upper left driving foot 6 and a lower left driving foot 8, and pushing an upper rotor 1 and a lower rotor 2 to move bidirectionally.
In the longitudinal bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator, the mass anisotropic eccentric stator unit takes a central point in the length direction, namely the x-axis direction, as a boundary, and the center of mass of the metal elastic body 13 on the left and right parts of the boundary respectively shifts upwards or downwards from the central line in the height direction of the metal elastic body 13. Specifically, the mass anisotropic eccentric stator unit takes a center point in the x-axis direction as a boundary, the boundary is parallel to the z-axis, the equivalent center of mass of the metal elastic body 13 on the left and right parts of the boundary deviates from a center line in the height direction of the metal elastic body 13 in the upward or downward direction along the z-axis direction, respectively, and the center line is parallel to the x-axis and is located at a half height position in the z-axis direction of the metal elastic body 13.
In one embodiment, as shown in fig. 1, the upper right drive foot 5 has a greater mass than the lower right drive foot 7 and the upper left drive foot 6 has a lesser mass than the lower left drive foot 8 to achieve mass heterodyning of the stator units. The polarization directions of the left end piezoelectric ceramic 4 and the right end piezoelectric ceramic 3 are both axial positive directions, homodromous high-frequency electric fields are applied to the piezoelectric ceramics at the left end and the right end, the piezoelectric ceramics generate torsional vibration, and a vibration mode of coupling first-order longitudinal vibration and second-order bending vibration is excited in the stator unit.
In another embodiment, as shown in fig. 2, mass bodies having the same shape are respectively dug out on the upper surface and the lower surface of the left and right portions of the metal elastic body 13 to realize the mass anisotropic eccentricity of the stator unit. The polarization directions of the left end piezoelectric ceramic 4 and the right end piezoelectric ceramic 3 are Z-axis positive directions, homodromous high-frequency electric fields are applied to the piezoelectric ceramics at the left end and the right end, the piezoelectric ceramics generate torsional vibration, and a vibration mode of coupling first-order longitudinal vibration and second-order bending vibration is excited in the stator unit.
As shown in fig. 3, the left-end piezoelectric ceramic 4 is located in a spatial rectangular coordinate system XYZ, the polarization direction of the left-end piezoelectric ceramic 4 is a positive Z-axis direction, and the direction of the applied electric field of the left-end piezoelectric ceramic 4 is a positive X-axis direction. Under the action of an electric field, the left-end piezoelectric ceramic 4 generates torsional vibration, and when a contact surface formed by the right surface of the left-end piezoelectric ceramic 4 and the left end surface of the metal elastic body 13 is taken as a displacement reference surface, deformation in the T direction is generated.
As shown in fig. 4, the right piezoelectric ceramic 3 is located in a rectangular spatial coordinate system XYZ, the polarization direction of the right piezoelectric ceramic 3 is the positive Z-axis direction, and the direction of the applied electric field of the right piezoelectric ceramic 3 is the positive X-axis direction. Under the action of the electric field, the right piezoelectric ceramic 3 undergoes torsional vibration, and when a contact surface formed by the left surface of the right piezoelectric ceramic 3 and the right end surface of the metal elastic body 13 is taken as a displacement reference surface, deformation in the T direction occurs.
As shown in fig. 5, taking the bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator with mass anisotropic eccentricity caused by the mass added at the end as an example, the mechanism of generating the first half period waveform of the bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator is as follows: the direction of the electric field inside the left end piezoelectric ceramic 4 and the right end piezoelectric ceramic 3 is the X-axis negative direction, the left end piezoelectric ceramic 4 and the right end piezoelectric ceramic 3 polarized in the Z-axis positive direction both generate torsional vibration, and the torsional deformation of the left end piezoelectric ceramic 4 and the right end piezoelectric ceramic 3 in the previous half period is shown in FIG. 5; since the first-order longitudinal vibration and the second-order bending vibration of the stator unit have a coupling relationship, the torsional vibration of the left end piezoelectric ceramic 4 and the right end piezoelectric ceramic 3 causes the stator unit to vibrate in both the X direction and the Z direction, and the stator unit in the first half period deforms as shown in fig. 5.
For the mass body with the same shape by digging the upper surface and the lower surface of the left part and the right part of the metal elastic body 13, the torsion deformation of the ceramic body in the first half period and the deformation of the stator unit are the same.
With reference to fig. 5, the motion mechanism of the front half-cycle motor driving foot of the longitudinal and bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator is as follows:
stage I: the motor moves from an initial horizontal state shown by a dotted line in fig. 5 to a maximum amplitude state shown by a solid line in fig. 5, in the process, the top motion tracks of the upper right driving foot 5 and the lower right driving foot 7 are both left inclined downwards, and left driving forces are respectively generated for the upper mover 1 and the lower mover 2. The top motion tracks of the upper left driving foot 6 and the lower left driving foot 8 are both right obliquely upward, and right driving forces are respectively generated on the upper rotor 1 and the lower rotor 2.
Stage II: the motor returns to the horizontal state shown by the dotted line in fig. 5 from the maximum amplitude state shown by the solid line in fig. 5, in the process, the top motion tracks of the upper right driving foot 5 and the lower right driving foot 7 are both in the right oblique upward direction, and the upper mover 1 and the lower mover 2 are respectively driven to the right. The top motion tracks of the upper left driving foot 6 and the lower left driving foot 8 are both left inclined downwards, and left driving forces are respectively generated on the upper rotor 1 and the lower rotor 2.
Due to the inertia of the upper rotor 1 and the deformation of the upper right driving foot 5, the contact time of the upper right driving foot 5 in the motion stage close to the upper rotor 1 and the pressure and friction force between the upper right driving foot 5 and the upper right driving foot are all larger than the motion stage of the upper right driving foot 5 away from the upper rotor 1. The contact time and the friction force of the upper right driving foot 5 and the upper rotor 1 are both greater than those in the stage I in the stage II, so that the total thrust of the upper right driving foot 5 to the upper rotor 1 in the previous half period is in the right direction; due to the inertia of the upper rotor 1 and the deformation of the upper left driving foot 6, the contact time and the friction force of the upper left driving foot 6 and the upper rotor 1 are both smaller than those in stage I in stage II, so that the total thrust of the upper left driving foot 6 to the upper rotor 1 in the first half period is in the right direction. Therefore, in the first half cycle, the total driving force received by the upper mover 1 is in the right direction.
Due to the inertia of the lower rotor 2 and the deformation of the right lower driving foot 7, the contact time and the friction force of the right lower driving foot 7 and the lower rotor 2 are both smaller than those in the stage I in the stage II, so that the total thrust of the right lower driving foot 7 to the lower rotor 2 in the previous half period is in the left direction; due to the inertia of the lower rotor 2 and the deformation of the lower left driving foot 8, the contact time and the friction force of the lower left driving foot 8 and the lower rotor 2 are both greater than those of the stage I in the stage II, and therefore the total thrust of the lower left driving foot 8 to the lower rotor 2 in the previous half period is in the left direction. Therefore, in the first half period, the total driving force applied to the lower mover 2 is in the left direction
As shown in fig. 6, taking a longitudinal bending coupling type linear ultrasonic motor based on an anisotropic eccentric stator, in which mass anisotropy is eccentric due to an end added mass block as an example, the mechanism of generating a second half-cycle waveform of the longitudinal bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator is as follows: the direction of the electric field inside the left end piezoelectric ceramic 4 and the right end piezoelectric ceramic 3 is the positive direction of the X axis, the left end piezoelectric ceramic 4 and the right end piezoelectric ceramic 3 polarized in the positive direction of the Z axis both generate torsional vibration, and the torsional deformation of the left end piezoelectric ceramic 4 and the right end piezoelectric ceramic 3 in the rear half period is shown in FIG. 6; since the first-order longitudinal vibration and the second-order bending vibration of the stator unit have a coupling relationship, the torsional vibration of the left end piezoelectric ceramic 4 and the right end piezoelectric ceramic 3 causes the stator unit to vibrate in both the X direction and the Z direction, and the stator unit in the second half cycle deforms as shown in fig. 6.
For the mass body with the same shape by digging the upper surface and the lower surface of the left part and the right part of the metal elastic body 13, the longitudinal bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator is formed, and the torsion deformation of the ceramic body in the rear half period and the deformation of the stator unit are the same as above.
With reference to fig. 6, the motion mechanism of the second half-cycle motor driving foot of the longitudinal-bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator is as follows:
stage III: the motor moves from an initial horizontal state shown by a dotted line in fig. 6 to a maximum amplitude state shown by a solid line in fig. 6, in the process, the top motion tracks of the upper right driving foot 5 and the lower right driving foot 7 are both in right oblique upward directions, and right driving forces are respectively generated on the upper mover 1 and the lower mover 2. The top motion tracks of the upper left driving foot 6 and the lower left driving foot 8 are both left inclined downwards, and left driving forces are respectively generated on the upper rotor 1 and the lower rotor 2.
And IV stage: the motor returns to the horizontal state shown by the dotted line in fig. 6 from the maximum amplitude state shown by the solid line in fig. 6, in the process, the top motion tracks of the upper right driving foot 5 and the lower right driving foot 7 are both left inclined downward, and the upper mover 1 and the lower mover 2 are respectively generated with left driving force. The top motion tracks of the upper left driving foot 6 and the lower left driving foot 8 are both right obliquely upward, and right driving forces are respectively generated on the upper rotor 1 and the lower rotor 2.
Due to the inertia of the upper rotor 1 and the deformation of the upper right driving foot 5, the contact time and the friction force of the upper right driving foot 5 and the upper rotor 1 are both greater than those of the stage IV in the stage III, so that the total thrust of the upper right driving foot 5 to the upper rotor 1 in the rear half period is in the right direction; due to the inertia of the upper rotor 1 and the deformation of the upper left driving foot 6, the contact time and the friction force of the upper left driving foot 6 and the upper rotor 1 are smaller than those in the stage III, so that the total thrust of the upper left driving foot 6 to the upper rotor 1 in the rear half period is in the right direction. Therefore, in the latter half period, the total driving force received by the upper mover 1 is in the right direction.
Due to the inertia of the lower rotor 2 and the deformation of the right lower driving foot 7, the contact time and the friction force of the right lower driving foot 7 and the lower rotor 2 are smaller than those in the stage III, so that the total thrust of the right lower driving foot 7 to the lower rotor 2 in the rear half period is in the left direction; due to the inertia of the lower rotor 2 and the deformation of the left lower driving foot 8, the contact time and the friction force of the left lower driving foot 8 and the lower rotor 2 are both greater than those in the stage III, so that the total thrust of the left lower driving foot 8 to the lower rotor 2 in the rear half period is in the left direction. Therefore, in the latter half period, the total driving force applied to the lower mover 2 is in the leftward direction
And (3) integrating four motion stages I, II, III and IV, wherein the motion direction of the upper rotor 1 is the right direction, and the motion direction of the lower rotor 2 is the left direction.
According to the longitudinal-bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator, two pieces of piezoelectric ceramics are adhered to the concave part of the protruding part of the stator unit. Different masses are designed at different positions of the stator unit in the single length direction, so that anisotropic eccentricity of the masses of the stator unit is constructed, and modal coupling of first-order longitudinal vibration and second-order bending vibration is realized.
According to the longitudinal bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator, torsional vibration of piezoelectric ceramics at the end part is utilized to excite in the second-order bending vibration direction of a stator unit, and the first-order longitudinal vibration and the second-order longitudinal vibration are simultaneously generated through the coupling relation of the second-order bending vibration and the first-order longitudinal vibration of the stator unit, so that oblique linear motion is generated at a driving foot, and an upper rotor 1 and a lower rotor 2 are pushed to move in two directions. Compared with the existing popular compound linear ultrasonic motor, the motor has compact structure and simpler design.
Claims (3)
1. The utility model provides a indulge curved coupled type straight line ultrasonic motor based on incorgruous eccentric stator, includes stator unit and active cell unit, and the active cell unit includes active cell and lower active cell, goes up the active cell and locates stator unit's both sides, its characterized in that respectively with lower active cell: the stator unit comprises a metal elastic body, an end piezoelectric ceramic, an upper right protrusion, a lower right protrusion, an upper left protrusion, a lower left protrusion, an upper right driving foot, a lower right driving foot, an upper left driving foot and a lower left driving foot, wherein the end piezoelectric ceramic comprises a right end piezoelectric ceramic and a left end piezoelectric ceramic, the right end of the metal elastic body is sequentially provided with the upper right protrusion, the right end piezoelectric ceramic and the lower right protrusion from top to bottom, the left end of the metal elastic body is sequentially provided with the upper left protrusion, the left end piezoelectric ceramic and the lower left protrusion from top to bottom, the stator unit adopts a stator unit with mass different-direction eccentricity, the stator unit with mass different-direction eccentricity takes a central point in an x-axis direction as a boundary, the boundary is parallel to a z-axis, equivalent mass centers of the left metal elastic body and the right metal elastic body of the boundary respectively deviate from a central line in a height direction of the metal elastic body upwards or downwards in the z-axis direction, the central line is parallel to the x axis and is positioned at a half height position in the z axis direction of the metal elastic body; the left upper driving foot is arranged at the leftmost side of the upper surface of the left upper protruding part, the left lower driving foot is arranged at the leftmost side of the lower surface of the left lower protruding part, the right upper driving foot is arranged at the rightmost side of the upper surface of the right upper protruding part, and the right lower driving foot is arranged at the rightmost side of the lower surface of the right lower protruding part; the polarization directions of the left end piezoelectric ceramics and the right end piezoelectric ceramics are Z-axis positive directions, homodromous high-frequency electric fields are applied to the left end piezoelectric ceramics and the right end piezoelectric ceramics at the left end and the right end, the left end piezoelectric ceramics and the right end piezoelectric ceramics generate torsional vibration, the torsional vibration mode of the end piezoelectric ceramics is utilized to excite the bending vibration of the metal elastic body of the stator unit, meanwhile, the longitudinal vibration of the elastic body of the stator unit is excited through the coupling effect caused by the anisotropic eccentricity of the mass of the stator unit, so that the vibration mode of the coupling of the first-order longitudinal vibration and the second-order bending vibration is excited in the stator unit, and the upper right driving foot, the lower right driving foot, the upper left driving foot and the lower left driving foot generate inclined linear motion to push the upper rotor and the lower rotor to move bidirectionally.
2. The longitudinal-bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator of claim 1, wherein: the mass of the upper right driving foot is greater than that of the lower right driving foot, and the mass of the upper left driving foot is less than that of the lower left driving foot, so that the mass heterodromous eccentricity of the stator unit is realized.
3. The longitudinal-bending coupling type linear ultrasonic motor based on the anisotropic eccentric stator of claim 1, wherein: the upper surface and the lower surface of the left part and the right part of the metal elastic body are respectively dug out mass bodies with the same shape so as to realize mass heterodromous eccentricity of the stator unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011019424.4A CN112260577B (en) | 2020-09-24 | 2020-09-24 | Longitudinal-bending coupling type linear ultrasonic motor based on anisotropic eccentric stator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011019424.4A CN112260577B (en) | 2020-09-24 | 2020-09-24 | Longitudinal-bending coupling type linear ultrasonic motor based on anisotropic eccentric stator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112260577A CN112260577A (en) | 2021-01-22 |
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| CN101976969A (en) * | 2010-10-18 | 2011-02-16 | 南京航空航天大学 | Linear buckling ultrasonic motor and electric excitation mode thereof |
| CN106208803A (en) * | 2016-07-25 | 2016-12-07 | 南京航空航天大学 | Utilize rectangular block shape linear ultrasonic motor and electric excitation method thereof thereof that single mode drives |
| CN109347362A (en) * | 2018-12-12 | 2019-02-15 | 南京工程学院 | Incorgruous double acting sub- standing wave type linear ultrasonic electric machine based on piezoelectric ceramics torsional vibration mode |
| CN111464070A (en) * | 2020-03-19 | 2020-07-28 | 哈尔滨工业大学 | Linear ultrasonic motor stator and electric excitation method thereof |
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| CA2961791A1 (en) * | 2016-03-21 | 2017-09-21 | Basintek, LLC | Pdm performance testing device |
| CN109067239B (en) * | 2018-08-09 | 2024-03-29 | 南京航空航天大学 | Modal conversion type double-rotor ultrasonic motor and method based on triangular displacement amplification |
| CN111229580A (en) * | 2019-08-09 | 2020-06-05 | 济南豪特创新管理咨询合伙企业(有限合伙) | Vibration excitation device |
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| CN101976969A (en) * | 2010-10-18 | 2011-02-16 | 南京航空航天大学 | Linear buckling ultrasonic motor and electric excitation mode thereof |
| CN106208803A (en) * | 2016-07-25 | 2016-12-07 | 南京航空航天大学 | Utilize rectangular block shape linear ultrasonic motor and electric excitation method thereof thereof that single mode drives |
| CN109347362A (en) * | 2018-12-12 | 2019-02-15 | 南京工程学院 | Incorgruous double acting sub- standing wave type linear ultrasonic electric machine based on piezoelectric ceramics torsional vibration mode |
| CN111464070A (en) * | 2020-03-19 | 2020-07-28 | 哈尔滨工业大学 | Linear ultrasonic motor stator and electric excitation method thereof |
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