CN116885971A - Radial transduction type ultrasonic motor based on center fixed arc stator unit - Google Patents
Radial transduction type ultrasonic motor based on center fixed arc stator unit Download PDFInfo
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- CN116885971A CN116885971A CN202310659339.1A CN202310659339A CN116885971A CN 116885971 A CN116885971 A CN 116885971A CN 202310659339 A CN202310659339 A CN 202310659339A CN 116885971 A CN116885971 A CN 116885971A
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- 230000026683 transduction Effects 0.000 title claims abstract description 37
- 238000010361 transduction Methods 0.000 title claims abstract description 37
- 239000000919 ceramic Substances 0.000 claims abstract description 73
- 229920001967 Metal rubber Polymers 0.000 claims abstract description 31
- 230000005284 excitation Effects 0.000 claims abstract description 15
- 239000002184 metal Substances 0.000 claims description 25
- 230000005684 electric field Effects 0.000 claims description 16
- 229920001971 elastomer Polymers 0.000 claims description 15
- 239000000806 elastomer Substances 0.000 claims description 15
- 238000005452 bending Methods 0.000 claims description 13
- 230000010287 polarization Effects 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000008602 contraction Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect 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
- H02N2/0005—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
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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
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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
- H02N2/103—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors by pressing one or more vibrators against the rotor
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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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Abstract
The invention provides a radial transduction type ultrasonic motor based on a central fixed arc stator unit, which comprises a rotor, wherein the rotor adopts an annular rotor, a plurality of stator units are uniformly and circumferentially arranged in the rotor in a surrounding manner, gaps are arranged between adjacent stator units, the stator units adopt arc stator units, a central fixing hole is formed in the middle of each stator unit, each stator unit comprises a metal elastomer, an excitation piezoelectric ceramic group, a left concave seam, a right concave seam and a flexible driving foot group, each excitation piezoelectric ceramic group comprises a left piezoelectric ceramic and a right piezoelectric ceramic, the left piezoelectric ceramic and the right piezoelectric ceramic are respectively arranged at two ends of the metal elastomer, left concave seams and right concave seams are respectively arranged at two ends of the outer side of the metal elastomer, and each flexible driving foot group comprises a left flexible driving foot and a right flexible driving foot; the invention has the advantages of simplified structural design, small volume and capability of greatly increasing the driving capability of the motor.
Description
Technical Field
The invention relates to a radial transduction type ultrasonic motor based on a central fixed arc-shaped stator unit, and belongs to the technical field of ultrasonic motors.
Background
The ultrasonic motor is well applied in the fields of precision instruments, robots, aerospace, medical equipment and the like. The ultrasonic motor can be classified into a traveling wave type ultrasonic motor and a standing wave type ultrasonic motor according to the wave propagation mode. Currently, there are two general designs of rotating standing wave ultrasonic motors:
the radial vibration of the circular plate is utilized to realize the radial telescopic vibration of the circular plate, and meanwhile, the elastic blades are adhered to the metal circular ring outside the circular plate to drive the outer rotor to move.
The other is to convert radial vibration of the circular plate into torsional vibration of the circular ring, the outer circular plate is directly connected with the inner circular ring through a rod, the connecting rod is extruded in the stretching vibration process of the circular plate to realize the torsional vibration of the inner circular ring, and the central rotating shaft is extruded to rotate by virtue of friction force to realize power output.
However, the two schemes have the problems of complex structure, larger size, relatively lower driving capability, strict processing technology requirements and the like.
The above-mentioned problems are to be considered and solved in the design of radial transduction type ultrasonic motors based on a central fixed type arc stator unit.
Disclosure of Invention
The invention aims to provide a radial transduction type ultrasonic motor based on a central fixed arc-shaped stator unit, which solves the problems of complex structure, larger volume and driving capability to be improved in the prior art.
The technical scheme of the invention is as follows:
the utility model provides a radial transduction formula ultrasonic motor based on fixed arc stator unit in center, including the rotor, the rotor adopts annular rotor, evenly encircle in the rotor along circumference and be equipped with a plurality of stator units, be equipped with the clearance between adjacent stator unit, the stator unit adopts arc stator unit, the middle part of stator unit is equipped with the center fixed orifices, the stator unit includes metal elastomer, excitation piezoceramics group, left side concave joint, right concave joint and flexible drive foot group, excitation piezoceramics group includes left piezoceramics and right piezoceramics, the both ends of metal elastomer are located respectively to left piezoceramics and right piezoceramics, metal elastomer's outside both ends are equipped with left concave joint and right concave joint respectively, flexible drive foot group includes left flexible drive foot and right flexible drive foot, left side flexible drive foot's bottom is located in the left concave joint, the inboard of rotor is contradicted on left flexible drive foot's top, right side flexible drive foot's bottom is located right concave joint, right side flexible drive foot's top is contradicted rotor's inboard.
Further, the left concave seam and the right concave seam are symmetrically arranged in the circumferential direction relative to the central fixing hole, and the left concave seam and the right concave seam are respectively obliquely arranged at two ends of the outer side of the metal elastic body.
Further, the oblique directions of the left concave seam, the right concave seam, the left flexible driving foot and the right flexible driving foot are all the rotor rotation directions.
Further, the stator units adopt arc-shaped stator units with fixed centers and free ends, and the stator units are connected in parallel in the circumferential direction in the rotor to jointly drive the rotor to rotate.
Further, the left groove and the right groove are respectively arranged at the two ends of the metal elastomer, the left piezoelectric ceramic is adhered in the left groove, and the right piezoelectric ceramic is adhered in the right groove.
Further, the metal elastomer comprises an elastomer middle part, an upper left bulge, a lower left bulge, an upper right bulge and a lower right bulge, wherein the upper left bulge and the lower left bulge are respectively arranged on two sides of one end of the elastomer middle part, the upper left bulge and the lower left bulge jointly form a left groove, the upper right bulge and the lower right bulge are respectively arranged on two sides of the other end of the elastomer middle part, and the elastomer middle part, the upper right bulge and the lower right bulge jointly form a left groove.
Further, the polarization direction of the exciting piezoelectric ceramic group is alongD occurs in the exciting piezoelectric ceramic group when an electric field in the circumferential direction is applied to the exciting piezoelectric ceramic group in the radial direction 15 Mode torsional vibration drives the metal elastomer to generate bending vibration, and then makes left concave joint and right concave joint promote the bottom of left flexible drive foot and the bottom of right flexible drive foot respectively and take place the vibration in radial direction, and the rotor forms radial displacement constraint to the top of left flexible drive foot and the top of right flexible drive foot simultaneously, and the radial vibration of bottom is converted into the circumferential vibration on top to left flexible drive foot and right flexible drive foot under the radial vibration of bottom and the effect of top constraint, realizes radial transduction to the drive rotor is rotatory.
Further, when the left piezoelectric ceramic and the right piezoelectric ceramic at two ends of the metal elastomer are respectively excited by applying electric fields in the same direction along the circumferential direction, the torsional deformation directions of the left piezoelectric ceramic and the right piezoelectric ceramic are the same, the metal elastomer is driven to generate I-type standing wave type bending vibration, the vibration time phase difference of the left flexible driving foot and the right flexible driving foot in the radial direction is 180 degrees, and the motor is in a first working mode.
Further, when the left piezoelectric ceramic and the right piezoelectric ceramic at two ends of the metal elastomer are respectively excited by applying a circumferentially reverse electric field, the torsion deformation directions of the left piezoelectric ceramic and the right piezoelectric ceramic are opposite, the metal elastomer is driven to generate II-type standing wave type bending vibration, the vibration time phase difference of the left flexible driving foot and the right flexible driving foot in the radial direction is 0 DEG, and the motor is in a second working mode.
The beneficial effects of the invention are as follows:
1. this kind of radial transduction formula ultrasonic motor based on fixed arc stator unit in center, the middle part of stator unit passes through the center fixed orifices and realizes fixing, and the center fixed orifices also provides radial displacement constraint to stator unit simultaneously, compares with traditional both ends fixed mode, and not only fixed mode is more simplified, and under the same vibration mode condition, can make the biggest position of amplitude double, consequently can arrange more driving feet, can effectively improve the drive capability of motor. The radial transduction type ultrasonic motor based on the central fixed type arc stator unit has the advantages that the structural design is simplified, the size is small, and the driving capability of the motor can be greatly improved.
2. In the invention, the flexible driving foot group is of a flexible structure, radial vibration can be converted into circumferential vibration, and compared with the traditional rigid driving foot, the flexible driving foot group can be simply arranged at the position with the largest radial amplitude without considering circumferential vibration, so that the selection of the working mode of the stator unit is simpler, and the structural design of the stator unit, the arrangement of the flexible driving foot group and the excitation scheme of the excitation piezoelectric ceramic group are also simpler.
3. The radial transduction type ultrasonic motor based on the central fixed type arc stator unit can better compensate processing and installation errors in the motor manufacturing process through radial constraint of the central fixed hole of the stator unit and use of the flexible driving foot group, and can ensure that all driving feet of the flexible driving foot group have similar driving foot-rotor contact states.
Drawings
FIG. 1 is a schematic diagram of a radial transduction ultrasonic motor based on a central fixed arcuate stator unit in accordance with an embodiment of the present invention;
the embodiment of fig. 2 is a schematic structural view of a stator unit;
FIG. 3 is a schematic diagram illustrating the inverse piezoelectric effect when the left piezoelectric ceramic is excited in the embodiment;
FIG. 4 is a schematic illustration of deformation of a metal elastomer in an operational mode in an embodiment;
FIG. 5 is a schematic illustration of deformation of a metal elastomer in mode two of operation in an embodiment;
FIG. 6 is a schematic diagram of the trajectory of the bottom mass diagonal linear motion of the left flexible drive foot in an embodiment;
FIG. 7 is a schematic diagram of the trajectory of the bottom mass diagonal linear motion of the right flexible drive foot in an embodiment;
wherein: 1-a rotor, 2-a stator unit, 3-a central fixing hole and 4-a gap;
21-metal elastomer, 22-left piezoelectric ceramic, 23-right piezoelectric ceramic, 24-left concave seam, 25-right concave seam, 26-left flexible driving foot, 27-right flexible driving foot, 28-left groove and 29-right groove;
211-elastomer middle, 212-upper left bulge, 213-lower left bulge, 214-upper right bulge, 215-lower right bulge;
six degrees of freedom directions of 1L, 2L, 3L, 4L, 5L and 6L-left piezoelectric ceramics, an XYZ-space coordinate system, an E-applied electric field direction, a P-ceramic polarization direction, a P1-left piezoelectric ceramic polarization direction, an E1-left piezoelectric ceramic applied electric field direction, a P2-right piezoelectric ceramic polarization direction and an E2-right piezoelectric ceramic applied electric field direction.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Examples
The utility model provides a radial transduction formula ultrasonic motor based on fixed arc stator unit in center, as in fig. 1 and 2, including rotor 1, rotor 1 adopts annular rotor 1, evenly encircle along circumference in the rotor 1 and be equipped with a plurality of stator units 2, be equipped with clearance 4 between adjacent stator unit 2, stator unit 2 adopts arc stator unit, the middle part of stator unit 2 is equipped with central fixed orifices 3, stator unit 2 includes metal elastomer 21, excitation piezoceramics group 22, left side concave seam 24, right side concave seam 25 and flexible driving foot group, excitation piezoceramics group 22 includes left piezoceramics 22 and right piezoceramics 23, both ends of metal elastomer 21 are located respectively to left piezoceramics 22 and right piezoceramics 23, the outside both ends of metal elastomer 21 are equipped with left concave seam 24 and right concave seam 25 respectively, flexible driving foot group includes left flexible driving foot 26 and right flexible driving foot 27, left side flexible driving foot 26's top is located in the left concave seam 24, left side flexible driving foot 26's top is contradicted the inboard of rotor 1, right side flexible driving foot 27's bottom is located in the right concave seam 25, right side flexible driving foot 27's top is contradicted rotor 1.
This kind of radial transduction formula ultrasonic motor based on fixed arc stator unit in center, the middle part of stator unit 2 is realized fixing through central fixed orifices 3, and central fixed orifices 3 also provide radial displacement constraint to stator unit 2 simultaneously, compares with traditional both ends fixed mode, and not only fixed mode is more simplified, and can make the biggest position of amplitude double under the same vibration mode condition, consequently can arrange more driving feet, can effectively improve the drive capability of motor. The radial transduction type ultrasonic motor based on the central fixed type arc stator unit has the advantages that the structural design is simplified, the size is small, and the driving capability of the motor can be greatly improved.
As shown in fig. 2, the left and right recess 24 and 25 are symmetrically disposed in the circumferential direction with respect to the center fixing hole 3, and the left and right recess 24 and 25 are respectively provided obliquely at both outer ends of the metal elastic body 21. The oblique directions of the left concave seam 24, the right concave seam 25, the left flexible driving foot 26 and the right flexible driving foot 27 are all the rotation direction of the rotor 1. The end of the left flexible drive foot 26 is welded or glued within the left recess 24 and the end of the right flexible drive foot 27 is welded or glued within the right recess 25.
As shown in fig. 2, the metal elastic body 21 is provided with a left groove 27 and a right groove 28 at both ends, the left piezoelectric ceramic 22 is bonded in the left groove 27, and the right piezoelectric ceramic 23 is bonded in the right groove 28. The metal elastomer includes elastomer middle part 211, upper left bulge 212, lower left bulge 213, upper right bulge 214 and lower right bulge 215, and the one end both sides of elastomer middle part 211 are equipped with upper left bulge 212 and lower left bulge 213 respectively, and elastomer middle part 211, upper left bulge 212 and lower left bulge 213 jointly form left recess 27, and the other end both sides of elastomer middle part 211 are equipped with upper right bulge 214 and lower right bulge 215 respectively, and elastomer middle part 211, upper right bulge 214 and lower right bulge 215 jointly form left recess 27.
The radial transduction type ultrasonic motor based on the central fixed type arc stator unit has the advantages that the polarization direction of the excitation piezoelectric ceramic group 22 is outwards along the radial direction, and when an electric field in the circumferential direction is applied to the excitation piezoelectric ceramic group 22, d occurs to the excitation piezoelectric ceramic group 22 15 Mode torsional vibration drives the metal elastic body 21 to generate bending vibration, so that the left concave seam 24 and the right concave seam 25 respectively push the bottom end of the left flexible driving foot 26 and the bottom end of the right flexible driving foot 27 to vibrate in the radial direction, meanwhile, the rotor 1 forms radial displacement constraint on the top end of the left flexible driving foot 26 and the top end of the right flexible driving foot 27, and the left flexible driving foot 26 and the right flexible driving foot 27 convert the radial vibration of the bottom end into the top end under the actions of the radial vibration of the bottom end and the top end constraintIs subjected to radial transduction, and drives the rotor 1 to rotate.
As shown in fig. 4, when the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23 at two ends of the metal elastic body 21 are respectively excited by an electric field in the same direction along the circumferential direction, the torsional deformation directions of the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23 are the same, so that the metal elastic body 21 is driven to generate i-type standing wave bending vibration, the vibration time phase difference of the left flexible driving foot 26 and the right flexible driving foot 27 in the radial direction is 180 degrees, and the motor is in a state of a working mode.
As shown in fig. 5, when the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23 at two ends of the metal elastic body 21 are respectively excited by applying electric fields in opposite directions along the circumferential direction, the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23 are in opposite torsional deformation directions, so as to drive the metal elastic body 21 to generate ii-type standing wave bending vibration, the vibration time phase difference of the left flexible driving foot 26 and the right flexible driving foot 27 in the radial direction is 0 °, and the motor is in a second working mode.
The radial transduction type ultrasonic motor based on the central fixed type arc stator unit has the stator unit 2 with the first working mode and the second working mode. In both modes of operation, the particles at the left recess 24 and the right recess 25 vibrate mainly in the radial direction, and the amplitude of the particles at the two recesses in the circumferential direction is smaller. In either mode one or mode two, the mass points at the left and right notches 24, 25 push the bottom ends of the left and right flexible drive feet 26, 27, respectively, to vibrate in the radial direction. The rotor 1 forms radial displacement constraint on the top ends of the left flexible driving foot 26 and the right flexible driving foot 27, and the left flexible driving foot 26 and the right flexible driving foot 27 convert the radial vibration of the bottom end into the circumferential vibration of the top end under the conditions of the radial vibration of the bottom end and the constraint of the top end, so that radial transduction is realized, and the rotor 1 is driven to rotate.
The radial transduction type ultrasonic motor based on the central fixed type arc stator unit is characterized in that the top end of a flexible driving foot end group is contacted with a rotor 1, and the flexible driving foot group applies precompression to the rotor 1 through self deformation. The left groove 27 and the right groove 28 which are respectively provided with a convex structure at the two ends of the metal elastic body 21 are respectively provided with a left piezoelectric ceramic 22 and a right piezoelectric ceramicAn electroceramic 23. The left piezoelectric ceramic 22 and the right piezoelectric ceramic 23 operate at d 15 In the torsional vibration operation mode, the vibration is transmitted to the metal elastic body 21, and the metal elastic body 21 is driven to generate bending vibration. The flexible driving foot group converts the radial displacement of the metal elastic body 21 into the circumferential displacement of the end part, so that the radial transduction is realized, and the rotor 1 is driven to rotate. The radial transduction type ultrasonic motor based on the central fixed arc stator unit has the advantages that the locating rod on the base can be penetrated in the central fixed hole 3 in the middle of the stator unit 2, the metal elastic body 21 can swing around the locating rod, the center of the stator unit 2 is fixed, the end part boundary is free, the structure is more compact, the processing and the assembly are more convenient, and the driving mode is simple.
In the invention, the flexible driving foot group is of a flexible structure, so that radial vibration can be converted into circumferential vibration, and compared with the traditional rigid driving foot, the flexible driving foot group can be simply arranged at the position with the largest radial amplitude without considering circumferential vibration, so that the selection of the working mode of the stator unit 2 is simpler, and the structural design of the stator unit 2, the arrangement of the flexible driving foot group and the excitation scheme of the excitation piezoelectric ceramic group 22 are also simpler. .
The radial transduction type ultrasonic motor based on the central fixed type arc stator unit can better compensate processing and installation errors in the motor manufacturing process through radial constraint of the central fixed hole 3 of the stator unit 2 and use of the flexible driving foot group, and can ensure that all driving feet of the flexible driving foot group have similar driving foot-rotor 1 contact states.
The principle of the radial transduction ultrasonic motor based on the central fixed arc stator unit for realizing the driving of the rotor 1 is described as follows:
as shown in fig. 3, the polarization directions of the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23 are radially outward, and both operate under torsional vibration when an electric field perpendicular to the polarization directions is applied to the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23. When the electric field direction is from left to right in the circumferential direction, torsional deformations of the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23 are each shown by a broken line in fig. 3.
Taking the left flexible driving foot 26 on the stator unit 2 as an example, when the power frequency is the working mode frequency, the metal elastic body 21 of the stator unit 2 vibrates in the radial direction, and the bottom end of the left flexible driving foot 26 also vibrates along with the metal elastic body 21.
When the bottom end of the left flexible driving foot 26 expands radially outward, the left flexible driving foot 26 deforms more due to the radial constraint of the rotor 1 on the top end of the left flexible driving foot 26, and the circumferential component of the stress generated by the expansion deformation generates a friction pushing force in the reverse direction to the rotor 1, while the radial component of the stress generated by the expansion deformation is directed outward.
When the bottom end of the left flexible driving foot 26 is contracted radially inward, the left flexible driving foot 26 is deformed to be reduced, and the circumferential component of the stress generated by the contraction deformation generates a forward rotation direction friction urging force on the rotor 1 while the radial component of the stress generated by the contraction deformation is directed inward.
Because the radial stress component generated by the expansion deformation is outward and the radial stress component generated by the deformation of the original left flexible driving foot 26 is in the same direction, and the radial stress component generated by the contraction deformation is inward and the radial stress component generated by the deformation of the original left flexible driving foot 26 is in the opposite direction, the friction pushing force of the end part of the left flexible driving foot 26 on the reverse direction generated by the rotor 1 during the expansion deformation is larger than the friction pushing force of the reverse direction generated by the end part of the left flexible driving foot 26 on the rotor 1 during the contraction deformation, so that the rotor 1 rotates along the opposite direction. The same as the left flexible driving foot 26, the right flexible driving foot 27 generates a larger friction driving force in the reverse rotation direction to the rotor 1 when expanding and deforming than in the forward rotation direction when contracting and deforming, so that the rotor 1 rotates in the reverse direction.
Fig. 4 is a schematic diagram showing the deformation of the metal elastic body 21 in the operation mode in the embodiment. In fig. 4, the solid line is the original state of the metal elastic body 21, and when the same-direction high-frequency electric field perpendicular to the polarization direction is applied to the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23, synchronous torsional vibration with the same time phase occurs in the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23, and the synchronous torsional vibration drives the two ends of the metal elastic body 21 to generate the type i standing wave bending vibration as shown in fig. 4, so that the motor works in the first working mode.
Fig. 5 is a schematic diagram showing the deformation of the metal elastic body 21 in the second operation mode in the embodiment. In fig. 5, the solid line is the original state of the metal elastic body 21, when a reverse high-frequency electric field perpendicular to the polarization direction is applied to the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23, asynchronous torsional vibration with opposite time phases occurs in the left piezoelectric ceramic 22 and the right piezoelectric ceramic 23, so that the metal elastic body 21 is driven to generate the ii-type standing wave bending vibration as shown in fig. 5, and the motor works in the second working mode.
Fig. 6 is a schematic diagram of the trajectory of the bottom dot diagonal linear motion of left flexible drive foot 26 in an embodiment. In fig. 6, the middle straight line represents the trajectory of the bottom dot diagonal linear motion of left flexible drive foot 26, arrow t1 represents the bottom dot motion direction of left flexible drive foot 26 during the first quarter power cycle, arrow t2 represents the bottom dot motion direction of left flexible drive foot 26 during the second quarter power cycle, arrow t3 represents the bottom dot motion direction of left flexible drive foot 26 during the third quarter power cycle, and arrow t4 represents the bottom dot motion direction of left flexible drive foot 26 during the fourth quarter power cycle.
No matter what kind of operation mode the motor is in operation mode one and operation mode two, the bottom track of left side drive foot is like arrow direction in fig. 6, and the bottom of left side flexible drive foot 26 is driven by the metal elastomer 21 who links to each other with it and is vibrated, and its motion track is oblique straight line, because circumferential vibration is less, and its circumferential direction vibration and radial direction vibration time phase are the same, so the contained angle of motion track and the left side drive foot position surface circumference tangential line of arc stator unit 2 is close and is less than 90.
Fig. 7 is a schematic diagram of the trajectory of the bottom dot diagonal linear motion of the right flexible drive foot 27 in an embodiment. In fig. 7, the middle straight line indicates the trajectory of the bottom dot diagonal linear motion of the right flexible drive foot 27, the arrow t1 indicates the bottom dot motion direction of the right flexible drive foot 27 during the first quarter power cycle, the arrow t2 indicates the bottom dot motion direction of the right flexible drive foot 27 during the second quarter power cycle, the arrow t3 indicates the bottom dot motion direction of the right flexible drive foot 27 during the third quarter power cycle, and the arrow t4 indicates the bottom dot motion direction of the right flexible drive foot 27 during the fourth quarter power cycle.
No matter what kind of operation mode the motor is in operation mode one and operation mode two, the bottom track of right flexible driving foot 27 is like the arrow direction in fig. 7, and the bottom of right flexible driving foot 27 is driven by the metal elastomer 21 that links to each other with it and is vibrated, and its motion track is oblique straight line, because circumferential vibration is less, and its circumferential direction vibration and radial direction vibration time phase place are opposite, therefore the contained angle of motion track and arc stator unit right flexible driving foot 27 position circumference direction tangential line is close and is less than 90.
The top end of the left flexible driving foot 26 converts radial direction vibration of the bottom end of the left flexible driving foot 26 into circumferential direction vibration of the top end of the left flexible driving foot 26 under radial constraint conditions applied by the rotor 1, the circumferential direction vibration generates friction thrust to the rotor 1 in the circumferential direction, and the reverse friction thrust is larger than the forward friction thrust.
The top end of the right flexible driving foot 27 converts radial direction vibration of the bottom end of the right flexible driving foot 27 into circumferential direction vibration of the top end of the right flexible driving foot 27 under radial constraint conditions applied by the rotor 1, the circumferential direction vibration generates friction thrust to the rotor 1 in the circumferential direction, and the reverse friction thrust is larger than the forward friction thrust.
As shown in fig. 1, the eight flexible driving forces of the four sets of stator units 2 are all reverse friction thrust forces greater than forward friction thrust forces to the rotor 1 in the circumferential direction in one power supply cycle, and they jointly drive the rotor 1 to rotate in the reverse direction as indicated by the arrow in fig. 1.
The radial transduction ultrasonic motor based on the central fixed type arc stator unit is central fixed, radial transduction of a flexible driving foot group is achieved by means of the metal elastic body 21, a plurality of arc stator units 2 are connected in parallel in the circumferential direction to form the radial transduction ultrasonic motor, the motor is provided with a plurality of same stator units 2, the stator units 2 are of arc structures, and working vibration modes of the stator units 2 are single-mode bending vibration. Gaps 4 are arranged between adjacent stator units 2, the stator units 2 are mutually independent, the center of each stator unit 2 is fixed, the end part is free, the precompression is generated by the self deformation of the flexible driving foot group, and the self-adaptive precompression type motor has the advantages of compact structure, self-adaptive precompression, higher driving capability and easiness in installation.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (9)
1. Radial transduction formula ultrasonic motor based on fixed type arc stator unit in center, including the rotor, the rotor adopts annular rotor, its characterized in that: the rotor is internally and circumferentially evenly surrounded and is equipped with a plurality of stator units, be equipped with the clearance between adjacent stator units, stator unit adopts arc stator unit, stator unit's middle part is equipped with the center fixed orifices, stator unit includes metal elastomer, excitation piezoceramics group, left side concave joint, right side concave joint and flexible drive foot group, excitation piezoceramics group includes left piezoceramics and right piezoceramics, the both ends of metal elastomer are located respectively to left piezoceramics and right piezoceramics, metal elastomer's outside both ends are equipped with left concave joint and right concave joint respectively, flexible drive foot group includes left flexible drive foot and right flexible drive foot, left flexible drive foot's bottom is located in the left concave joint, left flexible drive foot's top is contradicted the inboard of rotor, right flexible drive foot's bottom is located in the right concave joint, right flexible drive foot's top is contradicted the inboard of rotor.
2. The radial transduction ultrasonic motor based on a center fixed type arc stator unit of claim 1 wherein: the left concave seam and the right concave seam are symmetrically arranged in the circumferential direction about the central fixing hole, and the left concave seam and the right concave seam are respectively obliquely arranged at two ends of the outer side of the metal elastic body.
3. The radial transduction ultrasonic motor based on a center fixed type arc stator unit of claim 2 wherein: the oblique directions of the left concave seam, the right concave seam, the left flexible driving foot and the right flexible driving foot are all the rotation directions of the rotor.
4. The radial transduction ultrasonic motor based on a center fixed type arc stator unit of claim 1 wherein: the stator unit adopts an arc-shaped stator unit with a fixed center and free end part, and the stator units are connected in parallel in the circumferential direction in the rotor to jointly drive the rotor to rotate.
5. A radial transduction ultrasonic motor based on a central fixed type arc stator unit according to any one of claims 1 to 5, characterized in that: the left groove and the right groove are respectively arranged at two ends of the metal elastic body, the left piezoelectric ceramic is adhered in the left groove, and the right piezoelectric ceramic is adhered in the right groove.
6. The radial transduction ultrasonic motor based on a center fixed type arc stator unit of claim 5 wherein: the metal elastomer includes elastomer middle part, upper left bulge, lower left bulge, upper right bulge and lower right bulge, and the one end both sides at elastomer middle part are equipped with upper left bulge and lower left bulge respectively, and elastomer middle part, upper left bulge and lower left bulge form left recess jointly, and the other end both sides at elastomer middle part are equipped with upper right bulge and lower right bulge respectively, and elastomer middle part, upper right bulge and lower right bulge form left recess jointly.
7. A radial transduction ultrasonic motor based on a central fixed type arc stator unit according to any one of claims 1 to 6, wherein: the polarization direction of the exciting piezoelectric ceramic group is outwards along the radial direction, and when an electric field in the circumferential direction is applied to the exciting piezoelectric ceramic group, d occurs to the exciting piezoelectric ceramic group 15 Mode torsional vibration drives the metal elastomer to generate bending vibration, so that the left concave seam and the right concave seam respectively push the bottom end and the right end of the left flexible driving footThe bottom of flexible drive foot takes place the vibration in radial direction, and the rotor forms radial displacement constraint to the top of left flexible drive foot and the top of right flexible drive foot simultaneously, and the radial vibration of bottom is converted into the circumferential vibration on top to left flexible drive foot and right flexible drive foot under the radial vibration of bottom and the effect of top constraint, realizes radial transduction to drive rotor is rotatory.
8. The radial transduction ultrasonic motor based on a center fixed type arc stator unit of claim 7 wherein: when the left piezoelectric ceramic and the right piezoelectric ceramic at two ends of the metal elastomer are respectively excited by an electric field in the same direction along the circumferential direction, the torsional deformation directions of the left piezoelectric ceramic and the right piezoelectric ceramic are the same, the metal elastomer is driven to generate I-type standing wave bending vibration, the vibration time phase difference of the left flexible driving foot and the right flexible driving foot in the radial direction is 180 degrees, and the motor is in a first working mode.
9. The radial transduction ultrasonic motor based on a center fixed type arc stator unit of claim 7 wherein: when the left piezoelectric ceramic and the right piezoelectric ceramic at two ends of the metal elastomer are respectively excited by applying a reverse electric field along the circumferential direction, the torsion deformation directions of the left piezoelectric ceramic and the right piezoelectric ceramic are opposite, the metal elastomer is driven to generate II-type standing wave type bending vibration, the vibration time phase difference of the left flexible driving foot and the right flexible driving foot in the radial direction is 0 DEG, and the motor is in a second working mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310659339.1A CN116885971A (en) | 2023-06-05 | 2023-06-05 | Radial transduction type ultrasonic motor based on center fixed arc stator unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310659339.1A CN116885971A (en) | 2023-06-05 | 2023-06-05 | Radial transduction type ultrasonic motor based on center fixed arc stator unit |
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| Publication Number | Publication Date |
|---|---|
| CN116885971A true CN116885971A (en) | 2023-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310659339.1A Pending CN116885971A (en) | 2023-06-05 | 2023-06-05 | Radial transduction type ultrasonic motor based on center fixed arc stator unit |
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| Country | Link |
|---|---|
| CN (1) | CN116885971A (en) |
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2023
- 2023-06-05 CN CN202310659339.1A patent/CN116885971A/en active Pending
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