CN1176519C - Two-way rotating longitudinal-bending standing-wave supersonic motor - Google Patents
Two-way rotating longitudinal-bending standing-wave supersonic motor Download PDFInfo
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- CN1176519C CN1176519C CNB001061720A CN00106172A CN1176519C CN 1176519 C CN1176519 C CN 1176519C CN B001061720 A CNB001061720 A CN B001061720A CN 00106172 A CN00106172 A CN 00106172A CN 1176519 C CN1176519 C CN 1176519C
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- 238000005452 bending Methods 0.000 title claims abstract description 14
- 229910052802 copper Inorganic materials 0.000 claims abstract description 14
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 13
- 239000002131 composite material Substances 0.000 claims abstract description 6
- 230000005284 excitation Effects 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 2
- 239000002184 metal Substances 0.000 abstract description 3
- 229910052751 metal Inorganic materials 0.000 abstract description 3
- 230000002457 bidirectional effect Effects 0.000 abstract 1
- 239000000919 ceramic Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 235000014676 Phragmites communis Nutrition 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241000446313 Lamella Species 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000010358 mechanical oscillation Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012536 packaging technology Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Abstract
The present invention belongs to the technical field of ultrasonic motors and comprises a stator with a longitudinally bent Langevin composite vibrator, and a rotor. A copper electrode sheet is clamped in a longitudinal vibration piezoelectric sheet, and an upper and a lower metal matching blocks are two hollow cylindrical bodies in which shafts are inserted. A bending vibration sheet is fixed at one end of the vibrator, the rotor is pressed on the bending sheet, and the piezoelectric sheet is stuck to one side surface of the bending vibration sheet. The motor of the present invention has the advantages of the existing original detail standing wave as well as realizes the bidirectional rotation. Besides, the motor can regulate operating parameters, such as torque moment, rotation speed, etc., through the regulation of the phase positions of longitudinal vibration and the bending vibration.
Description
Technical field the invention belongs to field of ultrasonic technology application, particularly the structural design of standing-wave supersonic motor.
The background technology piezoelectric ultrasound motor is an inverse piezoelectric effect of utilizing piezoelectric ceramic, produces ultrasonic vibration at stator surface, and is driven a kind of motor of rotor motion by stator.Ultrasonic motor has the following characteristics that are better than the common electrical magnetic motor:
1, the slow-speed of revolution, big torque do not need reducing gear can directly drive load.
2, volume is little, structure is flexible, and power to volume ratio is 3-10 a times of electromagnetic motor.
3, starting stops response soon, and the response time is less than 1 millisecond.
4, do not produce electromagnetic interference, be not subjected to electromagnetic interference yet.
5, self-sustaining moment is arranged, gearless gap, but precision positioning.
6, move quiet noiseless.
Accompanying drawing 1 is the single resonance mode type standing-wave supersonic motor structural representation of bear field open-birth (Kumada).Each several part specifies as follows:
This motor constitutes stator 11 by the upright beam 1152 of a longitudinal vibration langevin transducer, a band disk of skewed slot 1151 and top thereof is compound, the disk of band skewed slot and the upright beam of top thereof are referred to as twisted coupling device 115, and it can be converted to the compressional vibration that is produced by langevin transducer the twisting vibration (distortion beam and skewed slot are at angle) of square beam on the disk.The longitudinal vibration langevin transducer is made up of by two piezoelectric ceramic pieces 112 of bolt clamping two metal matching blocks 111,114, in the middle of two piezoelectric ceramic pieces 112 be the thin copper electrode sheet of one deck as signal electrode, also have a slice copper electrode sheet to be connected as ground electrode with metal matching blocks.Between two plate electrodes, add the ac signal of tens KHz, just can on potsherd, motivate mechanical oscillation longitudinally by inverse piezoelectric effect.The part of this extensional vibration makes disk produce flexural vibrations, and the flexural vibrations of disk are converted to the twisting vibration of beam again.Another part compressional vibration is passed to the upper surface of beam by disk, and what form the beam-ends face indulges, turns round complex vibration.Rotor 12 is pressed on the stator by bolt and pressing spring 14, bearing 13 is installed between rotor and the bolt is located, by the precompression of 15 adjustable springs 14 of the pressurizing nut on the bolt.Stator by exciting after, by the frictional force drives rotor rotation between the stator and rotor.The overall dimensions φ 30mm * 60mm of this motor, input voltage 100V, power 15w, operating frequency 40KHz, rotating speed 120rpm, moment of torsion is up to 1.3Nm, efficient is up to 80%, peak power output density 80w/kg, (and the peak power output density of electromagnetic motor of the same type is 30w/kg).Although this standing-wave supersonic motor has above many advantages, because there is following problem in this motor, its application has been subjected to very big restriction.
At first, the rotation direction of this standing-wave supersonic motor can only be to the rotation of direction for same driving frequency, if commutation then need seek other frequency drives, and driving moment is different with the former, and efficient also can descend a lot.Secondly, this standing-wave supersonic motor can't be adjusted the phase difference between longitudinal vibration, the torsional vibration and the power of vibration respectively, also can't adjust parameters such as torque and rotating speed respectively.
Summary of the invention the objective of the invention is to propose a kind of two-way rotating longitudinal-bending standing-wave supersonic motor for overcoming the weak point of prior art, and this motor has not only been inherited the advantage of original standing-wave supersonic motor, and has realized the two-way rotation of motor; This in addition motor also can be adjusted operational factors such as torque and rotating speed by voltage, the phase place of adjusting longitudinal vibration and flexural vibrations.
A kind of two-way rotating longitudinal-bending standing-wave supersonic motor that the present invention proposes, comprise and contain a vertical curved stator that vibrates ten thousand bright composite oscillators, and rotor, this stator is by the last stator match block that has negative thread/pin thread, and corresponding with it have pin thread/or the following stator match block of negative thread clamping is integral composition to longitudinal vibration piezoelectric chip with many by screw thread, accompany the copper electrode sheet as a signal electrode in the middle of every pair of longitudinal vibration piezoelectric chip, it is characterized in that, on said, following stator match block is two hollow cylinders, one output shaft inserts wherein, the outer face of the last stator match block of this stator is along circumferentially being processed with even distribution, at least two flexural vibration element, at least one lateral vertical of said each flexural vibration element is in the crooked piezoelectric patches that circumferentially is pasted with its excitation flexural vibrations; Said rotor is enclosed within the outer end of the last stator match block on this output shaft, holds tightly by key and axle, and applies precompression by clamp nut and spring this rotor is pressed on the flexural vibration element of stator match block outer face on this.
The present invention also can comprise second rotor and in the outer face of the following stator match block of said stator along circumferentially being processed with even distribution, at least two flexural vibration element, at least one lateral vertical of said each flexural vibration element is in the crooked piezoelectric patches that circumferentially is pasted with its excitation flexural vibrations; Second rotor is enclosed within the outer end of the following stator match block on this output shaft, holds tightly by key and axle, applies precompression by clamp nut and spring this rotor is pressed in down on the flexural vibration element of stator match block outer face.
The present invention has following characteristics and effect:
1. adopt controlled vertical curved pattern can realize control easily to motor commutation and other behavior in service;
2. the number of flexural vibration element can be 2,3,4,6 etc. on the stator;
3. the plane is processed in the end of flexural vibration element, and interior circle or cylindrical can be processed into the contact zone of the conical surface with increase rotor and stator, and can utilize the alignment and the stability of the locating features assurance motor running of the V-arrangement conical surface;
4. can use single, double rotor structure;
5. the use dual-rotor structure can save location bearing, and structure is more simplified;
6. this motor does not have specific (special) requirements on manufacturing and packaging technology, is easy to carry out mass production.
7. this motor can obtain more high-power volume ratio by using dual-rotor structure.
8. owing to can realize easily that the commutation of motor makes the application scenario of motor wider.Can be used for the field that axle output standing-wave supersonic motor uses.As driving navigation system, joint of robot is adjusted the elevation angle, the lifting of car seat, the switch of pump or valve etc.
Description of drawings
Fig. 1 is the single resonance mode type of a bear field open-birth standing-wave supersonic motor structural representation.
Fig. 2 is twin lamella of the present invention-tangent bend vibrating reed type longitudinal-bending standing-wave supersonic motor example structure schematic diagram;
Wherein, (a) be axial section; (b) be the A-A cross section cut-away view of (a).
Fig. 3 is a single rotor twin beams single-chip longitudinal-bending standing-wave motor example structure schematic diagram of the present invention;
Wherein, (a) be axial section; (b) be the B-B cross section cut-away view of (a).
Embodiment two kinds of embodiment of the present invention are described with reference to the accompanying drawings as follows:
Embodiment one is a kind of birotor-twin lamella-tangent bend vibrating reed longitudinal-bending standing-wave supersonic motor, its structure as shown in Figure 2, among the figure: comprise axle 21, tighten nut 22, disc spring 23, pad 24, upper rotor part 25, go up stator match block 26, flexural vibration element 261, crooked piezoelectric patches 262, facet 263 (during installation fixing with), longitudinal vibration piezoelectric chip 27, copper electrode sheet 28, stator match block 29, lower rotor part 210, clamp nut 211, pad 212 down down.
The stator major part comprises ten thousand composite oscillators that compressional vibration is bright, ten thousand bright composite oscillators of compressional vibration are made by the screw thread clamping by longitudinal vibration piezoelectric chip 27 and 26 times stator match block 29 of last stator match block, the top of ten thousand bright composite oscillators is flexural vibration element 261, applies the upper end that precompression is pressed in rotor 25 flexural vibration element by clamp nut 22 and spring 23.As scheme shown in a, as required, flexural vibration element can be 2,3,4 etc.Piezoelectric patches (double wafer structure) is all pasted in the flexural vibration element both sides, and shown in Fig. 2 b, crooked piezoelectric patches 262 sticks on the side of flexural vibration element 261.Can make it to produce needed flexural vibrations when on these crooked piezoelectric patches, adding one road signal of telecommunication.Under the excitation of another road signal of telecommunication, produce extensional vibration.Adjusting flexural vibrations leaf length and thickness can make the vibration frequency of flexural vibrations consistent with the longitudinal vibration vibration frequency.Compressional vibration and flexural vibrations produce complex vibration in the upper surface of flexural vibration element, the rotor that is pressed in the end is produced rotatablely move.Use two independent, the signal of telecommunication that phase difference is adjustable encourage compressional vibration piezoelectric patches and crooked piezoelectric patches respectively, can realize the adjusting to two kinds of vibration phase differences, make the anti-phase reverse rotation that realizes rotor of the phase place that is added in the signal of telecommunication on the flexural vibration element.Driving voltage height by adjusting longitudinal vibration and flexural vibrations respectively or adjust precompression between rotor and stator by clamp nut can be adjusted the driving moment of motor and rotating speed etc.
The motor assembling can be carried out with reference to following steps: at first crooked piezoelectric patches should be pasted each relevant position, flexural vibration element both sides on stator match block, the following stator match block; Treat after the adhesive cures longitudinal vibration piezoelectric chip and copper electrode sheet to be stacked (being followed successively by copper electrode, piezoelectric patches, copper electrode, piezoelectric patches from top to bottom) in certain sequence, binding agent is coated on each surface, on the male threaded pipe through following stator match block, last stator match block combines with following stator match block by negative thread, and compressional vibration piezoelectric patches and copper electrode sheet are clipped in the middle of the two stator match block; Treat after the adhesive cures that the stator match block promptly forms an integral body with piezoelectric element up and down, the hollow tube of axle from stator penetrated, key is installed on the axle, again rotor is installed on the axle, by key with spool hold tightly; Pad, disc spring ring are installed on the axle by order illustrated, and the nut of screwing on makes spring be subjected to certain precompression; On the copper electrode sheet, weld lead at last, connect drive circuit motor is debugged.
Embodiment two is a kind of single rotor-single-chip-tangent bend sheet longitudinal-bending standing-wave motor, its structure as shown in Figure 3, each critical piece is described as follows:
31---axle 32---nut 33---pad 34---pad 35---rotor 36---match block 361 on the stator---crooked piezoelectric patches 362---flexural vibration element 363---facet (during installation fixing with) 37---bearing 38---longitudinal vibration piezoelectric chip 39---copper electrode sheet 310---match block 311 under the stator---bearing 312---pad 313---disc spring rings
This motor is similar to embodiment one motor operations principle, but different on the structure, and this motor has only a rotor.Specifically can be with reference to figure 3ab.
Installation step:
1. flexural vibrations piezoelectric patches 361 is bonded to the ad-hoc location of flexural vibration element on the stator, have only one side to paste crooked piezoelectric patches (single-chip) on the flexural vibration element, the particular location of pasting should be determined according to corresponding design, treats that crooked piezoelectric patches firmly contacts with stator;
2. longitudinal vibration piezoelectric chip 38 and copper electrode sheet 39 are stacked in certain sequence, binding agent is coated on each surface, through on the following stator match block match block, match block on the stator is screwed to down on the match block up to longitudinal vibration piezoelectric chip by tight pressing by screw thread, it is as a whole that each several part becomes;
3. bearing 311 is pressed in the stator in the corresponding bearing pedestal, axle 31 is therefrom penetrated;
4. key is contained on the axle, rotor 35 through on the axle, is held tightly by key and axle;
5. pad 33,34,312, disc spring ring 313 are installed on the axle nut 32 of screwing on by order illustrated;
6. the thin wire of burn-oning on copper electrode sheet and crooked piezoelectric patches surface is convenient to connect with corresponding drive circuit;
7. connect with the mains, motor is debugged.
Supplementary notes:
The facet 63 that is provided with on the stator is for the ease of installing, motor performance not being had too big influence.
By the deformation degree of adjusting nut adjustable springs, and then the precompression size between the scalable stator and rotor.
Each part dimension of motor need calculate and experiment so that motor operations reaches optimum efficiency.
Claims (2)
1, a kind of two-way rotating longitudinal-bending standing-wave supersonic motor, comprise and contain a vertical curved stator that vibrates ten thousand bright composite oscillators, and rotor, this stator is by the last stator match block that has negative thread/pin thread, and the corresponding with it following stator match block that has pin thread or negative thread clamping is integral composition to longitudinal vibration piezoelectric chip with many by screw thread, accompany the copper electrode sheet as a signal electrode in the middle of every pair of longitudinal vibration piezoelectric chip, it is characterized in that, on said, following stator match block is two hollow cylinders, one output shaft inserts wherein, the outer face of the last stator match block of this stator is along circumferentially being processed with even distribution, at least two flexural vibration element, at least one lateral vertical of said each flexural vibration element is in the crooked piezoelectric patches that circumferentially is pasted with its excitation flexural vibrations; Said rotor is enclosed within the outer end of the last stator match block on this output shaft, holds tightly by key and axle, and applies precompression by clamp nut and spring this rotor is pressed on the flexural vibration element of stator match block outer face on this.
2, two-way rotating longitudinal-bending standing-wave supersonic motor as claimed in claim 1, it is characterized in that, also comprise second rotor and in the outer face of the following stator match block of said stator along circumferentially being processed with even distribution, at least two flexural vibration element, at least one lateral vertical of said each flexural vibration element is in the crooked piezoelectric patches that circumferentially is pasted with its excitation flexural vibrations; Second rotor is enclosed within the outer end of the following stator match block on this output shaft, holds tightly by key and axle, applies precompression by clamp nut and spring this rotor is pressed in down on the flexural vibration element of stator match block outer face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB001061720A CN1176519C (en) | 2000-04-28 | 2000-04-28 | Two-way rotating longitudinal-bending standing-wave supersonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB001061720A CN1176519C (en) | 2000-04-28 | 2000-04-28 | Two-way rotating longitudinal-bending standing-wave supersonic motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1267950A CN1267950A (en) | 2000-09-27 |
| CN1176519C true CN1176519C (en) | 2004-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB001061720A Expired - Fee Related CN1176519C (en) | 2000-04-28 | 2000-04-28 | Two-way rotating longitudinal-bending standing-wave supersonic motor |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100375380C (en) * | 2004-07-30 | 2008-03-12 | 清华大学 | Curve swing head supersonic mciro motor composed of multiple piezoelectric lamination pile transducer |
| CN100367650C (en) * | 2004-09-29 | 2008-02-06 | 清华大学 | Micro supersonic motor device using magnetic pressure |
| CN100488020C (en) * | 2005-12-12 | 2009-05-13 | 南京航空航天大学 | Linear ultrasonic motor |
| JP4506704B2 (en) * | 2006-03-28 | 2010-07-21 | セイコーエプソン株式会社 | Piezoelectric actuator |
| CN105429508A (en) * | 2015-12-18 | 2016-03-23 | 南京航空航天大学 | Sandwich type piezoelectric driving track traveling device and working method thereof |
| CN111756272A (en) * | 2020-07-09 | 2020-10-09 | 四川航天烽火伺服控制技术有限公司 | Double-output servo mechanism |
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2000
- 2000-04-28 CN CNB001061720A patent/CN1176519C/en not_active Expired - Fee Related
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| CN1267950A (en) | 2000-09-27 |
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