CN1388637A - Monostator three-freedon supersonic motor - Google Patents
Monostator three-freedon supersonic motor Download PDFInfo
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- CN1388637A CN1388637A CN02113163A CN02113163A CN1388637A CN 1388637 A CN1388637 A CN 1388637A CN 02113163 A CN02113163 A CN 02113163A CN 02113163 A CN02113163 A CN 02113163A CN 1388637 A CN1388637 A CN 1388637A
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- monostator
- freedon
- piezo ceramic
- supersonic motor
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- 239000000919 ceramic Substances 0.000 claims abstract description 24
- 239000002184 metal Substances 0.000 claims abstract description 17
- 238000005516 engineering process Methods 0.000 abstract description 3
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 2
- 238000002604 ultrasonography Methods 0.000 description 7
- 239000002245 particle Substances 0.000 description 3
- 230000005284 excitation Effects 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 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
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Abstract
The single-stator and three-freedom supersonic motor includes rotor and stator and features the spherical rotor and the stator structure comprising three piezoelectric ceramic elements sandwiched between metal blocks and electrodes constituting one integral via screw bolt. Compared with available technology, the supersonic motor has simple structure, can realize three-freedom movement precisely and has wide application foreground in aeronautics, astronautics, medical treatment, robot, bionics and other high-tech fields.
Description
Technical field:
Monostator three-freedon supersonic motor of the present invention belongs to ultrasound electric machine.
Background technology:
Ultrasound electric machine is because of having the unexistent characteristics of electromagnetic machine, and have a wide range of applications in fields such as Aeronautics and Astronautics, medical treatment, MEMS (micro electro mechanical system), research and development to ultrasound electric machine, each developed country all pays much attention to, but majority is the research that is limited to the single-degree-of-freedom ultrasound electric machine, along with science and technology and production high development, press for multivariant ultrasound electric machine.Therefore, begin one's study and develop two degrees of freedom, Three Degree Of Freedom and multivariant ultrasound electric machine from nineteen nineties both at home and abroad.But mostly be spherical spinner and multiple stators constitutes.Its complex structure, the cost height is not easy to apply.
1998, Takafumimano etc. developed the principle model machine of Monostator three-freedon motor.The combination in twos of only having inquired into three mode theoretically can realize three degrees of freedom of movement.Is particular problem is more in the reality: how rotor structure arranged? how is coupling between the Three Degree Of Freedom vibration eliminated? how is precompression implemented? or the like.
The object of the present invention is to provide a kind of simple in structurely, can accurately realize the Monostator three-freedon supersonic motor of three-degree-of-freedom motion.For realizing this purpose, the formation of Monostator three-freedon supersonic motor of the present invention is to be made of stator and rotor.Be characterized in that rotor is a spherical spinner, stator constitutes holistic single stator by three groups of piezo ceramic element and electrodes that are sandwiched between the metal derby (elastomer) by bolt, wherein there are two groups of piezo ceramic elements and electrode to be sandwiched in simultaneously between two blocks of metal derbies, be used for exciting the flexural vibrations of stator, the 3rd group of piezo ceramic element and electrode are sandwiched in addition between two blocks of metal derbies, are used for exciting the extensional vibration of stator.Single stator has cannelure with the contacted metal derby of the spherical spinner outside topmost, its objective is for the amplitude that increases vibration and adjusts frequency, thereby improve motor properties.
Description of drawings:
Fig. 1 is the Monostator three-freedon supersonic motor structural representation.
Fig. 2 is piezo ceramic element area polarizing form and order of arranging in stator and orientation schematic diagram.
Label title among Fig. 1: 1, spherical spinner; 2, the 5,7, the 8th, metal derby; 3, the 4, the 6th, piezo ceramic element; 9, bolt.
Be respectively A, B, three groups of piezo ceramic elements of C among Fig. 2.
Embodiment
Narrate the specific embodiment of the present invention and operation principle with reference to the accompanying drawings.
As shown in Figure 1, spherical spinner 1 places the stator upper end, stator constitutes holistic single stator structure by A, B, three groups of piezo ceramic element and electrodes that are sandwiched between the metal derby of C by bolt 9, wherein two groups of piezo ceramic elements of A, B and electrode 3 and 4 are sandwiched between metal derby 2 and the metal derby 5 simultaneously, and C group piezo ceramic element 6 is sandwiched between metal derby 5 and the metal derby 7.Single stator upper end has cannelure with the contacted metal derby of spherical spinner 2 outsides, to increase amplitude and to adjust frequency, improves motor performance.The polarised direction of piezo ceramic element is shown in "+" among Fig. 2 and "-".
The present invention utilizes piezo ceramic element to encourage the vibration of Monostator three-freedon supersonic motor stator to produce required operation mode, wherein the piezo ceramic element of two groups of A and B is used for exciting two orthogonal flexural vibrations in space, and C group piezo ceramic element is used to excite the extensional vibration of stator.Realize the three degree of freedom motion of Monostator three-freedon supersonic motor by combination in twos.
Monostator three-freedon supersonic motor is after logical phase difference is 90 ° high-frequency alternating current on the piezo ceramic element of A group and B group around the required mode of Z axle rotation, utilize two times that the inverse piezoelectric effect of piezo ceramic element inspires stator upward, differ the second order flexural vibration mode of freedom-free beam of 90 ° on the space.Synthetic by moving, the arbitrary particle motion trace on the stator end is oval (abbreviation elliptic motion).The frictional force drives rotor that CONTACT WITH FRICTION by rotor and stator produces rotates around the Z axle.
When Monostator three-freedon supersonic motor rotates required mode around X-axis is to be 90 ° the high-frequency ac signal of telecommunication by lead to the two-phase phase difference on B group and C group piezo ceramic element, swashs the single order extensional vibration mode that stator freedom-free bar and the second order flexural vibration mode of freedom-free beam simultaneously.By synthesizing of motion, the particle on the stator end produces elliptic motion.Producing the frictional force drives rotor by stator end with contacting of rotor rotates around X-axis.
When Monostator three-freedon supersonic motor required mode when Y-axis is rotated is to be 90 ° the high-frequency ac signal of telecommunication by logical two-phase phase difference on A group and C group piezo ceramic element, sharp simultaneously come from by-the single order extensional vibration mode of free bar and the second order flexural vibration mode of freedom-free beam.By synthesizing of motion, the arbitrary particle on the stator end produces elliptic motion.Contacting generation frictional force drives rotor with rotor by stator rotates around Y-axis.
The A of excitation flexural vibrations and B group piezo ceramic element are positioned at the crest place of this rank mode of flexural vibration, and the C group piezo ceramic element of excitation extensional vibration is positioned at the node place of this rank longitudinal mode.
Ultrasound electric machine of the present invention has wide application prospect in high-tech sectors such as Aeronautics and Astronautics, medical treatment, robot, bionics.
Claims (3)
1, a kind of Monostator three-freedon supersonic motor comprises stator and rotor.It is characterized in that stator constitutes holistic single stator structure by three groups of piezo ceramic element and electrodes that are sandwiched between the metal derby by bolt.
2, according to the described Monostator three-freedon supersonic motor of claim 1, it is characterized in that three groups of piezo ceramic elements that are sandwiched between the metal derby have two groups of piezo ceramic elements and electrode to be sandwiched in simultaneously between two blocks of metal derbies, the 3rd group of piezo ceramic element and electrode are sandwiched in addition between two blocks of metal derbies.
3,, it is characterized in that single stator has cannelure with the contacted metal derby of the spherical spinner outside topmost according to claim 1 or 2 described Monostator three-freedon supersonic motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN02113163A CN1388637A (en) | 2002-06-14 | 2002-06-14 | Monostator three-freedon supersonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN02113163A CN1388637A (en) | 2002-06-14 | 2002-06-14 | Monostator three-freedon supersonic motor |
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| Publication Number | Publication Date |
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| CN1388637A true CN1388637A (en) | 2003-01-01 |
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| CN02113163A Pending CN1388637A (en) | 2002-06-14 | 2002-06-14 | Monostator three-freedon supersonic motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101145741B (en) * | 2007-08-24 | 2010-08-11 | 东南大学 | Dual-stator 3-freedom ultrasonic motor |
| CN101277077B (en) * | 2007-03-27 | 2012-03-21 | 株式会社东芝 | Piezoelectric motor and piezoelectric motor system |
| CN104022678A (en) * | 2014-06-25 | 2014-09-03 | 哈尔滨工业大学 | Partitioning stimulation type oscillator for three-degree-of-freedom ultrasonic motor |
| CN106533248A (en) * | 2016-12-08 | 2017-03-22 | 南京航空航天大学 | Single-stator three-degree-of-freedom ultrasonic motor and working mode thereof |
| CN106549601A (en) * | 2016-12-08 | 2017-03-29 | 南京航空航天大学 | Robot arm and its working method based on ultrasonic start principle |
-
2002
- 2002-06-14 CN CN02113163A patent/CN1388637A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101277077B (en) * | 2007-03-27 | 2012-03-21 | 株式会社东芝 | Piezoelectric motor and piezoelectric motor system |
| CN101145741B (en) * | 2007-08-24 | 2010-08-11 | 东南大学 | Dual-stator 3-freedom ultrasonic motor |
| CN104022678A (en) * | 2014-06-25 | 2014-09-03 | 哈尔滨工业大学 | Partitioning stimulation type oscillator for three-degree-of-freedom ultrasonic motor |
| CN106533248A (en) * | 2016-12-08 | 2017-03-22 | 南京航空航天大学 | Single-stator three-degree-of-freedom ultrasonic motor and working mode thereof |
| CN106549601A (en) * | 2016-12-08 | 2017-03-29 | 南京航空航天大学 | Robot arm and its working method based on ultrasonic start principle |
| CN106549601B (en) * | 2016-12-08 | 2018-06-26 | 南京航空航天大学 | Mechanical hand and its working method based on ultrasonic start principle |
| CN106533248B (en) * | 2016-12-08 | 2018-07-17 | 南京航空航天大学 | Monostator three-freedon supersonic motor and its working method |
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