CN201656809U - Double-rotor bending mode linear ultrasonic motor - Google Patents
Double-rotor bending mode linear ultrasonic motor Download PDFInfo
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- CN201656809U CN201656809U CN2010200229588U CN201020022958U CN201656809U CN 201656809 U CN201656809 U CN 201656809U CN 2010200229588 U CN2010200229588 U CN 2010200229588U CN 201020022958 U CN201020022958 U CN 201020022958U CN 201656809 U CN201656809 U CN 201656809U
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- 238000005452 bending Methods 0.000 title abstract 3
- 239000000919 ceramic Substances 0.000 claims abstract description 30
- 210000001503 joint Anatomy 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000005284 excitation Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract 1
- 230000010355 oscillation Effects 0.000 description 8
- 238000002604 ultrasonography Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 238000005086 pumping Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model relates to a double-rotor bending mode linear ultrasonic motor and the operation mode and the electric excitation method thereof, and belongs to the field of ultrasonic motors. The double-rotor bending mode linear ultrasonic motor comprises a stator and a rotor, and is characterized in that the stator comprises a left Langevin vibrator and a right Langevin vibrator which are butted against each other along a centre line; each Langevin vibrator comprises front end covers (5), rear end covers (7), piezoelectric ceramics plates (2) and corresponding electrode plates (6), and integrally adopts a continuous-section shaped rod-type structure of which the section is tapered from the tail part to the head part; the head parts of the left and the right Langevin vibrators are butted against each other and are connected integrally, so as to form a driving foot (3); and the stator adopting a linear guide rail and the rotor are arranged in a plane to form a cross-shaped structure. By utilizing shared-frequency sinusoidal signals with one second Pi phase difference, the left and the right Langevin vibrators of the stator respectively excite two vibration modes in orthogonal directions, and the superposition of the two vibration modes enables all mass points on the end surface of the driving foot to conduct circular motion, so as to drive the rotor to move contentiously and linearly.
Description
Technical field
Of the present invention pair of stator mode of flexural vibration linear ultrasonic motor belongs to the ultrasound electric machine field.
Background technology
Ultrasound electric machine is the drive unit that utilizes the outputting power of the inverse piezoelectric effect of piezoelectric ceramic and structure ultrasonic vibration.Linear type ultrasound motor belongs to a classification of ultrasound electric machine.Structure according to the linear type ultrasound motor stator is dull and stereotyped and bar (or combining structure of bar), and linear ultrasonic motor is divided into plate structure and bar structure.Though it is simple in structure for the plate structure linear ultrasonic motor, flexible design, its efficient is low, and speed is less, and power output is also little.Need have big power output, linear type ultrasound motor that efficient is high for applications such as industrial robot, Aero-Space.The patent No. is that the Chinese utility model patent of CN200810124426.2 discloses a kind of K shape (bar structure) linear ultrasonic motor, has advantages such as power output, the speed of service be big.Comprise mover and stator, it is characterized in that: described Langevin-type transducer for the bar structure, the cross section of bar is the continuous cross section shape by rear end forward end convergent; Characteristics simple in structure, that power output is big, the speed of service is fast, delivery efficiency is high that this invention has.Although this linear ultrasonic motor has above-mentioned having a few, because it has used the longitudinal vibration and curved the shaking of bar, the consistent difficult point that becomes of feasible these two frequencies of realization.
Summary of the invention
The objective of the invention is to develop a kind of small and exquisite, power output is big, the speed of service is fast, delivery efficiency is high two stator mode of flexural vibration linear ultrasonic motors simple in structure, this motor only utilizes the flexural vibrations of structure, the problem that does not have frequency invariance makes the design of motor be more prone to.
A kind of pair of stator flexural vibrations linear ultrasonic motor, comprise stator and mover, it is characterized in that: described stator by about two Langevin-type transducers along center line mutually butt joint constitute, each Langevin-type transducer is formed by front end housing, rear end cap, piezoelectric ceramic piece and corresponding electrode slice, and whole be the cross section by afterbody to the continuous cross section of head convergent shape bar type structure, about the head butt joint of two Langevin-type transducers combine as a whole, become and drive foot; Described mover is that a straight line guide rail and said stator are arranged to " ten " font structure in a plane.
The operation mode and the electric excitation mode of above-mentioned two stator flexural vibrations linear ultrasonic motors, it is characterized in that: for two Langevin-type transducers about each stator, utilize the same frequency sinusoidal signal of phase difference pi/2 to inspire the mode of oscillation of two orthogonal directions simultaneously respectively, the stack of these two mode of oscillations makes that driving on the sufficient end face each particle produces circular motion and promote the continuous rectilinear motion of mover.
Said structure guarantees: there is not abrupt-change cross section (identical acoustic impedance is arranged) in (1) straight-bar with the continuous variable cross section bar at the interface place, can not produce reflected wave to plane sound wave; (2) the continuous variable cross section bar adopt by after convergent design forward, make it on each cross section, have identical acoustic impedance; (3) the continuous variable cross section bar adopt by after convergent design forward, also make the vibration of head of Langevin-type transducer be exaggerated; (4) stator is formed by connecting by driving foot and Langevin-type transducer continuous contraction the on joint face, also makes stator reduce in the moment of flexure that drives the foot place; (5) stator only utilizes flexural vibration mode, thereby guarantees two model frequency consistency of stator structure vibration; (6) design of two stators helps to improve the power output of motor.Therefore, design of the present invention helps to improve speed, power output and the operational efficiency of motor.This linear ultrasonic motor is simple in structure, size is little, power output is big, speed is big, efficient is high.
Said stator drives foot and is formed by connecting by two Langevin-type transducers continuous contraction on joint face, and drives the sectional area of foot portions cross-sectional area less than its peripheral rod, forms flexible the link, increases amplitude.
Said stator can have two, and geometry and physical characteristic are identical, and two stators lay respectively at above-mentioned line slideway both sides, forms series connection.The power output of two stator series connection can increasing motors improve delivery efficiency, and the increase of motor volume is few.
Description of drawings
Fig. 1, Fig. 2 are two stator flexural vibrations linear ultrasonic motor structural representations.
Fig. 3 is stator piezoelectric ceramic piece and electrode slice schematic diagram.
Number in the figure title: 1. clamping; 2. piezoelectric ceramic piece; 3. drive foot; 4. mover; 5. front end housing; 6. electrode slice; 7. rear end cap; 8. pretightning force bolt; 9. bolt; 10. precompression spring; 11. precompression bolt; 12. precompression lid.
Embodiment
A kind of pair of crooked linear ultrasonic motor of stator, comprise stator and mover, wherein mover is a straight line guide rail, stator is docked mutually along center line by two Langevin-type transducers and constitutes, each Langevin-type transducer is made up of rear end cap (straight-bar), front end housing (continuous variable cross section bar), piezoelectric ceramic piece, hex bolts and corresponding electrode slice, the head butt joint of two Langevin-type transducers combines as a whole, and becomes to drive foot; Line slideway and two Langevin-type transducers are arranged to " ten " font structure in a plane; It is characterized in that: (or unlike material) straight-bar and the continuous variable cross section bar by identical material of described Langevin-type transducer are formed, and are continuous cross section (or abrupt-change cross section, but the acoustic impedance of interface both sides is identical) at the interface of two bars.The continuous variable cross section bar present by after convergent state forward.Above-mentioned each Langevin-type transducer all has a holder between front end housing and rear end cap, each Langevin-type transducer includes 2n sheet piezoelectric ceramic piece and n plate electrode sheet, be divided into the n group, per two piezoelectric ceramic pieces and the 1 plate electrode sheet that is clipped in wherein constitute one group, and they are arranged in the both sides, front and back of above-mentioned holder.Be convenient to piezoelectric ceramic piece is applied electric field.
The crooked linear ultrasonic motor of a kind of pair of stator such as Fig. 1 are shown in Figure 2.Be characterized in: described stator is docked mutually by two Langevin-type transducer center lines and constitutes, and comprises rear end cap, front end housing, holder, piezoelectric ceramic piece, electrode slice, bolt.Totally 8 of piezoelectric ceramic pieces are divided into four groups, and per two piezoelectric ceramic pieces constitute one group, accompany electrode slice between every group of two piezoelectric ceramic pieces.Each group piezoelectric ceramic piece is arranged in the both sides of holder.Front end housing is equipped with screwed hole, and bolt screws in screwed hole, thereby each parts of stator are connected as a single entity.Its cross section of its front end housing by after be forward the convergent state, constitute ultrasonic amplitude transformer with the miscellaneous part that constitutes stator, in order to amplify the amplitude of motor stator head.Described mover is a draw runner.Its strutting piece is equipped with through hole, in order to stator and precompression device to be installed; Stator is connected the crooked linear ultrasonic motor of the two stators of formation in aggregates with mover.Two piezoelectric vibrators excite the mode of oscillation of two orthogonal directions of stator respectively about utilizing the same frequency sinusoidal signal of phase difference pi/2 to encourage simultaneously, each particle produces circular motion and promotes the continuous rectilinear motion of mover on the sufficient end face of the feasible driving of the stack of these two mode of oscillations, constitutes linear type ultrasound motor.When pumping signal is opposite, can realize the opposite direction rectilinear motion of mover.This motor stator is made of the Langevin-type transducer of ultrasonic amplitude transformer principle, can make to drive the bigger displacement of foot acquisition, makes motor realize that power output is bigger, speed of service height, delivery efficiency height.
Principles of structural design: 1. the inverse piezoelectric effect by piezoelectric ceramic piece excites elastomeric two mode of oscillations, because the symmetry of structure makes the vibration frequency unanimity of both direction and space quadrature pi/2.2. be two piezoelectric vibrators about two same frequency sinusoidal signals of pi/2 encourage respectively with the phase difference, excite two mode of oscillations of stator, form round track driving sufficient end face each point, drive the mover rectilinear motion.
Be the example of a crooked linear ultrasonic motor of two stators below:
Utilize the inverse piezoelectric effect d of piezoelectric ceramic piece
33Inspire two mode of oscillations of stator.Fig. 2 is the structural representation of this figure, and he mainly is made up of stator, mover.Stator is docked mutually by two Langevin-type transducer center lines and constitutes, and comprises rear end cap, front end housing, holder, piezoelectric ceramic piece, electrode slice, bolt.Totally 8 of the piezoelectric ceramic pieces of each stator are divided into four groups, and per two piezoelectric ceramic pieces constitute one group, accompany electrode slice between every group of two piezoelectric ceramic pieces.Each group piezoelectric ceramic piece is arranged in the both sides of holder.Front end housing is equipped with screwed hole, and bolt screws in screwed hole, thereby each parts of stator are connected as a single entity.Its cross section of its front end housing by after be forward the convergent state, constitute ultrasonic amplitude transformer with the miscellaneous part that constitutes stator, in order to amplify the amplitude of motor stator head.
The motor stator piezoelectric ceramic piece is laid and is seen Fig. 3.
Each stator has 8 piezoelectric ceramic pieces, and being divided into is four groups, lays respectively at both sides under the mountain of holder, and every group comprises the opposite curved piezoelectric ceramic piece that shakes of a pair of polarised direction.Electrode slice is laid in the centre of every group of piezoelectric ceramic piece, is used for external pumping signal.Provide sinusoidal excitation signal E=Usin ω t to inner two groups of piezoelectric ceramic pieces (II, III), provide cosine pumping signal E=Ucos (ω t) to give outer two groups of piezoelectric ceramic pieces (I, IV) simultaneously, encourage two mode of oscillations of stator simultaneously, the elliptic motion of the driving foot end face particle of the synthetic stator front end housing of these two mode with frequency phase difference pi/2.
Claims (4)
1. two stator flexural vibrations linear ultrasonic motor, comprise stator and mover, it is characterized in that: described stator by about two Langevin-type transducers along center line mutually butt joint constitute, each Langevin-type transducer is formed by front end housing (5), rear end cap (7), piezoelectric ceramic piece (2) and corresponding electrode slice (6), and whole be the cross section by afterbody to the continuous cross section of head convergent shape bar type structure, about the head butt joint of two Langevin-type transducers combine as a whole, become and drive foot (3); Described mover is that a straight line guide rail and said stator are arranged to " ten " font structure in a plane.
2. according to claim 1 pair of stator flexural vibrations linear ultrasonic motor, it is characterized in that: described stator drives foot and is formed by connecting by two Langevin-type transducers continuous contraction on joint face, and drive the sectional area of foot portions cross-sectional area, form flexible link less than its peripheral rod.
3. according to claim 1 pair of stator flexural vibrations linear ultrasonic motor, it is characterized in that: said stator has two, and geometry and physical characteristic are identical, and two stators lay respectively at above-mentioned line slideway both sides.
4. according to claim 1 pair of stator flexural vibrations linear ultrasonic motor, it is characterized in that: each Langevin-type transducer all has a holder between front end housing and rear end cap, each Langevin-type transducer includes 2n sheet piezoelectric ceramic piece and n plate electrode sheet, be divided into the n group, per two piezoelectric ceramic pieces and the 1 plate electrode sheet that is clipped in wherein constitute one group, and they are arranged in the both sides, front and back of above-mentioned holder.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200229588U CN201656809U (en) | 2010-01-05 | 2010-01-05 | Double-rotor bending mode linear ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200229588U CN201656809U (en) | 2010-01-05 | 2010-01-05 | Double-rotor bending mode linear ultrasonic motor |
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| CN201656809U true CN201656809U (en) | 2010-11-24 |
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| CN2010200229588U Expired - Fee Related CN201656809U (en) | 2010-01-05 | 2010-01-05 | Double-rotor bending mode linear ultrasonic motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102739106A (en) * | 2012-06-26 | 2012-10-17 | 哈尔滨工业大学 | Bent vibration composite single-driving foot linear ultrasonic driver |
| CN103245843A (en) * | 2013-04-26 | 2013-08-14 | 福建工程学院 | Device and method for detecting piezoelectric property of ultrasonic motor stator and piezoelectric ceramic compound |
| CN104578898A (en) * | 2014-12-05 | 2015-04-29 | 南京航空航天大学 | Inertial piezoelectric ultrasonic motor and control method thereof |
| CN104967357A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Space deployment mechanism driven based on multi-piezoelectric vibrator step crawling mode |
| CN115498917A (en) * | 2022-10-21 | 2022-12-20 | 山东大学 | Two-degree-of-freedom linear ultrasonic motor and working method thereof |
-
2010
- 2010-01-05 CN CN2010200229588U patent/CN201656809U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102739106A (en) * | 2012-06-26 | 2012-10-17 | 哈尔滨工业大学 | Bent vibration composite single-driving foot linear ultrasonic driver |
| CN103245843A (en) * | 2013-04-26 | 2013-08-14 | 福建工程学院 | Device and method for detecting piezoelectric property of ultrasonic motor stator and piezoelectric ceramic compound |
| CN103245843B (en) * | 2013-04-26 | 2015-06-03 | 福建工程学院 | Device and method for detecting piezoelectric property of ultrasonic motor stator and piezoelectric ceramic compound |
| CN104578898A (en) * | 2014-12-05 | 2015-04-29 | 南京航空航天大学 | Inertial piezoelectric ultrasonic motor and control method thereof |
| CN104578898B (en) * | 2014-12-05 | 2017-01-25 | 南京航空航天大学 | Inertial piezoelectric ultrasonic motor and control method thereof |
| CN104967357A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Space deployment mechanism driven based on multi-piezoelectric vibrator step crawling mode |
| CN115498917A (en) * | 2022-10-21 | 2022-12-20 | 山东大学 | Two-degree-of-freedom linear ultrasonic motor and working method thereof |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101124 Termination date: 20140105 |