CN201656811U - In-plane traveling wave rotary ultrasonic motor - Google Patents
In-plane traveling wave rotary ultrasonic motor Download PDFInfo
- Publication number
- CN201656811U CN201656811U CN2009202565699U CN200920256569U CN201656811U CN 201656811 U CN201656811 U CN 201656811U CN 2009202565699 U CN2009202565699 U CN 2009202565699U CN 200920256569 U CN200920256569 U CN 200920256569U CN 201656811 U CN201656811 U CN 201656811U
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- piezoelectric ceramic
- circular ring
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- ultrasonic motor
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- 239000000919 ceramic Substances 0.000 claims abstract description 36
- 238000000034 method Methods 0.000 abstract description 5
- 239000002245 particle Substances 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 239000000314 lubricant Substances 0.000 abstract description 2
- 238000002604 ultrasonography Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000037007 arousal Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 230000008646 thermal stress Effects 0.000 description 1
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Abstract
The utility model discloses an in-plane traveling wave rotary ultrasonic motor, which is formed by a stator assembly and a rotor assembly. The stator assembly is a rectangular sandwich-type vibrator with a head designed to be the shape of a circular ring. Two groups of piezoelectric ceramics which have different exciting functions are tightened in the vibrator through bolts. The rotor assembly is formed by two conical rotors which are respectively pressed on the two internal sides of the circular ring of the stator, and pre-pressing force required for the two conical rotors and the circular ring is provided by a spring. The control method is that specific voltage driving signals are applied on the two groups of piezoelectric ceramics, two specific vibration modes of the circular ring are excited, in-plane curved traveling waves which travel along the circumferential direction of the circular ring are formed through superposition and thereby particles on the inner wall of the circular ring can make micro-amplitude elliptic motion. The conical rotors can be driven to rotate under the effect of friction between the peak area of the traveling waves on the inner wall of the circular ring and the conical rotors. Since the double-rotor structure is adopted, the utility model has the advantages that the structure is simple and compact and no bearing and no lubricant are required. The in-plane traveling wave rotary ultrasonic motor is suitable for use in vacuum environments.
Description
Technical field:
The utility model relates to a kind of in-plane traveling wave rotary ultrasonic motor, belongs to the technical field of rotary ultrasonic motor and method.
Background technology:
Ultrasound electric machine is a kind of inverse piezoelectric effect of utilizing piezoelectric, excites elastomer to produce micro breadth oscillation in supersonic range, and converts thereof into the revolution or the straight-line New-type electric machine of mover by the friction between fixed, the mover.Wherein, travelling wave supersonic motor adopts two kinds of basic energisation modes in the existing face: a kind of is to utilize the multi-disc piezoelectric ceramic piece that sticks on the annulus external cylindrical surface to excite the expert ripple of face of annulus, usually need mill out a plurality of planes in the annulus outside, destroyed the axial symmetry of annulus, formation to the row ripple is unfavorable, structure is also very complicated simultaneously, is unfavorable for processing; Another kind is to utilize the oscillator of a plurality of identical extensional vibrations to excite the expert ripple of face of annulus, complex structure, and the installation of each oscillator and the consistency of itself are difficult to guarantee.Of the present utility model interior travelling wave supersonic motor adopts single oscillator to excite the expert ripple of face of annulus, and be simple in structure, compact, is easy to processing and little, miniaturization.Simultaneously, because two heating regions (piezoelectric ceramic unit and frictional interface) apart from each other helps heat balance, and need not bearing and lubricant, be suitable for vacuum environment and use.Has wide application prospect aspect robot and the space exploration.
The utility model content:
The purpose of this utility model is to propose a kind of in-plane traveling wave rotary ultrasonic motor at the defective of prior art, has simple in structurely, compact, is easy to process and characteristics little, miniaturization, is applicable to the application on robot and the space exploration equipment.
Know-why and scheme that this patent adopted are:
A kind of in-plane traveling wave rotary ultrasonic motor, constitute by the stator module and the rotor assembly that connect with rotating shaft, it is characterized in that: described stator module sets gradually last oscillator, the first longitudinal vibration piezoelectric ceramic electrode slice, the first longitudinal vibration piezoelectric ceramic, the second longitudinal vibration piezoelectric ceramic electrode slice, the second longitudinal vibration piezoelectric ceramic, gag lever post, the first curved piezoelectric ceramic that shakes, the curved piezoelectric ceramic electrode slice that shakes, second curved shake piezoelectric ceramic and the following oscillator that connects annulus from top to bottom, and described stator module is fixed by internal-flange bolt; Described rotor assembly is made of two of the annulus both sides that are arranged at oscillator on the annular cone rotors that connect with rotating shaft and nut and spring, nut is arranged in the rotating shaft of the second cone rotor side, between second cone rotor and the nut spring is set, described spring provides the precompression between two cone rotors and the annulus.
The beneficial effects of the utility model are: this kind rotary ultrasonic motor utilizes single oscillator to excite the expert ripple of face of stator annulus, and is simple and compact for structure, is easy to little, miniaturization, and the joint that is specially adapted to robot drives; Dual-rotor structure, favourablely uses in vacuum environment by unlubricated dose; Distance between two thermals source (piezoelectric ceramic piece and frictional interface) in the motor is bigger, and this extenuates thermal stress and all be beneficial to for heat balance, and the situation relatively poor to radiating conditions such as space explorations has the certain significance.Stator processing can be finished by the ordinary lines cutting method, and is higher except the concentricity requirement of two rotor conical surfaces, do not have other harsh accuracy of manufacture requirements, has certain promotion value.
Description of drawings:
Fig. 1 is the stator structure schematic diagram of this ultrasound electric machine.
Fig. 2 is the overall structure schematic diagram of this ultrasound electric machine.
Fig. 3 is the voltage drive signals input and the vibration shape schematic diagram of this ultrasound electric machine.
Fig. 4 is the friction-driven schematic diagram of this ultrasound electric machine.
(a) is the front view of stator among Fig. 1, (b) is stereogram, (c) is the structure chart of two groups of piezoelectric ceramic.Label and designation among Fig. 1: oscillator on 1,2 gag lever posts, 3 times oscillators, 4 longitudinal vibration piezoelectric ceramic, the 5 curved piezoelectric ceramic that shake, 6 pads, 7 bolts, 8 longitudinal vibration piezoelectric ceramic electrode slices, the 9 curved piezoelectric ceramic electrode slices that shake.
(a) is the end view of ultrasound electric machine among Fig. 2, (b) is stereogram.Label and designation among Fig. 2: the axle of 10 band cone rotors, 11 cone rotors, 12 nuts, 13 springs, 14 pads.
(a) is the input of voltage drive signals among Fig. 3, (b) is the longitudinal vibration vibration shape of stator, (c) is the curved vibration shape of shaking of stator.Label and designation among Fig. 3: 15,16 are the driving signal input of longitudinal vibration piezoelectric ceramic, 17, the driving signal input of the 18 curved piezoelectric ceramic that shake, the vibration shape of rectangle oscillator part during 19 longitudinal vibrations, the vibration shape of stator annulus part during 20 longitudinal vibrations, the vibration shape of rectangle oscillator part during 21 curved shaking, the vibration shape of stator annulus part during 22 curved shaking.
Label and designation among Fig. 4: 23 particle motion traces, 24 contact areas.
Operation principle and execution mode:
Specify the embodiment of this rotary type ultraphonic motor below in conjunction with accompanying drawing.
Of the present utility model interior traveling wave rotary ultrasonic motor is made of stator module and rotor assembly, as depicted in figs. 1 and 2.Described stator module is made up of oscillator, 2 gag lever posts, 3 times oscillators, 4 longitudinal vibration piezoelectric ceramic, the 5 curved piezoelectric ceramic that shake, 6 pads, 7 bolts, 8 longitudinal vibration electrode ceramics and the 9 curved electrode slices that shake on 1.The head of last oscillator directly is designed to toroidal, as shown in the figure, two groups of piezoelectric ceramic 4 and 5,2 gag lever posts (being used to limit the rotation of motor stator) around armature spindle, electrode slice 8 and 9 effects by 7 bolts are pressed in up and down in two oscillators 1 and 3.The longitudinal vibration piezoelectric ceramic is made up of two potsherd and two electrode slices with an electrode subregion, its layout in stator such as the top among Fig. 1 (c); The curved piezoelectric ceramic group of shaking is made up of two potsherd and electrode slices with two electrode subregions, its layout in stator such as the lower part among Fig. 1 (c).Described rotor assembly is by the axle of 11 band cone rotors, 12 cone rotors, and 13 nuts, 14 springs and 15 pads are formed.The axle of 11 band cone rotors is that the terminal threaded axle of the frustum of a cone is processed in a centre, and 12 cone rotors are frustums of a cone of a through hole.12 cone rotors insert in the axle of 11 band cone rotors, and are clipped in the both sides of 1 track ring respectively, push 14 springs by 13 nuts, and the precompression between two frustums of a cone and 1 track ring is provided, and precompression is an axle spring power at radially component between stator and rotor.
The operation mode of stator is set at the interior flexural vibration mode of n terrace of the same frequency homotype of two quadratures on the annulus, is example with three rank bending vibration modes only here.The B of track ring
03(B represents flexural vibrations to mode; First subscript is represented the pitch circle number of flexural vibrations; Second subscript represented the pitch diameter number of flexural vibrations), during the energising of oscillator longitudinal vibration potsherd, stator presents the following vibration shape: the extensional vibration of oscillator part presents shape L as shown in figure 20
2Mode has two nodes, and this moment, the extensional vibration of oscillator and annulus junction excited annular B as shown in figure 21
03Mode, its crest is positioned at the junction; When the curved potsherd that shakes of oscillator was switched on, the flexural vibrations of oscillator part presented B
4Mode as 22 among the figure, has four nodes, can excite the B of annular this moment by the twisting vibration of junction
03Mode, as shown in figure 23, its node is positioned at the junction of annulus and oscillator.Two B that excite respectively by longitudinal vibration piezoelectric ceramic piece and the curved potsherd that shakes of stator annulus part
03Mode spatially has the phase difference of pi/2, promptly differs 1/4 bending wave wavelength.
These two mode spatially differ pi/2 phase, the phase difference of pi/2 is realized by sine and the cosine voltage drive signals that applies same frequency on longitudinal vibration and the curved piezoelectric ceramic that shakes respectively in time, in Fig. 3 (a), the drive signal supply mode is as follows, 16.E=0; (17.E=Vcos ω t); (18.E=Vsin ω t); (19.E=-Vsin ω t).Wherein: V is a magnitude of voltage, and ω is a model frequency, and t is the time.
These two mode just can be superimposed as refracted traveling wave in 3 terraces of advancing along annulus like this.Upload sowing time when the row ripple at annulus, will make annulus generation strain, the particle on the circle ring inner wall will move along an elliptical orbit, shown in 23 among Fig. 4.Stator annulus both sides are pressed with two cone rotors, the zone that is in place, capable wave-wave peak on the circle ring inner wall will contact with rotor, have three contact areas along circumference and rotor one, shown in 24 among Fig. 4, along with advancing of ripple, three contact areas are also constantly being advanced, and present the working method of Continuous Contact.Rely on the elliptic motion of circle ring inner wall particle and the rubbing action of zone, row wave-wave peak and cone rotor, can drive the cone rotor rotation.
For making the stable and amplitude maximization of arousal effect, be used to encourage the piezoelectric ceramic of oscillator longitudinal vibration to be arranged in longitudinal vibration nodal section place, be used to encourage the curved piezoelectric ceramic piece that shakes of oscillator to be arranged in the curved crest place that shakes.
Claims (1)
1. in-plane traveling wave rotary ultrasonic motor, constitute by stator module and rotor assembly, it is characterized in that: described stator module sets gradually last oscillator (1), the first longitudinal vibration piezoelectric ceramic electrode slice, the first longitudinal vibration piezoelectric ceramic, the second longitudinal vibration piezoelectric ceramic electrode slice, the second longitudinal vibration piezoelectric ceramic, gag lever post (2), the first curved piezoelectric ceramic that shakes, the curved piezoelectric ceramic electrode slice (9) that shakes, second curved shake piezoelectric ceramic and the following oscillator (3) that connects annulus from top to bottom, and described stator module is fixed by internal-flange bolt; Described rotor assembly is made of two first cone rotor (10), second cone rotor (11) and nut (12) and springs (13) that connect with rotating shaft that are arranged at the annulus both sides, nut (12) is arranged in the rotating shaft of second cone rotor (11) side, between second cone rotor (11) and the nut (12) spring (13) is set, described spring (13) provides the precompression between first cone rotor (10), second cone rotor (11) and the annulus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202565699U CN201656811U (en) | 2009-11-12 | 2009-11-12 | In-plane traveling wave rotary ultrasonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202565699U CN201656811U (en) | 2009-11-12 | 2009-11-12 | In-plane traveling wave rotary ultrasonic motor |
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| Publication Number | Publication Date |
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| CN201656811U true CN201656811U (en) | 2010-11-24 |
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| CN2009202565699U Expired - Fee Related CN201656811U (en) | 2009-11-12 | 2009-11-12 | In-plane traveling wave rotary ultrasonic motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105141175A (en) * | 2015-09-07 | 2015-12-09 | 南京航空航天大学 | Sandwich type stationary wave rotary piezoelectric actuator |
| CN105380783A (en) * | 2015-12-07 | 2016-03-09 | 苏勋涛 | Ultrasonic motor driven foot acupuncture point massaging diabetic foot therapeutic apparatus and working method |
| CN106160566A (en) * | 2016-07-11 | 2016-11-23 | 南京航空航天大学 | A kind of traveling wave type ultrasonic motor based on piezoelectric stack type of drive |
| CN106208804A (en) * | 2016-08-01 | 2016-12-07 | 南京航空航天大学 | A kind of high speed rotating ultrasound electric machine and the electric excitation mode of stator thereof |
| CN107134944A (en) * | 2017-05-09 | 2017-09-05 | 中国工程物理研究院材料研究所 | A kind of novel piezo-electric ceramic driver and the ultrasound electric machine being made up of it |
-
2009
- 2009-11-12 CN CN2009202565699U patent/CN201656811U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105141175A (en) * | 2015-09-07 | 2015-12-09 | 南京航空航天大学 | Sandwich type stationary wave rotary piezoelectric actuator |
| CN105141175B (en) * | 2015-09-07 | 2017-06-16 | 南京航空航天大学 | A kind of sandwich standing-wave rotation type piezoelectric actuator |
| CN105380783A (en) * | 2015-12-07 | 2016-03-09 | 苏勋涛 | Ultrasonic motor driven foot acupuncture point massaging diabetic foot therapeutic apparatus and working method |
| CN106160566A (en) * | 2016-07-11 | 2016-11-23 | 南京航空航天大学 | A kind of traveling wave type ultrasonic motor based on piezoelectric stack type of drive |
| CN106160566B (en) * | 2016-07-11 | 2019-01-29 | 南京航空航天大学 | A kind of traveling wave type ultrasonic motor based on piezoelectric stack driving method |
| CN106208804A (en) * | 2016-08-01 | 2016-12-07 | 南京航空航天大学 | A kind of high speed rotating ultrasound electric machine and the electric excitation mode of stator thereof |
| CN106208804B (en) * | 2016-08-01 | 2019-07-19 | 南京航空航天大学 | A kind of electric excitation mode of high speed rotation ultrasound electric machine and its stator |
| CN107134944A (en) * | 2017-05-09 | 2017-09-05 | 中国工程物理研究院材料研究所 | A kind of novel piezo-electric ceramic driver and the ultrasound electric machine being made up of it |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101124 Termination date: 20141112 |
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| EXPY | Termination of patent right or utility model |