CN202364154U - Bionic four-footed linear ultrasonic motor - Google Patents
Bionic four-footed linear ultrasonic motor Download PDFInfo
- Publication number
- CN202364154U CN202364154U CN2011205230069U CN201120523006U CN202364154U CN 202364154 U CN202364154 U CN 202364154U CN 2011205230069 U CN2011205230069 U CN 2011205230069U CN 201120523006 U CN201120523006 U CN 201120523006U CN 202364154 U CN202364154 U CN 202364154U
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- China
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- stator
- piezoelectric ceramic
- locating shaft
- ultrasonic motor
- linear ultrasonic
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Abstract
The utility model discloses a bionic four-footed linear ultrasonic motor. The bionic four-footed linear ultrasonic motor comprises a stator, a rotor and a piezoelectric ceramic pasted onto the stator, wherein the stator is of a square straight beam type, a driving foot is arranged at the bottom surface of the stator, the driving foot is compacted on the upper surface of the rotor, the rotor is movably arranged on a sliding rail, the sliding rail is fixed on a base by virtue of the screws, a support is arranged at the edge of the base, and the stator is arranged on the support by virtue of a locating shaft, a matched spacer and a snap ring structure; and the piezoelectric ceramic comprises three piezoelectric ceramic groups which are symmetrically pasted at positions with maximum strain of an operating mode on the top surface and the bottom surface in a linear array, namely a piezoelectric ceramic group I, a piezoelectric ceramic group III and a piezoelectric ceramic group II which are respectively arranged at peak and valley of second order bending vibration of the stator and a one order longitudinal vibration node of the stator. The bionic four-footed linear ultrasonic motor disclosed by the utility model adopts a bionic shape design of a four-footed animal and has the advantages of simple and compact structure, convenience for assembly, stable performance, high speed control accuracy, large driving force, high working efficiency and the like.
Description
Technical field
The utility model relates to a kind of ultrasound electric machine, relates in particular to a kind of bionical four-pin linear ultrasonic motor.
Background technology
Ultrasound electric machine is to utilize the inverse piezoelectric effect of piezoelectric element and elastomer to produce vibration in supersonic range, and through the rubbing action between stator and the mover, the macroscopical rectilinear motion that converts elastomeric micro breadth oscillation into mover drives load.
Linear ultrasonic motor belongs to a kind of of standing wave type ultrasound electric machine; It not only has general advantages such as volume is little, in light weight, compact conformation, power density is big, response is fast, low noise, no electromagnetic interference; But also have following characteristics: (1) is simple in structure, and production and maintenance cost are low; (2) structural design is flexible, can realize variation design, can make miniaturization, the lightness of device; (3) can realize directly that orthoscopic motion and location and velocity control accuracy are high, can reach nanoscale.Because above-mentioned plurality of advantages; Ultrasound electric machine has a wide range of applications in fields such as microrobot, hydraulic valve control, biomedical engineering, automobile, Aero-Space, precision positioning appearance, optical instrument; Thereby the research of ultrasound electric machine become a current focus; So the ultrasound electric machine technical development is rapid, practical application also more and more widely.
Yet some linear type ultrasound motors of current use still have following weak point: the structural design more complicated, manufacturability is poor, structural compactness is not enough, inconvenience assembling, actuating force is little, efficient is on the low side, velocity accuracy control is lower and performance is stable inadequately or the like.
The utility model content
The technical problem that the utility model will solve provides a kind of bionical four-pin linear ultrasonic motor; Adopt quadruped bionics configuration design, have simple and compact structure, be convenient to assembling, stable performance, velocity control accuracy is high, actuating force is big and remarkable advantage such as operating efficiency height.
To achieve these goals; The technical scheme that the utility model is taked is: a kind of bionical four-pin linear ultrasonic motor comprises stator, mover and sticks on the piezoelectric ceramic on the stator that said stator is square straight beam formula; The bottom surface of stator is provided with and drives foot; This drives the upper surface that foot is pressed on said mover, and mover is movably arranged on the slide rail, and slide rail passes through screw on base; Base edge is provided with support, and said stator is arranged on the said support through locating shaft, supporting pad and snap ring structure; Said piezoelectric ceramic is three groups and is linear array and the symmetrical piezoelectric ceramic group that sticks on said stator end face and bottom surface operation mode locations of maximum strain, promptly sticks on piezoelectric ceramic group I, piezoelectric ceramic group II and the piezoelectric ceramic group III at curved crest, trough and the stator single order longitudinal vibration node place that shakes of stator second order respectively.
A kind of optimal technical scheme as the utility model; Said piezoelectric ceramic group III comprises the piezoelectric ceramic of two overall polarization; Mode according to polarised direction is opposite is pasted, and said piezoelectric ceramic group I comprises the piezoelectric ceramic of two overall polarization, pastes according to the mode that polarised direction is identical; Said piezoelectric ceramic group II comprises the piezoelectric ceramic of two overall polarization, and is identical and paste with the opposite mode of piezoelectric ceramic group I polarised direction according to polarised direction.
As a kind of optimal technical scheme of the utility model, said driving is four enough, and one-body molded and lay respectively at four drift angle places of stator bottom surface with said stator, the lower surface that drives foot scribbles high-quality friction material.
A kind of optimal technical scheme as the utility model; Said locating shaft is square; Offer the square location hole that matees with said locating shaft on the said stator, locating shaft runs through location hole, and folder is established elastomeric material between the inwall of locating shaft and location hole; The two ends of locating shaft are stuck in the L shaped groove on the said support, are folded with shell fragment between the contact-making surface of locating shaft and support.
As a kind of optimal technical scheme of the utility model, said support is the U-shaped structure.
Adopt the beneficial effect that technique scheme produced to be: to the utlity model has simple and compact structure, be convenient to assembling, stable performance, velocity control accuracy is high, actuating force is big and remarkable advantage such as operating efficiency height.Adopt quadruped bionics configuration design, be provided with four in the bottom surface of stator and drive foot, the driving plantar surfaces of toe is coated high-quality friction material and is pressed on the mover, has improved the precision that drives frictional force, resistance to wear and speed control; The motor assembling process is simple; Terminal and the fastening that only needs locating shaft to be pushed into L shaped groove gets final product; Square locating shaft makes stator more stable, and the elastomeric material that is folded between locating shaft and the location hole inwall can effectively reduce the influence of locating shaft to machine operation mode, improves its stability; The shell fragment that is folded between locating shaft and the support contact-making surface can be used for applying precompression easily; The bonding method of piezoelectric ceramic is simple on this external stator; Paste position is chosen in the locations of maximum strain of stator operation mode; It is the node location of curved crest, trough and the single order longitudinal vibration of shaking of stator second order; Utilize the d31 effect of piezoelectric ceramic, make the amplitude of motor stator reach maximum, effectively increase actuating force and improve motor working efficiency.
Description of drawings
Fig. 1 is the structural representation of an embodiment of the utility model.
Fig. 2 is the assembling sketch map of the utility model slide rail and base.
Fig. 3 is the cutaway view of the utility model.
Fig. 4 is that piezoelectric ceramic paste position, polarization mode and lead-in wire connect sketch map.
Among the figure: 1, piezoelectric ceramic 2, stator 3, mover 4, locating shaft 5, slide rail 6, base 7, pad 8, snap ring 9, screw 10, shell fragment 11, support 12, L shaped groove 13, piezoelectric ceramic group I 14, piezoelectric ceramic group II 15, piezoelectric ceramic group III 16, driving foot.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is done further detailed explanation.
Referring to accompanying drawing 1-4; Comprise stator 2, mover 3 in the structure of an embodiment of the utility model and stick on the piezoelectric ceramic 1 on the stator 2, stator 2 is square straight beam formula, and the bottom surface of stator 2 is provided with and drives foot 16; This drives the upper surface that foot 16 is pressed on mover 3; Mover 3 is movably arranged on the slide rail 5, and slide rail 5 is fixed on the base 6 through screw 9, and base 6 edges are provided with support 11; Stator 2 is arranged on the support 11 through locating shaft 4, supporting pad 7 and snap ring 8 structures, and slide rail 5 is the U-shaped structure; Piezoelectric ceramic 1 is three groups and is linear array and the symmetrical piezoelectric ceramic group that sticks on stator 2 end faces and bottom surface operation mode locations of maximum strain; Promptly stick on piezoelectric ceramic group I 13, piezoelectric ceramic group II 14 and the piezoelectric ceramic group III 15 at curved crest, trough (being x=0.316L and x=0.684L place) and the stator 2 single order longitudinal vibration node places (being the centre position of stator 2) that shake of stator 2 second orders respectively; The sinusoidal ac that piezoelectric ceramic group I 13 and piezoelectric ceramic group II 14 are connected is all identical with sinusoidal ac frequency and amplitude that piezoelectric ceramic group III 15 is connected, but phase difference differs 90 degree.
Piezoelectric ceramic group III 15 comprises the piezoelectric ceramic of two overall polarization; Mode according to polarised direction is opposite is pasted; Piezoelectric ceramic group I 13 comprises the piezoelectric ceramic of two overall polarization; Mode according to polarised direction is identical is pasted, and said piezoelectric ceramic group II 14 comprises the piezoelectric ceramic of two overall polarization, and is identical and paste with the opposite mode of piezoelectric ceramic group I 13 polarised directions according to polarised direction.
Driving foot 16 is four, and one-body molded and be separately fixed at four drift angle places of stator 2 bottom surfaces with stator 2, the lower surface that drives foot 16 scribbles high-quality friction material.
Locating shaft 4 is square; Offer square location hole on the stator 2 with locating shaft 4 couplings; Locating shaft 4 runs through location hole; And folder is established elastomeric material between the inwall of locating shaft 4 and location hole, and the two ends of locating shaft 4 are stuck in the L shaped groove 12 on the support 11, are folded with shell fragment 10 between the contact-making surface of locating shaft 4 and support 11.
The operation principle of the utility model is: the single order longitudinal vibration and the curved two kinds of mode of shaking of second order that can inspire motor stator 2 after the energising; Two kinds of mode synthetic microcosmic elliptic motions in the same way on four driving foot 16 surfaces at motor stator 2 two ends are passed through friction and are promoted mover 3 along slide rail 5 moving linearlies between driving foot 16 and the mover 3.The utility model adopts quadruped bionics configuration design; Be provided with four in the bottom surface of stator 2 and drive foot 16; Drive on foot 16 coated on bottom side high-quality friction material and be pressed on the mover 2, improved the precision that drives frictional force, resistance to wear and speed control; The motor assembling process is simple; Terminal and the fastening that only needs locating shaft 4 to be pushed into L shaped groove 12 gets final product; Square locating shaft 4 makes stator more stable, is folded in the influence that elastomeric material between locating shaft 4 and the location hole inwall can effectively reduce by 4 pairs of machine operation mode of locating shaft, improves its stability; Be folded in shell fragment 10 between locating shaft 4 and support 11 contact-making surfaces and can be used for applying and regulating precompression easily; The bonding method of piezoelectric ceramic 1 is simple on this external stator 2; Paste position is chosen in the locations of maximum strain of stator 2 operation modes; It is the node location of curved crest, trough and the single order longitudinal vibration of shaking of stator 2 second orders; Utilize the d31 effect of piezoelectric ceramic, make the amplitude of motor stator 2 reach maximum, effectively increase actuating force and improve motor working efficiency.The utlity model has simple and compact structure, be convenient to assembling, stable performance, velocity control accuracy is high, actuating force is big and remarkable advantage such as operating efficiency height.
Foregoing description only proposes as the enforceable technical scheme of the utility model, not as the single restrictive condition to its technical scheme itself.
Claims (5)
1. a bionical four-pin linear ultrasonic motor comprises stator, mover and sticks on the piezoelectric ceramic on the stator, it is characterized in that: said stator is square straight beam formula; The bottom surface of stator is provided with and drives foot; This drives the upper surface that foot is pressed on said mover, and mover is movably arranged on the slide rail, and slide rail passes through screw on base; Base edge is provided with support, and said stator is arranged on the said support through locating shaft, supporting pad and snap ring structure; Said piezoelectric ceramic is three groups and is linear array and the symmetrical piezoelectric ceramic group that sticks on said stator end face and bottom surface operation mode locations of maximum strain, promptly sticks on piezoelectric ceramic group I, piezoelectric ceramic group II and the piezoelectric ceramic group III at curved crest, trough and the stator single order longitudinal vibration node place that shakes of stator second order respectively.
2. bionical four-pin linear ultrasonic motor according to claim 1; It is characterized in that: said piezoelectric ceramic group III comprises the piezoelectric ceramic of two overall polarization; Mode according to polarised direction is opposite is pasted, and said piezoelectric ceramic group I comprises the piezoelectric ceramic of two overall polarization, pastes according to the mode that polarised direction is identical; Said piezoelectric ceramic group II comprises the piezoelectric ceramic of two overall polarization, and is identical and paste with the opposite mode of piezoelectric ceramic group I polarised direction according to polarised direction.
3. bionical four-pin linear ultrasonic motor according to claim 1 is characterized in that: said driving foot is four, and one-body molded and lay respectively at four drift angle places of stator bottom surface with said stator, the lower surface that drives foot scribbles high-quality friction material.
4. bionical four-pin linear ultrasonic motor according to claim 1; It is characterized in that: said locating shaft is square; Offer the square location hole that matees with said locating shaft on the said stator, locating shaft runs through location hole, and folder is established elastomeric material between the inwall of locating shaft and location hole; The two ends of locating shaft are stuck in the L shaped groove on the said support, are folded with shell fragment between the contact-making surface of locating shaft and support.
5. bionical four-pin linear ultrasonic motor according to claim 1 is characterized in that: said support is the U-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205230069U CN202364154U (en) | 2011-12-15 | 2011-12-15 | Bionic four-footed linear ultrasonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205230069U CN202364154U (en) | 2011-12-15 | 2011-12-15 | Bionic four-footed linear ultrasonic motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202364154U true CN202364154U (en) | 2012-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205230069U Expired - Fee Related CN202364154U (en) | 2011-12-15 | 2011-12-15 | Bionic four-footed linear ultrasonic motor |
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| CN (1) | CN202364154U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111464070A (en) * | 2020-03-19 | 2020-07-28 | 哈尔滨工业大学 | Linear ultrasonic motor stator and electric excitation method thereof |
| CN112713801A (en) * | 2021-01-26 | 2021-04-27 | 金陵科技学院 | High-precision linear driving type piezoelectric actuator |
| CN116442253A (en) * | 2023-02-13 | 2023-07-18 | 山东大学 | Cable-free tethered ultrasonic robot working in resonance state and control method |
-
2011
- 2011-12-15 CN CN2011205230069U patent/CN202364154U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111464070A (en) * | 2020-03-19 | 2020-07-28 | 哈尔滨工业大学 | Linear ultrasonic motor stator and electric excitation method thereof |
| CN112713801A (en) * | 2021-01-26 | 2021-04-27 | 金陵科技学院 | High-precision linear driving type piezoelectric actuator |
| CN116442253A (en) * | 2023-02-13 | 2023-07-18 | 山东大学 | Cable-free tethered ultrasonic robot working in resonance state and control method |
| CN116442253B (en) * | 2023-02-13 | 2024-04-16 | 山东大学 | Cable-free tethered ultrasonic robot working in resonance state and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120801 Termination date: 20121215 |