CN203406799U - Bidirectional driving rotary ultrasonic motor - Google Patents
Bidirectional driving rotary ultrasonic motor Download PDFInfo
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- CN203406799U CN203406799U CN201320520850.5U CN201320520850U CN203406799U CN 203406799 U CN203406799 U CN 203406799U CN 201320520850 U CN201320520850 U CN 201320520850U CN 203406799 U CN203406799 U CN 203406799U
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- ultrasonic
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- elliptical vibration
- elliptical
- ultrasonic motor
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Abstract
The utility model discloses a bidirectional driving rotary ultrasonic motor. The bidirectional driving rotary ultrasonic motor is characterized in that a rotor comprises a turntable and a friction layer arranged on the surface of the turntable, and a stator comprises a support, two same ultrasonic vibration energy transducers which are fixed via the support, two same elliptical vibration mode converters and two same friction driving blocks arranged at the front ends of the elliptical vibration mode converters. The elliptical vibration mode converters are arranged at the front ends of the ultrasonic vibration energy transducers, are wedged structures, and can transform the longitudinal ultrasonic vibration generated by the ultrasonic vibration energy transducers into the longitudinal-flexural composite ultrasonic elliptical vibration at the tail ends of the elliptical vibration mode converters and the friction driving blocks. When the two ultrasonic vibration energy transducers work separately, the corresponding two friction driving blocks drive the rotor to move continuously, rotatably and separately.
Description
Technical field
The utility model relates to the ultrasound electric machine field that utilizes piezoelectric ceramic inverse piezoelectric effect, especially relates to a kind of bi-directional drive rotary ultrasonic motor.
Background technology
Rotary ultrasonic motor is a kind of novel electrical micro-machine that develops rapidly and apply the eighties in 20th century, to utilize the inverse piezoelectric effect of piezoelectric to realize the electric coupling apparatus that electric energy-mechanical energy is changed, by the rubbing action between stator and rotor, the macroscopic view that elastomeric micro breadth oscillation is converted to rotor rotatablely moves, and directly drives load.Because it has that volume is little, lightweight, low-speed big, noise is little, response is fast, positioning precision is high, without electromagnetic interference and the advantage such as environmental suitability is strong, in technical fields such as medical treatment, Aero-Space, robot, MEMS, obtained increasingly extensive application.
The problems such as in existing rotary-type ultrasound electric machine, mainly the flexural vibration mode outside employing face is combined into the capable ripple of end face at present, and drives rotor to rotate, and ubiquity driving moment is little, and axial volume is large, the internal-and external diameter contact zone wearing and tearing difference of rotor is large; In addition, even if adopted in plane vibration mode, in order to apply the radial tightening power in face, the disk of oscillator or rotor or annulus are made two semi-discs or semicircular ring, middle by spring, be connected into disk or annulus to apply the radial tightening power in face, also be difficult at present realize large torque, and functional reliability is low.At publication number, be CN101030740A, denomination of invention is in the patent documentation of " bending-rotation ultrasonic motor of single-phase driving ", the structure that discloses a kind of body is the single-phase driving standing wave rotary ultrasonic motor of taper, this motor relies on six piezoelectric ceramic pieces that are superimposed together vertically to excite the vibration of stator, and six piezoelectric ceramic pieces rely on clamp nut and last item cover to be fixed on axis.Although this motor has the advantages such as output torque is larger, but six piezoelectric ceramic pieces of motor are by 60 installations of will mutually staggering of polarization subregion, its complex structure, and the screw (revolving force) because of clamp nut in the compaction process of piezoelectric ceramic piece very easily causes between piezoelectric ceramic piece and misplaces, the specification requirement of 60 degree that are difficult to guarantee to misplace between adjacent piezoelectric ceramic piece; In addition, be not with any positioner between this motor stator and rotor, this is affected stator and rotor contact position precision between the two, and then affects the stability of motor torque and speed; Thereby this type of rotary ultrasonic motor exists complex structure, high to the contact position required precision between stator and rotor, manufacture is installed more difficult, the defects such as poor stability of motor torque and speed.
Summary of the invention
The utility model provides a kind of novel bi-directional drive rotary ultrasonic motor, and object is the deficiency existing in above-mentioned rotary ultrasonic motor in order to overcome.
Bi-directional drive rotary ultrasonic motor, comprises rotor and stator, and rotor comprises rotating disk and is arranged on the frictional layer of disc surfaces; Described stator comprises support, two identical ultrasonic vibration transducers fixing by support, two identical elliptical vibration MODAL TRANSFORMATION OF A devices and two identical friction-driven pieces; Described ultrasonic vibration transducer outline is cylindrical, it comprises bolt and is set in successively back shroud, piezoelectric ceramic piece, electrode slice and the front shroud on bolt, on front shroud, be provided with and can connect with support the ring flange of use, back shroud and front shroud are connected back shroud, piezoelectric ceramic piece, electrode slice and front shroud to compress by bolt, formed the power conversion part of bi-directional drive rotary ultrasonic motor, the ultrasonic electric energy of A ultrasonic-frequency power supply and the output of B ultrasonic acoustic-electric source has been converted to the ultrasonic vibrational energy of two ultrasonic vibration transducers.
Described elliptical vibration MODAL TRANSFORMATION OF A device and front shroud are made into a whole installation at the front end of front shroud, or utilize an additional connection double-screw bolt elliptical vibration MODAL TRANSFORMATION OF A device to be connected in to the front end of front shroud, elliptical vibration MODAL TRANSFORMATION OF A device is inclined wedge-shaped structure, the former integral body of inclined wedge-shaped structure elliptical vibration MODAL TRANSFORMATION OF A device is cuboid, after being cut a part, ultrasonic vibration transducer axis direction one side forms inclined wedge-shaped structure, form in two sides of inclined wedge-shaped, a cut parallel sided is not in ultrasonic vibration transducer axis, the another side being cut becomes 3-30 degree angle with ultrasonic vibration transducer axis.
The object that makes elliptical vibration MODAL TRANSFORMATION OF A device form inclined wedge-shaped structure is in order to change the mode of oscillation of ultrasonic vibration transducer, its extensional vibration model frequency and flexural vibration mode frequency are approached or equate, existence due to inclined wedge-shaped structure elliptical vibration MODAL TRANSFORMATION OF A device, the longitudinal ultrasonic vibration that ultrasonic vibration transducer produces is after being delivered to inclined wedge-shaped structure elliptical vibration MODAL TRANSFORMATION OF A device, end at inclined wedge-shaped structure elliptical vibration MODAL TRANSFORMATION OF A device is decomposed into a part of extensional vibration component and a part of flexural vibrations component, and two oscillating components have certain phase difference, and then be compounded to form elliptical orbit vibration at the end of inclined wedge-shaped structure elliptical vibration MODAL TRANSFORMATION OF A device.
Described friction-driven piece is arranged on the front end of elliptical vibration MODAL TRANSFORMATION OF A device by welding, bonding or screw attachment mode, friction-driven piece contacts with the frictional layer on rotating disk.Two ultrasonic vibration transducers are linked together by the ring flange of support and ultrasonic vibration transducer, and support is used for fixing stator and precompression device is installed, stator is connected to formation bi-directional drive rotary ultrasonic motor in aggregates with rotor, between two ultrasonic vibration transducer axis after ring flange is fixing, angle is 20 degree ~ 160 degree.
Before not adding ultrasonic voltage signal driver, the friction-driven piece of two elliptical vibration MODAL TRANSFORMATION OF A device front ends contacts with rotor simultaneously.
During work, one of them ultrasonic vibration transducer suspends, the work of another one ultrasonic vibration transducer.That is: the ultrasonic vibration transducer electrode sheet suspending to needs is sent into negative DC voltage signal, utilizes piezoelectric effect to make this ultrasonic vibration transducer axial shrinkage, and then the friction-driven piece of elliptical vibration MODAL TRANSFORMATION OF A device front end is suspended on rotor.To another one, need drive the ultrasonic vibration transducer of work to send into ultrasonic sinusoidal electric signals, this ultrasonic vibration transducer produces ultrasonic vibration, ultrasonic vibrational energy is from ultrasonic vibration transducer is delivered to elliptical vibration MODAL TRANSFORMATION OF A device end, be converted to extensional vibration and the compound vertical curved composite ultrasonic elliptical vibratory of flexural vibrations with certain phase difference, be converted to the vertical curved composite ultrasonic elliptical vibratory of elliptical vibration MODAL TRANSFORMATION OF A device end; And drive friction-driven piece to do ultrasonic elliptical vibratory together with elliptical vibration MODAL TRANSFORMATION OF A device end, and then drive rotor to carry out continuous rotation motion.
When needs rotor moves to another direction rotation, exchange the ultrasonic electric signal driver mode of two ultrasonic vibration transducers.Compare the bi-directional drive rotary ultrasonic motor of existing Introduction of Literatures, this rotary ultrasonic motor has that power capacity is large, energy conversion efficiency is high, simple in structure, easy to manufacture, cost is low, the rigidity of structure is large, control-driven system is simple and the advantage such as vibration performance is stable.
Further, two ultrasonic vibration transducers of described bi-directional drive rotary ultrasonic motor have one group of extensional vibration piezoelectric ceramic piece respectively.
Further, two ultrasonic vibration transducers of described bi-directional drive rotary ultrasonic motor Xu Yi road ultrasonic electric signal excitation respectively.
The utility model has adopted mechanical oscillation MODAL TRANSFORMATION OF A mechanism the extensional vibration of ultrasonic vibration transducer to be converted to the vertical curved composite ultrasonic elliptical vibratory of elliptical vibration MODAL TRANSFORMATION OF A device, simplified the overall structure of bi-directional drive rotary ultrasonic motor, greatly reduce the complexity of vibrational system, manufacture, assembly difficulty and production cost have been reduced, whole bi-directional drive rotary ultrasonic motor is simple in structure, easy to manufacture, and cost is low; Two of this utility model equal Zhi Xu mono-road ultrasonic electric signals of ultrasonic vibration transducer encourage in addition, control difficulty is low, avoided heterogeneous ultrasonic vibration to be compounded to form the complicated ultrasonic-frequency power supply development cost of elliptical vibration transducer, control circuit and ultrasonic-frequency power supply structure have been simplified, control circuit and ultrasonic-frequency power supply cost have been reduced, control circuit and ultrasonic-frequency power supply volume have been reduced, be easy to realize the microminiaturization of control circuit and ultrasonic-frequency power supply, integrated, improved reliability, service behaviour is more stable, has a extensive future.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is application example schematic diagram of the present utility model.
Number in the figure explanation: 1. bolt, 2. back shroud, 3. piezoelectric ceramic piece, 4. electrode slice, 5. front shroud, 6. ring flange, 7. elliptical vibration MODAL TRANSFORMATION OF A device, 8. rotating disk, 9. frictional layer, 10. friction-driven piece, 11. supports, 12. A ultrasonic-frequency power supplies, 13. B ultrasonic acoustic-electric sources
Embodiment
Shown in Fig. 1,2, bi-directional drive rotary ultrasonic motor, comprises rotor and stator, and rotor comprises rotating disk 8 and is arranged on the frictional layer 9 on rotating disk 8 surfaces; Described stator comprises support 11, two identical ultrasonic vibration transducers, two identical elliptical vibration MODAL TRANSFORMATION OF A devices 7 and two the identical friction-driven pieces 10 by support 11, fixed; Described ultrasonic vibration transducer outline is cylindrical, it comprises bolt 1 and is set in successively back shroud 2, piezoelectric ceramic piece 3, electrode slice 4 and the front shroud 5 on bolt 1, on front shroud 5, be provided with and can connect with support 11 ring flange 6 of use, back shroud 2 and front shroud 5 are connected back shroud 2, piezoelectric ceramic piece 3, electrode slice 4 and front shroud 5 to compress by bolt 1, formed the power conversion part of bi-directional drive rotary ultrasonic motor, the ultrasonic electric energy of A ultrasonic- frequency power supply 12 and 13 outputs of B ultrasonic acoustic-electric source has been converted to the ultrasonic vibrational energy of two ultrasonic vibration transducers.Two ultrasonic vibration transducers of this bi-directional drive rotary ultrasonic motor have one group of extensional vibration piezoelectric ceramic piece 3 respectively, piezoelectric ceramic transducer section diameter 30mm, and piezoelectric ceramic piece 3 materials are PZT-8, are of a size of:
Ф 30 * Ф 15 * 5, the sheet number of piezoelectric ceramic piece 3 is 2.
Described elliptical vibration MODAL TRANSFORMATION OF A device 7 and front shroud 5 are made into the front end that an one-piece parts is arranged on front shroud 5, elliptical vibration MODAL TRANSFORMATION OF A device 7 integral body are inclined wedge-shaped structure, the former integral body of inclined wedge-shaped structure elliptical vibration MODAL TRANSFORMATION OF A device is cuboid, and the cross section length of side is 15
*15mm, long 40mm, after being cut a part, ultrasonic vibration transducer axis direction one side forms inclined wedge-shaped structure, form in two sides of inclined wedge-shaped, a cut parallel sided is not in ultrasonic vibration transducer axis, and the another side being cut becomes 10 degree angles with ultrasonic vibration transducer axis.
Described friction-driven piece 10 is by the bonding front end that is arranged on elliptical vibration MODAL TRANSFORMATION OF A device 7, and friction-driven piece 10 contacts with the frictional layer 9 on rotating disk 8.Two ultrasonic vibration transducers are linked together by the ring flange 6 of support 11 and ultrasonic vibration transducer, and support 11 is used for fixing stator and precompression device is installed, stator is connected to formation bi-directional drive rotary ultrasonic motor in aggregates with rotor, between two ultrasonic vibration transducer axis after ring flange 6 and support 11 is fixing, angle is 90 degree.
Two ultrasonic vibration transducer natural frequencys of bi-directional drive rotary ultrasonic motor are all 25.32KHz mutually, impedance is respectively 75 and 78 ohm, dynamic electric resistor is 18 and 16 ohm, two ultrasonic vibration transducer Xu Yi road ultrasonic electric signal excitations respectively, A ultrasonic-frequency power supply 12 and B ultrasonic acoustic-electric source 13, its output voltage range is 0-400V, current range is 0-4A, output frequency is 25.44 ± 0.01KHz, and A ultrasonic-frequency power supply 12 and B ultrasonic acoustic-electric source 13 all have automatic frequency tracking function in designated frequency range.
Before not adding ultrasonic voltage signal driver, the friction-driven piece 10 of two elliptical vibration MODAL TRANSFORMATION OF A device 7 front ends contacts with rotor simultaneously.
During driving, the ultrasonic vibration transducer electrode sheet 4 suspending to needs is sent into negative DC voltage signal-300V, utilize piezoelectric effect to make this ultrasonic vibration transducer axial shrinkage, and then the friction-driven piece 10 of elliptical vibration MODAL TRANSFORMATION OF A device 7 front ends is suspended on rotor; To another one, need drive the ultrasonic vibration transducer of work to send into ultrasonic sinusoidal electric signals, when the ultrasonic electric signal of B ultrasonic acoustic-electric source 13 outputs is linked into after the electrode slice 4 of ultrasonic vibration transducer, this ultrasonic vibration transducer produces ultrasonic vibration, ultrasonic vibrational energy is from ultrasonic vibration transducer is delivered to elliptical vibration MODAL TRANSFORMATION OF A device 7 ends, be converted to extensional vibration and the compound vertical curved composite ultrasonic elliptical vibratory of flexural vibrations with certain phase difference, be converted to the vertical curved composite ultrasonic elliptical vibratory of elliptical vibration MODAL TRANSFORMATION OF A device 7 ends; And drive friction-driven piece 10 to do ultrasonic elliptical vibratory together with elliptical vibration MODAL TRANSFORMATION OF A device 7 ends, and then drive rotor to carry out continuous rotation motion.The system after 10 minutes of moving reaches stable vibration state, and the output voltage in B ultrasonic acoustic-electric source 13 is 240V, and electric current is 1.46A, and the edge peripheral linear speed peak value of the rotating disk 8 that diameter is 40mm is 55.3mm/s.
The ultrasonic electric signal driver mode of two ultrasonic vibration transducers of exchange, moving the output voltage of A ultrasonic-frequency power supply 12 after 10 minutes is 240V, electric current is 1.48A, and rotor is to another direction rotation motion, and the edge peripheral linear speed peak value of the rotating disk 8 that its diameter is 40mm is 55.9mm/s.
Claims (6)
1. bi-directional drive rotary ultrasonic motor, comprises rotor and stator, it is characterized in that: rotor comprises rotating disk and is arranged on the frictional layer of disc surfaces; Stator comprises support, two identical ultrasonic vibration transducers fixing by support, two identical elliptical vibration MODAL TRANSFORMATION OF A devices and two identical friction-driven pieces; Described ultrasonic vibration transducer outline is cylindrical, it comprises bolt and is set in successively back shroud, piezoelectric ceramic piece, electrode slice and the front shroud on bolt, on front shroud, be provided with and can connect with support the ring flange of use, back shroud and front shroud are connected back shroud, piezoelectric ceramic piece, electrode slice and front shroud to compress by bolt; Described elliptical vibration MODAL TRANSFORMATION OF A device is arranged on the front end of front shroud, for inclined wedge-shaped structure, the former integral body of inclined wedge-shaped structure elliptical vibration MODAL TRANSFORMATION OF A device is cuboid, after being cut a part, ultrasonic vibration transducer axis direction one side forms inclined wedge-shaped structure, form in two sides of inclined wedge-shaped, a cut parallel sided is not in ultrasonic vibration transducer axis, and the another side being cut becomes 3-30 degree angle with ultrasonic vibration transducer axis; Described friction-driven piece is arranged on the front end of elliptical vibration MODAL TRANSFORMATION OF A device; Between two ultrasonic vibration transducer axis after ring flange and support are fixing, angle is 20 degree ~ 160 degree.
2. bi-directional drive rotary ultrasonic motor according to claim 1, is characterized in that: described elliptical vibration MODAL TRANSFORMATION OF A device and front shroud are made into a whole installation at the front end of front shroud.
3. bi-directional drive rotary ultrasonic motor according to claim 1, is characterized in that: also comprise that connects a double-screw bolt, for elliptical vibration MODAL TRANSFORMATION OF A device being connected in to the front end of front shroud.
4. according to the bi-directional drive rotary ultrasonic motor described in claim 1 or 2 or 3, it is characterized in that: described friction-driven piece is arranged on the front end of elliptical vibration MODAL TRANSFORMATION OF A device by welding.
5. according to the bi-directional drive rotary ultrasonic motor described in claim 1 or 2 or 3, it is characterized in that: described friction-driven piece is by the bonding front end that is arranged on elliptical vibration MODAL TRANSFORMATION OF A device.
6. according to the bi-directional drive rotary ultrasonic motor described in claim 1 or 2 or 3, it is characterized in that: also comprise a joint bolt, for friction-driven piece being connected in to the front end of elliptical vibration MODAL TRANSFORMATION OF A device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320520850.5U CN203406799U (en) | 2013-08-26 | 2013-08-26 | Bidirectional driving rotary ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320520850.5U CN203406799U (en) | 2013-08-26 | 2013-08-26 | Bidirectional driving rotary ultrasonic motor |
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| Publication Number | Publication Date |
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| CN203406799U true CN203406799U (en) | 2014-01-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320520850.5U Expired - Fee Related CN203406799U (en) | 2013-08-26 | 2013-08-26 | Bidirectional driving rotary ultrasonic motor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103414372A (en) * | 2013-08-26 | 2013-11-27 | 苏州科技学院 | Two-way driving rotating ultrasonic motor |
| CN104410325A (en) * | 2014-12-09 | 2015-03-11 | 苏州科技学院 | Single-excitation rotating ultrasonic motor |
| CN104852628A (en) * | 2015-05-25 | 2015-08-19 | 上海交通大学 | Columnar rotary ultrasonic micro-machine based on piezoelectric single crystal surface-cut mode |
-
2013
- 2013-08-26 CN CN201320520850.5U patent/CN203406799U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103414372A (en) * | 2013-08-26 | 2013-11-27 | 苏州科技学院 | Two-way driving rotating ultrasonic motor |
| CN103414372B (en) * | 2013-08-26 | 2015-11-25 | 苏州科技学院 | Bi-directional drive rotary ultrasonic motor |
| CN104410325A (en) * | 2014-12-09 | 2015-03-11 | 苏州科技学院 | Single-excitation rotating ultrasonic motor |
| CN104852628A (en) * | 2015-05-25 | 2015-08-19 | 上海交通大学 | Columnar rotary ultrasonic micro-machine based on piezoelectric single crystal surface-cut mode |
| CN104852628B (en) * | 2015-05-25 | 2017-05-24 | 上海交通大学 | Columnar rotary ultrasonic micro-machine based on piezoelectric single crystal surface-cut mode |
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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: 20140122 Termination date: 20160826 |
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| CF01 | Termination of patent right due to non-payment of annual fee |