CN203423634U - Positioning control device driving load directly and used for mini-size ultrasonic motor - Google Patents
Positioning control device driving load directly and used for mini-size ultrasonic motor Download PDFInfo
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- CN203423634U CN203423634U CN201320381882.1U CN201320381882U CN203423634U CN 203423634 U CN203423634 U CN 203423634U CN 201320381882 U CN201320381882 U CN 201320381882U CN 203423634 U CN203423634 U CN 203423634U
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Abstract
The utility model discloses a positioning control device driving a load directly and used for a mini-size ultrasonic motor. The positioning control device includes a module box, a rotary shaft, a rotor and a stator assembly. The module box is inside equipped with a motor error accumulation RZ (Return to Zero) sensor and a rotor rotation position accurate positioning sensor provided with a U-shaped detecting head. The rotary shaft is provided with an error accumulation RZ sensing part corresponding to an inductive head of the motor error accumulation RZ sensor. The rotary shaft is equipped with a positioning code plate in synchronous motion with the rotor. The plate face of the positioning code plate is arranged between detection arms of the U-shaped detecting head. N cutting gaps are distributed on the periphery of the plate face of the positioning code plate uniformly. The rotor is divided into a pre-compression applying section, a load section and a rotor section successively in the axial direction. Therefore, functions of motor fixation, direct driving of the load, accurate control of motor rotor rotation positions and motor rotation error accumulation RZ control are integrated in a limited space of the module box, and the motor can be fixed effectively and the rotation of the motor is not influenced.
Description
Technical field
The utility model relates to a kind of miniature ultrasonic motor position control device of direct driving load, belongs to Ultrasonic Motor Techniques field.
Background technology
In order to realize the adjusting to wavelength in optical transceiver in optical fiber communication, increase the message capacity of optical fiber, need in transceiver, increase filter driver module, by the rotation to filter, switch the wavelength that changes light path.In order to realize this function, need to there is a driving mechanism to switch filter, due to this module small volume, the general motor of minor diameter that adopts drives, traditional electromagnetic machine is due to complex structure, be difficult to realize microminiaturized, cannot be competent at this field, ultrasound electric machine is because its characteristic can show good mechanical property under miniature sizes environment.
Ultrasound electric machine is to utilize the inverse piezoelectric effect of piezoelectric ceramic and the new type power output device of ultrasonic vibration.Compare with electromagnetic machine, there is compact conformation, low speed high torque, response fast (Millisecond), cut off self-lock, position and speed controlled good, be not subject to the advantages such as electromagnetic interference and low noise operation.In the eurypalynous ultrasound electric machine of crowd, the superior function such as it is large that longitudinal-torsional compound ultrasonic motor has moment of torsion/volume ratio, efficiency height, and become the focus of this area research.The cost of the torsional oscillation piezo ceramic element that tradition longitudinal-torsional compound ultrasonic motor is used is far away higher than the cost of longitudinal vibration piezo ceramic element, thereby the cost of motor is improved greatly, is unfavorable for the industrialized development of motor.MODAL TRANSFORMATION OF A type ultrasound electric machine is also a kind of of longitudinal-torsional compound ultrasonic motor, it only need get final product work with one group of longitudinal vibration piezo ceramic element, do not need expensive torsional oscillation piezo ceramic element, can not only greatly reduce the cost of motor, also the complex structure degree that greatly reduces motor, is easier to microminiaturization simultaneously.
The positioning control of ultrasound electric machine is all generally the control method that adopts encoder, and Position Control annex additional in this method is difficult to microminiaturization, and therefore, for the application of small volume, this position control method is helpless.MODAL TRANSFORMATION OF A type ultrasound electric machine adopts the mode of rigidity installation sheet fixed electrical machinery, can cause very large impact to the operation mode of motor, and then affect the running of motor, when motor size compared with hour, this situation is more outstanding, and the situation that can not turn round even appears in motor.Therefore position control device and the fixed installation thereof of miniature MODAL TRANSFORMATION OF A type ultrasound electric machine are the biggest obstacles on this motor Industrialization.
Utility model content
The utility model, for the deficiencies in the prior art, provides a kind of miniature ultrasonic motor position control device of direct driving load, and it is fixed electrical machinery and do not affect the rotation of motor effectively.The function that fixing, the accurate control that directly drives load, rotor turned position of this device integrated motor in very little space and electric machine rotation deviation accumulation make zero and control.
For realizing above technical purpose, the utility model will be taked following technical scheme:
A kind of miniature ultrasonic motor position control device of direct driving load, comprise the rotating shaft in modular cartridge of modular cartridge and positioning supports, miniature ultrasonic motor is installed in described rotating shaft, this miniature ultrasonic motor comprises rotor and stator module, and rotor, stator module are coaxially installed with rotating shaft respectively; In described modular cartridge, be separately installed with motor error and add up to make zero the accurate alignment sensor of transducer and rotor turned position, described rotating shaft is provided with the deviation accumulation induction part that makes zero corresponding to the make zero inductive head of transducer of motor error accumulative total, and location code-disc is installed, this location code-disc and rotor synchronous motion in rotating shaft; The setting that takes the shape of the letter U of the detection head of the accurate alignment sensor in described rotor turned position, between two U-shaped detection arm of this U-shaped detection head, be equipped with the card of location code-disc, the card of location code-disc cuts breach along outer circumference to uniform n bar, wherein, n is positive integer, and the adjacent surface of two U-shaped detection arm is turned position test section, the turned position induction part being used in conjunction with; Described rotor vertically order is divided into the precompression section of applying, load patch and rotor section, wherein: the end face of the precompression section of applying touches mutually with precompression device, and the precompression that rotor applies by precompression device is pressed on stator module; Load patch designs corresponding structure according to actual needs; Rotor section contacts with stator module, and the surface-coated that rotor section contacts with stator module has friction material; In addition, described rotor offers the installing hole matching with rotating shaft vertically.
As the further improvement of such scheme, the motor error described in the utility model accumulative total transducer that makes zero is light sensor, and the described deviation accumulation induction part that makes zero is light-emitting area; The accurate alignment sensor in described rotor turned position is U-shaped photoelectric sensor.
As the further improvement of such scheme, described in the utility modelly cut the breach setting that takes the shape of the letter U, and to cut breach be 4.
As the further improvement of such scheme, load patch described in the utility model is in the form of annular discs, and this discoid load patch is along circumferential uniform 4 U-lags, and the notch of each U-lag is the center of circle of discoid load setting dorsad all.
As the further improvement of such scheme, stator module described in the utility model disposes flexible installation sheet, and the matrix of this flexibility installation sheet is ring-type foil, and described ring-type foil outside ring surface extends installation foot radially; Flexible installation sheet is inlaid in annular incision of offering on the wall of stator module, and the installation of flexible installation sheet foot is connected with the installation column being fixed in modular cartridge.
Further improvement as such scheme, stator module described in the utility model comprises piezoelectric vibrator, and this piezoelectric vibrator comprises that longitudinal vibration piezoelectric ceramic chip module and the 1 rank longitudinal vibration MODAL TRANSFORMATION OF A that longitudinal vibration piezoelectric ceramic chip module excited target power supply can be excited are the longitrorse MODAL TRANSFORMATION OF A device of 2 rank torsional oscillation modes; Described longitrorse MODAL TRANSFORMATION OF A device comprises that cross section is circular cylinder, this cylinder is offered a plurality of groovings near a side of rotor along outside wall surface, the bearing of trend of described grooving and the axis of cylinder are obliquely installed, deviate from a side of rotor and offer annular incision along outside wall surface, flexible installation sheet is flush-mounted in this annular incision.
As the further improvement of such scheme, the deviation accumulation described in the utility model induction part that makes zero is arranged on the first plane that rotating shaft cuts to form vertically; Described rotor, precompression device and the installation site of location code-disc in rotating shaft are the second plane that rotating shaft cuts to form vertically, and the cross section of the rotating shaft that the first plane, the second plane are corresponding is arc setting; The installing hole that rotor, precompression device, location code-disc three offer is vertically the arcuate apertures matching with the second plane institute corresponding position rotating shaft.
According to above technical scheme, with respect to prior art, the utlity model has following advantage:
1, the utility model is installed for detection of the motor error accumulative total of the induction part transducer that makes zero that makes zero of set deviation accumulation in rotating shaft in modular cartridge, when motor error accumulative total makes zero transducer institute detection signal when normal, miniature ultrasonic motor maintenance work, when the motor error accumulative total transducer that makes zero detects jump signal, i.e. now rotating shaft rotation cause deviation accumulation make zero the inductive head of transducer and deviation accumulation make zero the axial intersection of induction part in rotating shaft over against time, stop miniature ultrasonic motor;
2, the location code-disc moving with rotor synchronous is installed in the utility model rotating shaft, by the positional information of detection and location code-disc, can be fed back the positional information of rotor; The accurate alignment sensor in rotor turned position for detection of code-disc turned position, location is installed in modular cartridge, when rotor turned position accurate alignment sensor institute detection signal is normal, miniature ultrasonic motor maintenance work, when rotor turned position, accurate alignment sensor detects jump signal, the detection head that i.e. now rotating shaft rotation causes the accurate alignment sensor in rotor turned position with cut the radially intersection of breach on the code-disc of location over against time, stop miniature ultrasonic motor;
3, rotor described in the utility model has directly designed load patch, and the object that this load patch arranges U-shaped open slot is the filter plate using in load application;
4, the equipped flexible installation sheet of stator module described in the utility model, so that stator module axially, radially all has certain installation surplus, the easness while improving product assembling itself and the precision while reducing each assembly production;
In sum, the utility model is in this limited space of modular cartridge, the function that fixing, the accurate control that directly drives load, rotor turned position of integrated motor and electric machine rotation deviation accumulation make zero and control, it is fixed electrical machinery and do not affect the rotation of motor effectively.
Accompanying drawing explanation
Fig. 1 is the structure chart of the miniature ultrasonic motor position control device of the direct driving load that the utility model proposes, and in figure, each label title is respectively: 1-modular cartridge; 2-bearing holder (housing, cover); 3-bearing; 4-motor error adds up to make zero transducer; 5-axle; The miniature MODAL TRANSFORMATION OF A type of 6-ultrasound electric machine; 7-installs column; The flexible installation sheet of 8-; 9-rotor loading; The accurate alignment sensor in 10-rotor turned position; 11-locates code-disc; 12-axle sleeve.
Fig. 2 is the rotor support structures in the miniature ultrasonic motor position control device of the direct driving load that the utility model proposes.This structure is along rotating shaft to being divided into 3 parts, and the 91 precompression sections of applying in figure, for placing precompression spring system; 92 is load patch, and shape designs according to practical application is required; 93 is the rotor section contacting with stator vibration face, at itself and stator contact surface, is pasted with one deck friction material.In the rotor loading center of circle, be provided with an arcuate apertures, corresponding with the second plane 52 on axle, adopt interference fits, thereby axle can be rotated along with the rotation of rotor loading.
Fig. 3 is the pivot structure in the miniature ultrasonic motor position control device of the direct driving load that the utility model proposes.Two ends at axle are provided with respectively two planes 51 and 52 vertically.
Fig. 4 is the mode figure of miniature MODAL TRANSFORMATION OF A type ultrasound electric machine, and in figure, each label title is respectively: a, motor stator 1 rank longitudinal vibration mode; B, motor 2 rank torsional oscillation modes; C, motor 2 rank torsional oscillation mode first segment planes; D, motor 1 rank longitudinal vibration mode pitch plane; E, motor 2 rank torsional oscillation mode second section planes.Motor 2 rank torsional oscillation mode first segment planes, second section plane are all positioned in the middle of motor part, cannot use as motor is fixing, motor 1 rank longitudinal vibration mode pitch plane is positioned in the middle of piezo ceramic element and the cylindrical part with skewed slot, in its position, place a flexible installation sheet, this flexibility installation sheet stretches out an installation foot, can install and fix for motor provides flexible.
Fig. 5 is location code-disc 11 structure charts in the miniature ultrasonic motor position control device of the direct driving load that the utility model proposes, it has two structures, be respectively outer disk 111, erection column 113, wherein in outer disk, having n(n is positive integer) the circumferential uniform U-shaped breach 112 in bar edge, in erection column pieces of center of circle, one arc through hole 114 is set, corresponding with the second plane 52 on axle, adopt interference fit, and with glue, be fixed on axle the rotational synchronization of its rotation and rotor and axle.
Embodiment
Accompanying drawing discloses the structural representation of the related preferred embodiment of the utility model without limitation; Below with reference to accompanying drawing, explain the technical solution of the utility model.
As shown in Figure 1, the miniature ultrasonic motor position control device of direct driving load described in the utility model, comprises that the accurate alignment sensor of modular cartridge 1, rotating shaft, miniature MODAL TRANSFORMATION OF A type ultrasound electric machine 6, turned position, motor error add up to make zero transducer 4; Wherein:
The rectangular setting of section of modular cartridge 1, offers respectively a supported hole on two short sidewalls of this rectangular module box 1, and the supported hole on two short sidewalls coaxially arranges;
Miniature MODAL TRANSFORMATION OF A type ultrasound electric machine 6, comprises rotor and stator, during this rotor design, has the function of rotor, can be used as load again and exists.Described rotor vertically order is divided into the precompression section of applying 91, load patch 92 and rotor section 93, wherein: the end face of the precompression section of applying 91 touches mutually with precompression device, and therefore, the precompression that precompression device applies can be pressed on rotor on stator; Load patch 92 designs corresponding structure according to the application specific functionality that will realize, and in the application, described load patch 92 is in the form of annular discs, and this discoid load patch 92 is along circumferential uniform 4 U-lags, and the notch of each U-lag is the center of circle of discoid load setting dorsad all; Rotor section 93 is the contact-segment of rotor, stator, and therefore, the surface-coated that rotor section 93 contacts with stator has one deck friction material; In addition, described rotor offers arc installing hole vertically, be convenient to rotating shaft on the second plane 52 be connected; Described stator comprises piezoelectric vibrator, and this piezoelectric vibrator comprises that longitudinal vibration piezoelectric ceramic chip module and the 1 rank longitudinal vibration MODAL TRANSFORMATION OF A that longitudinal vibration piezoelectric ceramic chip module excited target power supply can be excited are the longitrorse MODAL TRANSFORMATION OF A device of 2 rank torsional oscillation modes; Described longitrorse MODAL TRANSFORMATION OF A device comprises that cross section is circular cylinder, this cylinder is offered a plurality of groovings near a side of rotor along outside wall surface, the bearing of trend of described grooving and the axis of cylinder are obliquely installed, and deviate from a side of rotor and in its outside wall surface, offer annular incision vertically; Described stator arrangement has the flexible installation sheet 8 of a slice, the 1 rank longitudinal vibration mode pitch plane position that the installation site of flexible installation sheet 8 on stator module and stator module produce is adjoining, the matrix of this flexibility installation sheet 8 is ring-type foil, and this ring-type foil outside ring surface extends installation foot radially; Flexible installation sheet 8 adopts sandwich mode to be placed in miniature MODAL TRANSFORMATION OF A type ultrasound electric machine 6 in motor assembling process, be specially: longitudinal vibration piezoelectric ceramic chip module and flexible installation sheet 8 are flush-mounted in this annular incision alternately, and the installation of flexible installation sheet 8 foot links into an integrated entity by mode gluing or that screw is connected with the installation column 7 being fixed in modular cartridge 1; Described rotor configuration location code-disc 11, comprises circular outer disk 111 and erection column 113, and erection column 113 is inlaid in the interior ring of circular outer disk 111, and erection column 113 offers arc through hole vertically, for locating the installation location of code-disc 11; Circular outer disk 111 is positive integer along the circumferential uniform n(n of outer shroud) bar U-shaped breach, in figure, be four, described U-shaped breach U-shaped arm bearing of trend perpendicular to the axis direction that column 7 is installed.
The two ends of rotating shaft are supported on respectively two short sidewalls of modular cartridge 1 by bearing 3 and axle sleeve 12, axle sleeve 12 is arranged in the supported hole of one of them short sidewall, and bearing 3 is arranged in the supported hole of another short sidewall by bearing 3 covers 2, the two ends of described rotating shaft cut respectively to form the first plane, the second plane 52 vertically, the cross section of the rotating shaft corresponding with the first plane, the second plane 52 is arc setting, in the application, the axial length of the first plane is less than the axial length of the second plane 52, in addition, the first plane is as the make zero sensitive surface of transducer 4 of motor error accumulative total, and the second plane 52 is as the rotor loading 9 that miniature MODAL TRANSFORMATION OF A type ultrasound electric machine 6 is installed, the installation portion of precompression device and location code-disc 11, utilize bowed shape and the (rotor loading 9 of each installed part of the second plane 52 corresponding axis bodies, precompression device and location code-disc 11) between cooperatively interact, determine the relative circumferential position of each installed part and rotating shaft, by the collection of 10 pairs of these the second plane 52 positions of accurate alignment sensor, rotor turned position, realize the accurate location induction of rotor turned position.
The accurate alignment sensor of turned position, the motor error accumulative total transducer 4 that makes zero is separately fixed on the long sidewall of modular cartridge 1, the height of vertical centre is consistent with the vertical height of shaft axis, the make zero detection faces of transducer 4 of motor error accumulative total faces the first plane of rotating shaft, and the make zero U-lag of transducer 4 of motor error accumulative total is included in the U-shaped breach of location code-disc 11 wherein; In addition, described motor error accumulative total makes zero transducer 4 for light sensor, and the first plane is light-emitting area; The accurate alignment sensor 10 in described rotor turned position is U-shaped photoelectric sensor.
Claims (7)
1. a miniature ultrasonic motor position control device that directly drives load, comprise the rotating shaft in modular cartridge of modular cartridge and positioning supports, miniature ultrasonic motor is installed in described rotating shaft, this miniature ultrasonic motor comprises rotor and stator module, rotor, stator module is coaxially installed with rotating shaft respectively, and rotor is pressed on stator module by precompression device, it is characterized in that: in described modular cartridge, be separately installed with motor error and add up to make zero the accurate alignment sensor of transducer and rotor turned position, described rotating shaft is provided with the deviation accumulation induction part that makes zero corresponding to the make zero inductive head of transducer of motor error accumulative total, and location code-disc is installed in rotating shaft, this location code-disc and rotor synchronous motion, the setting that takes the shape of the letter U of the detection head of the accurate alignment sensor in described rotor turned position, between two U-shaped detection arm of this U-shaped detection head, be equipped with the card of location code-disc, the card of location code-disc cuts breach along outer circumference to uniform n bar, wherein, n is positive integer, and the adjacent surface of two U-shaped detection arm is turned position test section, the turned position induction part being used in conjunction with, described rotor vertically order is divided into the precompression section of applying, load patch and rotor section, wherein: the end face of the precompression section of applying touches mutually with precompression device, and the precompression that rotor applies by precompression device is pressed on stator module, load patch designs corresponding structure according to actual needs, rotor section contacts with stator module, and the surface-coated that rotor section contacts with stator module has friction material, in addition, described rotor offers the installing hole matching with rotating shaft vertically.
2. the miniature ultrasonic motor position control device that directly drives according to claim 1 load, is characterized in that: the described motor error accumulative total transducer that makes zero is light sensor, and the described deviation accumulation induction part that makes zero is light-emitting area; The accurate alignment sensor in described rotor turned position is U-shaped photoelectric sensor.
3. the miniature ultrasonic motor position control device that directly drives according to claim 2 load, is characterized in that: described in cut the breach setting that takes the shape of the letter U, and to cut breach be 4.
4. the miniature ultrasonic motor position control device that directly drives according to claim 3 load, is characterized in that: load patch is in the form of annular discs, and this discoid load patch is along circumferential uniform 4 U-lags, and the notch of each U-lag is the center of circle of discoid load setting dorsad all.
5. directly drive according to claim 2 the miniature ultrasonic motor position control device of load, it is characterized in that: described stator module disposes flexible installation sheet, the matrix of this flexibility installation sheet is ring-type foil, and described ring-type foil outside ring surface extends installation foot radially; Flexible installation sheet is inlaid in annular incision of offering on the wall of stator module, and the installation of flexible installation sheet foot is connected with the installation column being fixed in modular cartridge.
6. directly drive according to claim 5 the miniature ultrasonic motor position control device of load, it is characterized in that: stator module comprises piezoelectric vibrator, this piezoelectric vibrator comprises that longitudinal vibration piezoelectric ceramic chip module and the 1 rank longitudinal vibration MODAL TRANSFORMATION OF A that longitudinal vibration piezoelectric ceramic chip module excited target power supply can be excited are the longitrorse MODAL TRANSFORMATION OF A device of 2 rank torsional oscillation modes; Described longitrorse MODAL TRANSFORMATION OF A device comprises that cross section is circular cylinder, this cylinder is offered a plurality of groovings near a side of rotor along outside wall surface, the bearing of trend of described grooving and the axis of cylinder are obliquely installed, deviate from a side of rotor and offer annular incision along outside wall surface, flexible installation sheet is flush-mounted in this annular incision.
7. the miniature ultrasonic motor position control device that directly drives according to claim 2 load, is characterized in that: the described deviation accumulation induction part that makes zero is arranged on the first plane that rotating shaft cuts to form vertically; Described rotor, precompression device and the installation site of location code-disc in rotating shaft are the second plane that rotating shaft cuts to form vertically, and the cross section of the rotating shaft that the first plane, the second plane are corresponding is arc setting; The installing hole that rotor, precompression device, location code-disc three offer is vertically the arcuate apertures matching with the second plane institute corresponding position rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320381882.1U CN203423634U (en) | 2013-06-28 | 2013-06-28 | Positioning control device driving load directly and used for mini-size ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320381882.1U CN203423634U (en) | 2013-06-28 | 2013-06-28 | Positioning control device driving load directly and used for mini-size ultrasonic motor |
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| CN203423634U true CN203423634U (en) | 2014-02-05 |
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| CN201320381882.1U Expired - Fee Related CN203423634U (en) | 2013-06-28 | 2013-06-28 | Positioning control device driving load directly and used for mini-size ultrasonic motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103354432A (en) * | 2013-06-28 | 2013-10-16 | 南京航空航天大学 | Miniature ultrasonic motor positioning control device directly driving load |
| CN112610725A (en) * | 2020-12-23 | 2021-04-06 | 山东骏腾医疗科技有限公司 | Multi-way valve and using method thereof |
-
2013
- 2013-06-28 CN CN201320381882.1U patent/CN203423634U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103354432A (en) * | 2013-06-28 | 2013-10-16 | 南京航空航天大学 | Miniature ultrasonic motor positioning control device directly driving load |
| CN103354432B (en) * | 2013-06-28 | 2016-04-27 | 南京航空航天大学 | A kind of Miniature ultrasonic motor position control device of Direct driver load |
| CN112610725A (en) * | 2020-12-23 | 2021-04-06 | 山东骏腾医疗科技有限公司 | Multi-way valve and using method thereof |
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