CN204376756U - The oblique mover V-arrangement piezoelectric motor that antifriction mode drive - Google Patents
The oblique mover V-arrangement piezoelectric motor that antifriction mode drive Download PDFInfo
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Abstract
The oblique mover V-arrangement piezoelectric motor that antifriction mode drive, belongs to piezoelectric motor class.This motor is made up of V-arrangement stator and an inclination mover.Described stator entirety is V-shaped, and comprise two identical symmetrical piezoelectric vibrators with angle, each piezoelectric vibrator comprises rear end cap, piezoelectric ceramic, electrode slice and front end housing successively, and the front end housing upper end of two piezoelectric vibrators combines as a whole to be formed and drives foot.Described inclination mover is the line slideway that an inclination is installed, and is pressed on the driving foot of V-arrangement stator by precompression.This design of electrical motor has resonance and off-resonance two kinds of type of drive.In resonance type of drive, V-arrangement stator in antifriction and mode work under driving, promote guide rail forward and reverse motion; In off-resonance type of drive, V-arrangement stator is in antifriction and work under the driving of forced vibration, promotes the forward and reverse motion of guide rail.Relative to existing piezoelectric motor, this piezoelectric motor not only can improve power output effectively, and drives bandwidth, reliable operation.
Description
technical field:
The oblique mover V-arrangement piezoelectric motor that antifriction of the present utility model mode drive, belongs to piezoelectric motor field.
background technology:
Piezoelectric motor is the new type power output device utilizing the inverse piezoelectric effect of piezoelectric ceramic to carry out work.Wherein, linear piezoelectric motor belongs to the one of piezoelectric motor.Compared with traditional electrical magneto, piezoelectric motor has low-speed and large-torque, and transient response is fast, and positioning precision is high, control characteristic is good, does not produce the magnetic field also advantage such as not affected by magnetic fields, at precision actuation, medicine equipment, automobile, the fields such as Aero-Space have a wide range of applications.
Through finding the literature search of existing oblique mover piezoelectric motor, the artificial Huang of patented invention is defended clearly, Chen Qianwei and license number describe a kind of tiltedly mover V-arrangement linear piezoelectric motor in detail for the Chinese patent " bidirectional single-mode inclined track V-shaped linear ultrasonic motor and electric excitation mode " of ZL 200910184876.5, this V-arrangement piezoelectric motor has following characteristic feature: this motor is made up of the line slideway at V-arrangement stator and cant angle theta degree angle, wherein V-arrangement stator comprises two identical symmetrical piezoelectric vibrators with angle, each piezoelectric vibrator comprises rear end cap successively, supporting bracket, piezoelectric ceramic and electrode slice, front end housing, front end housing and rear end cap are fixed by hold-down bolt, the front end housing upper end of two piezoelectric vibrators combines as a whole to be formed and drives foot.V-arrangement stator design has two orthogonal operation modes, is respectively symmetric vibration mode and antisymmetric vibration mode; When excite wherein any one operation mode time, stator drives the movement locus of the surperficial particle of foot to be a skew lines relative to guide rail, and the incline direction of skew lines changes with the change of operation mode, thus promotes the forward and reverse motion of guide rail.
Through to existing antifriction and mode drives the literature search of piezoelectric motor to find, the artificial Chen Qian of patented invention is big, Chinese patent that week enlarging and all rosy clouds and number of patent application are CN201310365952.9 " its mode of operation of monopodia plate shape piezoelectric motor that single mode antifriction drive " describes the single-driving foot plate shape piezoelectric motor that a kind of vibrator body material is piezoelectric ceramic in detail; The most typical feature of this plate shape piezoelectric motor: it drives the drive mechanism combined to carry out work based on antifriction driving and mode.
Although above-mentioned some piezoelectric motors in the introduction have the commendable part such as mode drive principle and antifriction drive principle, all there is respective deficiency.
The artificial Huang of patented invention is defended clearly, the weak point of Chen Qianwei and the license oblique mover V-arrangement linear piezoelectric motor number described by the Chinese patent " bidirectional single-mode inclined track V-shaped linear ultrasonic motor and electric excitation mode " of ZL 200910184876.5 is: what this piezoelectric motor adopted is that single mode drives, and belongs to more ripe design; But from the angle of scientific and technological progress, should pasting at the oblique mover described by this patent on the basis of the single mode drive mechanism of chip tower-shaped linear piezoelectric motor, incorporating other drive mechanism, for researching and developing novel piezoelectric motor; Solve the way of this weak point: on the basis of single mode drive principle, organically incorporate antifriction drive principle, for researching and developing novel piezoelectric motor.
The artificial Chen Qian of patented invention is big, the weak point of single-driving foot plate shape piezoelectric motor described by Chinese patent that week enlarging and all rosy clouds and number of patent application are CN201310365952.9 " its mode of operation of monopodia plate shape piezoelectric motor that single mode antifriction drive " is: E (3, the 1) mode of oscillation of what the single mode of this piezoelectric motor the single mode drive part in antifriction drive mechanism adopted is non-symmetrical drive and asymmetric decay; Because E (3, the 1) mode of oscillation of asymmetric excitation and asymmetric decay has specific requirement to the version of plate shape piezoelectric motor and physical dimension, limit the scope of application of this piezoelectric motor; In addition, the drive mechanism of the forced vibration of this piezoelectric motor is stick-slip drive mechanism, and the characteristic feature of stick-slip drive mechanism is that stator remains with mover and contacts in driving process, limits the power stage of motor.Solve the way of this weak point: adopt new electric machine structure form and adopt the operation mode adapted with new construction to carry out single mode driving; For the deficiency of stick-slip drive mechanism, optimize the overall construction design of motor, improve the power stage of motor.
utility model content:
The utility model for the deficiencies in the prior art, a kind of antifriction is proposed and mode drive, forward and reverse motion can be realized, structure is simple, thrust-weight ratio is large, exciting efficiency is high, vibrational energy utilance is high, the oblique mover V-arrangement piezoelectric motor of fast response time.
For reaching this object, the utility model provides a kind of antifriction and the oblique mover V-arrangement piezoelectric motor of mode driving, this motor is made up of V-arrangement stator and inclination mover, the line slideway of its medium dip mover to be an inclination stagger angle be θ degree, described line slideway is pressed on the driving foot of V-arrangement stator under the effect of precompression; Described V-arrangement stator comprises two identical piezoelectric vibrators: left piezoelectric vibrator and right piezoelectric vibrator; Each piezoelectric vibrator comprises rear end cap, piezoelectric ceramic, electrode slice and front end housing successively, wherein piezoelectric ceramic is placed between front end housing and rear end cap and drives near foot, electrode slice is placed between the every two panels piezoelectric ceramic between front end housing and rear end cap, front end housing and rear end cap are connect by hold-down bolt and are fixed, and the front end housing upper end of two piezoelectric vibrators is coupled as one to be formed and drives foot; Above-mentioned two identical piezoelectric vibrators are symmetrical has angle, overall V-shaped; The piezoelectric ceramic of V-arrangement stator comprises A phase, B phase and C phase three-phase piezoelectric ceramic altogether, wherein V-arrangement stator A phase and B phase drives for the mode under the type of drive that resonates or forced vibration under off-resonance type of drive drives, the C phase of V-arrangement stator drives for antifriction.
As antifriction of the present utility model and the further refinement of oblique mover V-arrangement piezoelectric motor that drives of mode, the design principle of the oblique mover V-arrangement piezoelectric motor guide rail inclination stagger angle θ that described antifriction mode drive is as follows, and mode amplitude is greater than the roughness R at stator and guide rail contact interface along the normal component at stator and guide rail contact interface
a; Namely the amplitude setting symmetric vibration mode in sub x-z face is U, then this mode of oscillation perpendicular to the normal vibration component of guide rail is: U
f=Ucos θ; In the x-z face of setting, the amplitude of antisymmetric vibration mode is V, then this mode of oscillation perpendicular to the normal vibration component of guide rail is: V
f=Vsin θ; Make stator effectively drive guide rail, must meet the following conditions: Ucos θ >R
a, Vsin θ >R
a; So, the range of choice of guide rail tiltangleθ: arcsin (R
a/ V) < θ <arccos (R
a/ U).
As antifriction of the present utility model and the further refinement of oblique mover V-arrangement piezoelectric motor that drives of mode, the piezoelectric ceramic of described V-arrangement stator is arranged between the front end housing of left and right piezoelectric vibrator and rear end cap and drives enough; Left and right piezoelectric vibrator front end housing and the piezoelectric ceramic between rear end cap are identical at everyways such as form, quantity, polarization modes; Comprise even number sheet piezoelectric ceramic between the front end housing of each piezoelectric vibrator and rear end cap, the piezoelectric ceramic that every two panels polarised direction is contrary forms one group of piezoelectric ceramic, and these piezoelectric ceramic through-thickness polarize, and utilizes inverse piezoelectric d
33effect excites the vibration of V-arrangement stator; Electrode slice is laid in the centre often organizing piezoelectric ceramic, for external pumping signal; Electrode slice is laid in the both sides often organizing piezoelectric ceramic, for ground connection; Each piezoelectric vibrator front end housing is fixed in parallel strike up partnership by hold-down bolt with front end housing, rear end cap with the piezoelectric ceramic between rear end cap, be arranged in and drive the piezoelectric ceramic near foot to be fixed by the mode bondd or weld and strike up partnership with driving Football Association, these piezoelectric ceramic through-thickness polarize, and utilize inverse piezoelectric d
31effect excites the local vibration driving foot; The direction of arrow is the polarised direction of piezoelectric ceramic.
Compare with background technology, the innovation of the V-arrangement piezoelectric motor that antifriction of the present utility model mode drive is:
1. Huang artificial with patented invention is defended clearly, compared with Chen Qianwei and the license oblique mover V-arrangement linear piezoelectric motor number described by the Chinese patent " bidirectional single-mode inclined track V-shaped linear ultrasonic motor and electric excitation mode " of ZL 200910184876.5, the oblique mover V-arrangement linear piezoelectric motor that in background technology, yellow Wei Qing etc. propose utilizes mode drive principle to carry out work; And oblique mover V-arrangement piezoelectric motor of the present utility model is the drive principle utilizing antifriction drive principle and mode drive principle to organically combine carries out work, this novel drive principle can provide larger power output in theory.
2. Chen Qian artificial with patented invention big, extend with all rosy clouds in week and the plate shape piezoelectric motor described by Chinese patent " its mode of operation of monopodia plate shape piezoelectric motor that single mode antifriction drive " that number of patent application is CN201310365952.9 is compared, in background technology, the big structure of the plate shape piezoelectric motor proposed that waits of Chen Qian adopts slab structure, the single mode of what the mode drive part of plate shape motor under resonance type of drive in drive mechanism adopted is E (3, the 1) mode of oscillation of asymmetric excitation and the asymmetric decay adapted with slab structure drives; And the structure of oblique mover V-arrangement piezoelectric motor of the present utility model adopts v-shaped structure, in the x-z face that what mode drive part in the drive mechanism of V-arrangement motor adopted is adapts with v-shaped structure, in symmetric vibration mode or x-z face, the single mode of antisymmetric vibration mode drives; This new structure and new driven-mode can make V-arrangement piezoelectric motor of the present utility model have the new scope of application in theory.In addition, in background technology, the drive principle of plate shape piezoelectric motor forced vibration under off-resonance type of drive is stick-slip drive principle, under this drive mechanism, the stator of plate shape piezoelectric motor contacts in driving process all the time with mover, and this makes the power loss of plate shape piezoelectric motor in driving process larger; And oblique mover V-arrangement piezoelectric motor of the present utility model, inclination stagger angle due to line slideway is θ degree, make to contact with guide rail at the rise V-arrangement stator of forced vibration, and be depart from the backhaul V-arrangement stator of forced vibration and guide rail, namely the drive principle of this motor forced vibration under off-resonance type of drive is stick-separate drive principle, compared with stick-slip drive principle, stick-separate drive principle can provide larger power output.
3. the oblique mover V-arrangement piezoelectric motor that drives of antifriction of the present utility model mode, its maximum innovative point is: (1) structure innovation.The oblique mover V-arrangement linear piezoelectric motor proposed with the yellow Wei Qing in background technology etc. is compared, and oblique mover V-arrangement piezoelectric motor of the present utility model structurally adds antifriction and drives phase, makes it to be applicable to antifriction and the type of drive of mode driving; (2) innovation of driven-mode and drive mechanism.The E (3 of asymmetric excitation and the asymmetric decay adapted with slab structure that what mode drive part in the plate shape motor drive mechanism in background technology adopted is, 1) single mode of mode of oscillation drives, and mode drive part in oblique mover V-arrangement piezoelectric motor drive mechanism of the present utility model adopts is that the single mode of antisymmetric vibration mode in symmetric vibration mode or x-z face in the x-z face that adapts with v-shaped structure drives, this new structure and new driven-mode can make V-arrangement piezoelectric motor of the present utility model have the new scope of application in theory.In addition, in background technology, the drive principle of plate shape piezoelectric motor forced vibration under off-resonance type of drive is stick-slip drive principle, under this drive mechanism, the stator of plate shape piezoelectric motor contacts in driving process all the time with mover, and this makes the power loss of plate shape piezoelectric motor in driving process larger; And oblique mover V-arrangement piezoelectric motor of the present utility model, inclination stagger angle due to line slideway is θ degree, make to contact with guide rail at the rise V-arrangement stator of forced vibration, and be depart from the backhaul V-arrangement stator of forced vibration and guide rail, namely the drive principle of oblique mover V-arrangement piezoelectric motor of the present utility model forced vibration under off-resonance type of drive is stick-separate drive principle, compared with stick-slip drive principle, stick-separate drive principle can provide larger power output.
In sum, oblique mover V-arrangement piezoelectric motor of the present utility model has antifriction and mode drives, can realize forward and reverse motion, and the advantages such as structure is simple, thrust-weight ratio is large, exciting efficiency is high, vibrational energy utilance is high, fast response time; In addition to the advantages described above, because oblique mover V-arrangement piezoelectric motor of the present utility model has resonance and off-resonance two kinds of type of drive simultaneously, oblique mover V-arrangement piezoelectric motor of the present utility model is also had the following advantages: motor had both had the high advantage of the speed of service under resonance type of drive, there is again low speed good operation stability and positioning precision advantages of higher under off-resonance type of drive; Therefore V-arrangement piezoelectric motor expectation of the present utility model will at precision actuation (Rapid focusing device of such as camera), and medicine equipment, automobile, the fields such as Aero-Space have a wide range of applications.
accompanying drawing illustrates:
Fig. 1 is antifriction and the oblique mover V-arrangement piezoelectric motor structural representation of mode driving.
Fig. 2-1 is antifriction and x-z floor map is arranged in the oblique mover V-arrangement piezoelectric motor stator structure of mode driving and piezoelectric ceramic polarization.
Fig. 2-2 is antifriction and x-y plane schematic diagram is arranged in the oblique mover V-arrangement piezoelectric motor stator structure of mode driving and piezoelectric ceramic polarization.
Fig. 3-1 is antifriction and the mode of connection x-z floor map of oblique mover V-arrangement piezoelectric motor stator under resonance type of drive and under off-resonance type of drive of mode driving.
Fig. 3-2 is antifriction and the mode of connection x-y plane schematic diagram of oblique mover V-arrangement piezoelectric motor stator under resonance type of drive and under off-resonance type of drive of mode driving.
Fig. 4-1 is antifriction and the oblique mover V-arrangement piezoelectric motor stator that drives of mode vibration shape of symmetric vibration mode in x-z face under resonance type of drive;
Fig. 4-2 is antifriction and the oblique mover V-arrangement piezoelectric motor stator that drives of mode vibration shape of antisymmetric vibration mode in x-z face under resonance type of drive.
Fig. 5-1 is antifriction and the vertical direction straight-line trajectory of the oblique mover V-arrangement piezoelectric motor of mode driving surperficial particle formation of stator driving foot under symmetric vibration mode driving (A phase and B phase driven in phase) in x-z face under resonance type of drive.
Fig. 5-2 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under resonance type of drive in x-z face symmetric vibration mode drive rise movement locus part and the drawback movement path portion of single periodic vertical direction straight-line trajectory under (A phase and B phase driven in phase).
Fig. 5-3 is antifriction and the horizontal direction straight-line trajectory of the oblique mover V-arrangement piezoelectric motor of mode driving surperficial particle formation of stator driving foot under antisymmetric vibration mode driving (driving anti-phase with B phase of A phase) in x-z face under resonance type of drive.
Fig. 5-4 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under resonance type of drive in x-z face antisymmetric vibration mode drive rise movement locus part and the drawback movement path portion of single periodic horizontal direction straight-line trajectory under (driving anti-phase with B phase of A phase).
Fig. 5-5 is antifriction and the rise signal section of oblique mover V-arrangement piezoelectric motor single cycle Sine wave drive singal of A phase under resonance type of drive of mode driving and returned signal part.
Fig. 5-6 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under resonance type of drive in x-z face symmetric vibration mode drive (A phase and B phase driven in phase) and the pumping signal that drives of C phase antifriction.
Fig. 5-7 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under resonance type of drive in x-z face antisymmetric vibration mode drive (driving anti-phase with B phase of A phase) and the pumping signal that drives of C phase antifriction.
Fig. 6-1 is antifriction and the oblique mover V-arrangement piezoelectric motor stator that mode drives forces the vibration shape schematic diagram of symmetrical longitudinal vibration under off-resonance type of drive in x-z face.
Fig. 6-2 is antifriction and the oblique mover V-arrangement piezoelectric motor stator that mode drives forces the vibration shape schematic diagram of antisymmetry longitudinal vibration under off-resonance type of drive in x-z face.
Fig. 7-1 is antifriction and the vertical direction straight-line trajectory that the oblique mover V-arrangement piezoelectric motor that mode drives forces symmetrical longitudinal vibration to drive stator under (A phase and B phase driven in phase) to drive the surperficial particle of foot under off-resonance type of drive in x-z face formed.
Fig. 7-2 is antifriction and the oblique mover V-arrangement piezoelectric motor that mode drives forces symmetrical longitudinal vibration to drive rise movement locus part and the drawback movement path portion of single periodic vertical direction straight-line trajectory under (A phase and B phase driven in phase) under off-resonance type of drive in x-z face;
Fig. 7-3 is antifriction and the horizontal direction straight-line trajectory that the oblique mover V-arrangement piezoelectric motor that mode drives forces antisymmetry longitudinal vibration to drive stator under (driving anti-phase with B phase of A phase) to drive the surperficial particle of foot under off-resonance type of drive in x-z face formed.
Fig. 7-4 is antifriction and the oblique mover V-arrangement piezoelectric motor that mode drives forces antisymmetry longitudinal vibration to drive rise movement locus part and the drawback movement path portion of single periodic horizontal direction straight-line trajectory under (driving anti-phase with B phase of A phase) under off-resonance type of drive in x-z face.
Fig. 8-1 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under off-resonance type of drive A phase and B phase continuously under sine wave signal excitation forced vibration drive and the antifriction of C phase drive under the rise signal section of the single cycle Sine wave drive singal of A phase and returned signal part.
Fig. 8-2 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under off-resonance type of drive A phase and B phase continuously under sine wave signal excitation forced vibration to drive and the antifriction of C phase forces symmetrical longitudinal vibration to drive (A phase and B phase driven in phase) in x-z face under driving and the pumping signal that drives of C phase antifriction.
Fig. 8-3 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under off-resonance type of drive A phase and B phase continuously under sine wave signal excitation forced vibration to drive and the antifriction of C phase forces antisymmetry longitudinal vibration to drive (driving anti-phase with B phase of A phase) in x-z face under driving and the pumping signal that drives of C phase antifriction.
Fig. 9-1 is antifriction and oblique mover V-arrangement piezoelectric motor A phase and forced vibration under the continuous asymmetric sawtooth signal excitation of B phase under off-resonance type of drive that mode drives drive rise signal section and the returned signal part of A phase single cycle asymmetric sawtooth signal under also C phase antifriction driving.
Fig. 9-2 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under off-resonance type of drive under A phase and the continuous asymmetric sawtooth signal excitation of B phase forced vibration to drive and the antifriction of C phase forces symmetrical longitudinal vibration to drive (A phase and B phase driven in phase) in x-z face under driving and the pumping signal that drives of C phase antifriction.
Fig. 9-3 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under off-resonance type of drive under A phase and the continuous asymmetric sawtooth signal excitation of B phase forced vibration to drive and the antifriction of C phase forces antisymmetry longitudinal vibration to drive (driving anti-phase with B phase of A phase) in x-z face under driving and the pumping signal that drives of C phase antifriction.
Figure 10-1 is antifriction and oblique mover V-arrangement piezoelectric motor A phase and forced vibration under the continuous asymmetric trapezoidal wave signal excitation of B phase under off-resonance type of drive that mode drives drive rise signal section and the returned signal part of A phase single cycle asymmetric trapezoidal wave signal under also C phase antifriction driving.
Figure 10-2 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under off-resonance type of drive under A phase and the continuous asymmetric trapezoidal wave signal excitation of B phase forced vibration to drive and the antifriction of C phase forces symmetrical longitudinal vibration to drive (A phase and B phase driven in phase) in x-z face under driving and the pumping signal that drives of C phase antifriction.
Figure 10-3 be antifriction and the oblique mover V-arrangement piezoelectric motor that drives of mode under off-resonance type of drive under A phase and the continuous asymmetric trapezoidal wave signal excitation of B phase forced vibration to drive and the antifriction of C phase forces antisymmetry longitudinal vibration to drive (driving anti-phase with B phase of A phase) in x-z face under driving and the pumping signal that drives of C phase antifriction.
Figure 11. the structural representation of second embodiment of the oblique mover V-arrangement piezoelectric motor that antifriction mode drive.
Number in the figure title: 1, V-arrangement stator; 2, line slideway; 3, the inclination stagger angle θ of line slideway; 4, left piezoelectric vibrator; 5, right piezoelectric vibrator; 6, hold-down bolt; 7, rear end cap; 8, piezoelectric ceramic; 9, electrode slice; 10, front end housing; 11, foot is driven; 12, the polarised direction of piezoelectric ceramic; 13, the A phase of V-arrangement stator; 14, the B phase of V-arrangement stator; 15, the C phase of V-arrangement stator; 16, the ground connection of V-arrangement stator; 17, V-arrangement stator vibration shape of symmetric vibration mode in x-z face under resonance type of drive; 18, V-arrangement stator vibration shape of antisymmetric vibration mode in x-z face under resonance type of drive; 19, in x-z face, symmetric vibration mode drives lower V-arrangement stator to drive the oscillation trajectory of the vertical direction of the surperficial particle formation of foot; 20, in x-z face, symmetric vibration mode drives the lower oscillation trajectory of vertical direction and the angle of angled straight lines guide rail; 21, in x-z face, symmetric vibration mode drives the rise path portion of the oscillation trajectory of lower vertical direction; 22, in x-z face, symmetric vibration mode drives the backhaul path portion of the oscillation trajectory of lower vertical direction; 23, in x-z face, antisymmetric vibration mode drives lower V-arrangement stator to drive the oscillation trajectory of the horizontal direction of the surperficial particle formation of foot; 24, in x-z face, antisymmetric vibration mode drives the lower oscillation trajectory of horizontal direction and the angle of angled straight lines guide rail; 25, in x-z face, antisymmetric vibration mode drives the rise path portion of the oscillation trajectory of lower horizontal direction; 26, in x-z face, antisymmetric vibration mode drives the backhaul path portion of the oscillation trajectory of lower horizontal direction; 27, the sinusoidal drive signals in the single cycle that the A phase of V-arrangement stator inputs under resonance type of drive; 28, the rise signal section of 3 pi/2 to 5 pi/2s in the single cycle sinusoidal drive singal that A phase inputs under resonance type of drive; 29, the returned signal part of pi/2 to 3 pi/2 in the single cycle sinusoidal drive singal that A phase inputs under resonance type of drive; 30, the continuous sine wave drive singal that in x-z face, symmetric vibration mode drives lower A phase to input; 31, the continuous sine wave drive singal that in x-z face, symmetric vibration mode drives lower B phase to input; 32, the antifriction drive singal that in x-z face, symmetric vibration mode drives lower C phase to input; 33, the continuous sine wave drive singal that in x-z face, antisymmetric vibration mode drives lower A phase to input; 34, the continuous sine wave drive singal that in x-z face, antisymmetric vibration mode drives lower B phase to input; 35, the antifriction drive singal that in x-z face, antisymmetric vibration mode drives lower C phase to input; 36, V-arrangement stator forces the vibration shape of symmetrical longitudinal vibration under off-resonance type of drive in x-z face; 37, V-arrangement stator forces the vibration shape of antisymmetry longitudinal vibration under off-resonance type of drive in x-z face; The oscillation trajectory of the vertical direction of 38, forcing symmetrical longitudinal vibration to drive lower V-arrangement stator to drive the surperficial particle of foot to be formed in x-z face; 39, symmetrical longitudinal vibration is forced to drive the lower oscillation trajectory of vertical direction and the angle of angled straight lines guide rail in x-z face; 40, symmetrical longitudinal vibration is forced to drive the rise path portion of the oscillation trajectory of lower vertical direction in x-z face; 41, symmetrical longitudinal vibration is forced to drive the backhaul path portion of the oscillation trajectory of lower vertical direction in x-z face; The oscillation trajectory of the horizontal direction of 42, forcing antisymmetry longitudinal vibration to drive lower V-arrangement stator to drive the surperficial particle of foot to be formed in x-z face; 43, antisymmetry longitudinal vibration is forced to drive the lower oscillation trajectory of horizontal direction and the angle of angled straight lines guide rail in x-z face; 44, antisymmetry longitudinal vibration is forced to drive the rise path portion of the oscillation trajectory of lower horizontal direction in x-z face; 45, antisymmetry longitudinal vibration is forced to drive the backhaul path portion of the oscillation trajectory of lower horizontal direction in x-z face; 46, the sine wave drive signal in the single cycle that the A phase of V-arrangement stator inputs under off-resonance type of drive; 47, the rise signal section of 3 pi/2 to 5 pi/2s in the single cycle Sine wave drive singal that A phase inputs under off-resonance type of drive; 48, the returned signal part of pi/2 to 3 pi/2 in the single cycle Sine wave drive singal that A phase inputs under off-resonance type of drive; 49, the continuous sine wave drive singal that under forcing symmetrical longitudinal vibration to drive in x-z face, A phase inputs; 50, the continuous sine wave drive singal that under forcing symmetrical longitudinal vibration to drive in x-z face, B phase inputs; 51, the antifriction drive singal that under forcing symmetrical longitudinal vibration to drive in x-z face, C phase inputs; 52, the continuous sine wave drive singal that under forcing antisymmetry longitudinal vibration to drive in x-z face, A phase inputs; 53, the continuous sine wave drive singal that under forcing antisymmetry longitudinal vibration to drive in x-z face, B phase inputs; 54, the antifriction drive singal that under forcing antisymmetry longitudinal vibration to drive in x-z face, C phase inputs; The asymmetric sawtooth waveforms drive singal in the single cycle that 55, the A phase of V-arrangement stator inputs under off-resonance type of drive; 56, the rise signal section of 0 to t1 in the asymmetric sawtooth waveforms drive singal of single cycle that A phase inputs under off-resonance type of drive; 57, the returned signal part of t1 to t2 in the asymmetric sawtooth waveforms drive singal of single cycle that A phase inputs under off-resonance type of drive; 58, the continuous asymmetric sawtooth waveforms drive singal that under forcing symmetrical longitudinal vibration to drive in x-z face, A phase inputs; 59, the continuous asymmetric sawtooth waveforms drive singal that under forcing symmetrical longitudinal vibration to drive in x-z face, B phase inputs; 60, the antifriction drive singal that under forcing symmetrical longitudinal vibration to drive in x-z face, C phase inputs; 61, the continuous asymmetric sawtooth waveforms drive singal that under forcing antisymmetry longitudinal vibration to drive in x-z face, A phase inputs; 62, the continuous asymmetric sawtooth waveforms drive singal that under forcing antisymmetry longitudinal vibration to drive in x-z face, B phase inputs; 63, the antifriction drive singal that under forcing antisymmetry longitudinal vibration to drive in x-z face, C phase inputs; The asymmetric trapezoidal wave drive singal in the single cycle that 64, the A phase of V-arrangement stator inputs under off-resonance type of drive; 65, the rise signal section of 0 to t2 in the asymmetric trapezoidal wave drive singal of single cycle that A phase inputs under off-resonance type of drive; 66, the returned signal part of t2 to t4 in the asymmetric trapezoidal wave drive singal of single cycle that A phase inputs under off-resonance type of drive; 67, the continuous asymmetric trapezoidal wave drive singal that under forcing symmetrical longitudinal vibration to drive in x-z face, A phase inputs; 68, the continuous asymmetric trapezoidal wave drive singal that under forcing symmetrical longitudinal vibration to drive in x-z face, B phase inputs; 69, the antifriction drive singal that under forcing symmetrical longitudinal vibration to drive in x-z face, C phase inputs; 70, the continuous asymmetric trapezoidal wave drive singal that under forcing antisymmetry longitudinal vibration to drive in x-z face, A phase inputs; 71, the continuous asymmetric trapezoidal wave drive singal that under forcing antisymmetry longitudinal vibration to drive in x-z face, B phase inputs; 72, the antifriction drive singal that under forcing antisymmetry longitudinal vibration to drive in x-z face, C phase inputs; 73, the stacked piezoelectric pottery of C phase is formed separately; 74, the high-abrasive material driving foot is formed separately.
embodiment:
The utility model for the deficiencies in the prior art, a kind of antifriction is proposed and mode drive, forward and reverse motion can be realized, structure is simple, thrust-weight ratio is large, exciting efficiency is high, vibrational energy utilance is high, the oblique mover V-arrangement piezoelectric motor of fast response time.
The structure of the oblique mover V-arrangement piezoelectric motor that a kind of antifriction mode drive as shown in Figure 1; Oblique mover V-arrangement motor is made up of V-arrangement stator 1 and inclination mover 2, the line slideway of its medium dip mover 2 to be an inclination stagger angle 3 be θ degree, and described line slideway 2 is pressed on the driving foot 11 of V-arrangement stator 1 under the effect of precompression; Described V-arrangement stator 1 comprises two identical piezoelectric vibrators: left piezoelectric vibrator 4 and right piezoelectric vibrator 5; Each piezoelectric vibrator comprises rear end cap 7, piezoelectric ceramic 8, electrode slice 9 and front end housing 10 successively, wherein piezoelectric ceramic 8 is placed between front end housing 10 and rear end cap 7 and drives near foot 11, electrode slice 9 is placed between the every two panels piezoelectric ceramic 8 between front end housing 10 and rear end cap 7, front end housing 10 and rear end cap 7 are connect by hold-down bolt 6 and are fixed, and front end housing 10 upper end of two piezoelectric vibrators is coupled as one to be formed and drives foot 11; Above-mentioned two identical piezoelectric vibrators are symmetrical has angle, overall V-shaped; This design of electrical motor has resonance and off-resonance two kinds of type of drive, in resonance type of drive, turriform stator 1 in mode and antifriction work under driving, promotion guide rail forward and reverse motion; In off-resonance type of drive, turriform stator 1 in forced vibration and antifriction work under driving, promote guide rail forward and reverse motion; The piezoelectric ceramic 8 of V-arrangement stator 1 comprises A phase 13, B phase 14 and C phase 15 three-phase piezoelectric ceramic altogether, wherein the A phase 13 of V-arrangement stator 1 and B phase 14 drive for the mode under the type of drive that resonates or forced vibration under off-resonance type of drive drives, and the C phase 15 of V-arrangement stator 1 drives for antifriction.
The design principle of the guide rail inclination stagger angle θ 3 of the oblique mover V-arrangement piezoelectric motor that antifriction mode drive is as follows, and mode amplitude is greater than the roughness R at stator and guide rail contact interface along the normal component at stator and guide rail contact interface
a; Namely the amplitude setting symmetric vibration mode 17 in sub x-z face is U, then this mode of oscillation perpendicular to the normal vibration component of guide rail is: U
f=Ucos θ; In the x-z face of setting, the amplitude of antisymmetric vibration mode 18 is V, then this mode of oscillation perpendicular to the normal vibration component of guide rail is: V
f=Vsin θ; Make stator effectively drive guide rail, must meet the following conditions: Ucos θ >R
a, Vsin θ >R
a; So, the range of choice of guide rail tiltangleθ 3: arcsin (R
a/ V) < θ <arccos (R
a/ U).
The polarization of the V-arrangement stator piezoelectric ceramic of the oblique mover V-arrangement piezoelectric motor that antifriction mode drive is arranged as shown in Fig. 2-1, Fig. 2-2; The piezoelectric ceramic 8 of V-arrangement stator 1 is arranged between the front end housing 10 of left and right piezoelectric vibrator and rear end cap 7 and drives near foot 11; Left and right piezoelectric vibrator front end housing 10 and the piezoelectric ceramic between rear end cap 7 are identical at everyways such as form, quantity, polarization modes; Comprise even number sheet piezoelectric ceramic between the front end housing 10 of each piezoelectric vibrator and rear end cap 7, the piezoelectric ceramic that every two panels polarised direction is contrary forms one group of piezoelectric ceramic, and these piezoelectric ceramic through-thickness polarize, and utilizes inverse piezoelectric d
33effect excites the vibration of V-arrangement stator 1; Electrode slice 9 is laid in the centre often organizing piezoelectric ceramic, for external pumping signal; Electrode slice is laid in the both sides often organizing piezoelectric ceramic, for ground connection; Each piezoelectric vibrator front end housing 10 is fixed in parallel strike up partnership by hold-down bolt 6 with front end housing 10, rear end cap 7 with the piezoelectric ceramic between rear end cap 7; Be arranged in and drive the piezoelectric ceramic 8 near foot 11 to be fixed by the mode bondd or weld and strike up partnership with driving Football Association, these piezoelectric ceramic through-thickness polarize, and utilize inverse piezoelectric d
31effect excites the local vibration driving foot 11; The direction of arrow 12 is the polarised direction of piezoelectric ceramic.
The mode of connection schematic diagram of the oblique mover V-arrangement piezoelectric motor that antifriction mode drive V-arrangement stator under resonance type of drive and off-resonance type of drive is respectively as shown in Fig. 3-1, Fig. 3-2; The mode of connection under resonance type of drive is identical with the mode of connection under off-resonance type of drive, and its mode of connection is as follows, and front end housing 10 and the even number sheet piezoelectric ceramic between rear end cap 7 of left piezoelectric vibrator 4 are interconnected to constitute the A phase 13 of motor; Front end housing 10 and the even number sheet piezoelectric ceramic between rear end cap 7 of right piezoelectric vibrator 5 are interconnected to constitute the B phase 14 of motor; Be arranged in the C phase 15 driving the piezoelectric ceramic near foot 11 to be interconnected to constitute motor; In the even number sheet piezoelectric ceramic between the front end housing 10 and rear end cap 7 of each piezoelectric vibrator, the piezoelectric ceramic that every two panels polarised direction is contrary forms one group of piezoelectric ceramic, and electrode slice 9 is laid in the centre often organizing piezoelectric ceramic, for external pumping signal; Electrode slice 9 is laid in the both sides often organizing piezoelectric ceramic, for ground connection 16; The A phase 13 of motor and B phase 14 drive for the mode driving under the type of drive that resonates or the forced vibration under off-resonance type of drive, and the C phase 15 of motor drives for antifriction.
The operation mode of the oblique mover V-arrangement piezoelectric motor that antifriction mode drive under resonance type of drive is as shown in Fig. 4-1, Fig. 4-2; In resonance type of drive, antisymmetric vibration mode 18 in symmetric vibration mode 17 or x-z face in the x-z face that the operation mode of drive motors is respectively V-arrangement stator 1, in x-z face, the resonance frequency of symmetric vibration mode 17 is, in x-z face, the resonance frequency of antisymmetric vibration mode 18 is; Locally forcing longitudinal vibration for driving foot or drive foot locally to force bending vibration or drive sufficient local longitudinal vibration mode or drive sufficient local bending vibration modes simultaneously with the work of antifriction mode drive motors, the frequency of antifriction driving pumping signal is; Wherein in x-z face, symmetric vibration mode 17 inputs two-phase in-phase signal by the A phase 13 of motor and B phase 14 and jointly excites, and when stator is with when symmetric vibration mode 17 is vibrated in x-z face, drives the vibration driving foot 11 to produce vertical direction; Wherein in x-z face, antisymmetric vibration mode 18 inputs two-phase inversion signal by the A phase 13 of motor and B phase 14 and jointly excites, and when stator is with when antisymmetric vibration mode 18 is vibrated in x-z face, drives the vibration driving foot 11 to produce horizontal directions.
The oblique mover V-arrangement piezoelectric motor that antifriction mode drive under resonance type of drive pumping signal and electric excitation mode schematic diagram as shown in Fig. 5-1 to Fig. 5-7; If be positive direction along slant rail to upper left, be negative direction along slant rail to bottom right; In resonance type of drive, the pumping signal that the A phase 13 of motor applies is, the pumping signal simultaneously applied in the B phase 14 of motor is, close; Symmetric vibration mode 17 in x-z face can be excited, drive the vibration driving foot 11 to produce vertical direction; The C phase 15 of motor inputs the frequency of periodic intervals triggering is simultaneously the sine wave exciting signal of (), drives foot local to force longitudinal vibration or the sufficient local of driving to force bending vibration or drive foot locally longitudinal vibration mode or driving foot local bending vibration modes for exciting stator generation simultaneously; The mode that wherein A phase and B phase excite drives for providing friction drive, and the antifriction that C phase excites is driven through reduction coefficient of friction to reduce frictional resistance, and then reduces friction to increase power output on the basis that mode drives; When V-arrangement stator is with when in x-z face, symmetric vibration mode 17 works, foot surface will be driven to form the oscillation trajectory 19 of vertical direction at stator, the angle 20 of it and guide rail is that (90-θ) spends, and is pressed in line slideway 2 positive movement driven on foot, as shown in fig. 5-1 by promoting; Drive sufficient movement locus the oscillation trajectory 19 in single periodic vertical direction can be divided into two parts to the not same-action of line slideway 2 according to stator, wherein the part upwards run of vertical vibration track 19 plays the effect directly promoting line slideway 2, is rise movement locus part 20; The part of the downward operation of vertical vibration track 19 plays and returns rise starting point and the effect preparing again directly to promote line slideway 2, is drawback movement path portion 21; When the initial point of rise movement locus 20 and drawback movement track 21 being moved to the zero point of coordinate system simultaneously, just constitute Fig. 5-2; Corresponding to rise 20 and the Backhaul 21 of single periodic vertical direction oscillation trajectory 19, the sinusoidal drive signals 27 in the single cycle that A phase inputs also can be divided into rise signal 28 and returned signal part 29, when the initial point of rise signal 28 and returned signal 29 being moved to the zero point of coordinate system simultaneously, just constitute Fig. 5-5; According to the monograph " ultrasonic motor theory and application " that Shanghai science tech publishing house publishes in December, 1998, (upper plumage chastity is gone, rich river justice youth work, Yang Zhigang, Zheng Xuelun translate) in the description of p230--p250, when requiring ultrasound electric machine to have larger power output (this situation is very general), because the precompression determined between mover is comparatively large, the contact angle determined between mover is made to be greater than 180 °; In the case, not only whole rise movement locus determine mover contact, and part drawback movement track determine mover be also contact, namely at rise movement locus stator, positive work is done to mover, and at drawback movement track stator, negative work is done to mover; Therefore, while the power stage not reducing rise movement locus, driven again the friction reducing drawback movement track by antifriction, just greatly can improve the power stage at motor; In order to reduce the friction of drawback movement track, do not reduce again the power stage of rise movement locus simultaneously, while the A phase of motor inputs returned signal, the C phase incoming frequency of motor is the sine wave exciting signal of (), and while the A phase of motor inputs rise signal the C phase not input signal of motor, the input signal of motor C phase shows as the sine wave exciting signal that periodic intervals triggers; As seen in figs. 5-6, under its effect, line slideway 2 will positive movement for the input signal 32 of the input signal 30 of motor A phase, the input signal 31 of B phase and C phase; In like manner, the pumping signal that the A phase 13 of motor applies is, the pumping signal simultaneously applied in the B phase 14 of motor is, close; Antisymmetric vibration mode 18 in x-z face can be excited, drive the vibration driving foot 11 to produce horizontal direction; The C phase 15 of motor inputs the frequency of periodic intervals triggering is simultaneously the sine wave exciting signal of (), produce for exciting stator simultaneously and drive foot local to force longitudinal vibration or drive foot local to force bending vibration or drive foot local longitudinal vibration mode or drive foot local bending vibration modes, drive for antifriction; When V-arrangement stator is with when in x-z face, antisymmetric vibration mode 18 works, foot surface will be driven to form the oscillation trajectory 23 of horizontal direction at stator, the angle 24 of it and guide rail is that (180-θ) spends, and is pressed in line slideway 2 counter motion driven on foot, as shown in Fig. 5-3 by promoting; Drive sufficient movement locus the oscillation trajectory 23 in single periodic horizontal direction can be divided into two parts to the not same-action of line slideway 2 according to stator, wherein the part run to the right of the oscillation trajectory 23 of horizontal direction plays the effect directly promoting line slideway 2, is rise movement locus part 25; The part run left of the oscillation trajectory 23 of horizontal direction plays and returns rise starting point and the effect preparing again directly to promote line slideway 2, is drawback movement path portion 26; When the initial point of rise movement locus 25 and drawback movement track 26 being moved to the zero point of coordinate system simultaneously, just constitute Fig. 5-4; Corresponding to rise 25 and the Backhaul 26 of the oscillation trajectory 23 in single periodic horizontal direction, the sinusoidal drive signals 27 in the single cycle that A phase inputs also can be divided into rise signal 28 and returned signal part 29, when the initial point of rise signal 28 and returned signal 29 being moved to the zero point of coordinate system simultaneously, just constitute Fig. 5-5; In order to reduce the friction of drawback movement track, do not reduce again the power stage of rise movement locus simultaneously, while the A phase of motor inputs returned signal, the C phase incoming frequency of motor is the sine wave exciting signal of (), and while the A phase of motor inputs rise signal the C phase not input signal of motor, the input signal of motor C phase shows as the sine wave exciting signal that periodic intervals triggers; As illustrated in figs. 5-7, under its effect, line slideway 2 will counter motion for the input signal 35 of the input signal 33 of motor A phase, the input signal 34 of B phase and C phase.
The vibration shape schematic diagram of oblique mover V-arrangement piezoelectric motor forced vibration under off-resonance type of drive that antifriction mode drive is as shown in Fig. 6-1, Fig. 6-2; In off-resonance type of drive, force in symmetrical longitudinal vibration 36 or x-z face in the x-z face that the vibration shape of the forced vibration of drive motors work is respectively V-arrangement stator 1 and force antisymmetry longitudinal vibration 37, the form of above-mentioned forced vibration pumping signal is continuous sine wave or continuous asymmetric sawtooth waveforms or continuous asymmetric class sawtooth waveforms or square wave continuously, the frequency of above-mentioned forced vibration pumping signal be respectively and; Wherein force symmetrical longitudinal vibration 36 to input two-phase in-phase signal by the A phase 13 of motor and B phase 14 in x-z face jointly to excite, when stator is to force symmetrical longitudinal vibration 36 to vibrate in x-z face, drive the vibration driving foot 11 to produce vertical direction; Wherein force antisymmetry longitudinal vibration 37 to input two-phase inversion signal by the A phase 13 of motor and B phase 14 in x-z face jointly to excite, when stator is to force antisymmetry longitudinal vibration 37 to vibrate in x-z face, drive the vibration driving foot 11 to produce horizontal directions; Forcing longitudinal vibration for driving foot local or drive foot locally to force bending vibration or drive foot local longitudinal vibration mode or drive sufficient local bending vibration modes simultaneously with the work of antifriction mode drive motors, excited by the C phase 15 of motor, antifriction drives the form of pumping signal to be the sine wave that periodic intervals triggers, the frequency of antifriction driving pumping signal is.
The oblique mover V-arrangement piezoelectric motor that antifriction mode the drive schematic diagram that A phase and the forced vibration of B phase drive under off-resonance type of drive is as shown in Fig. 7-1 to Fig. 7-4; If be positive direction along slant rail to upper left, be negative direction along slant rail to bottom right; When simultaneously in the pumping signal that the A phase 13 of motor and the frequency of B phase 14 applying two-phase homophase are, stator can be excited to produce in x-z face and to force symmetrical longitudinal vibration 36, and drive the vibration driving foot generation vertical direction; The C phase 15 of motor inputs the frequency of periodic intervals triggering is simultaneously the sine wave exciting signal of (), produce for exciting stator simultaneously and drive foot local to force longitudinal vibration or drive foot local to force bending vibration or drive foot local longitudinal vibration mode or drive foot local bending vibration modes, drive for antifriction; For guide rail, stator drives the oscillation trajectory 38 of foot 11 surperficial particle vertical direction to be reciprocating skew lines, and its angle 39 with guide rail be that (90-θ) spend, promotion be pressed in driving sufficient on guide rail positive movement, as shown in Fig. 7-1; Drive sufficient movement locus the oscillation trajectory 38 in single periodic vertical direction can be divided into two parts to the not same-action of line slideway 2 according to stator, wherein the part upwards run of vertical vibration track 38 plays the effect directly promoting line slideway 2, is rise movement locus part 40; The part of the downward operation of vertical vibration track 38 plays and returns rise starting point and the effect preparing again directly to promote line slideway 2, is drawback movement path portion 41; When the initial point of rise movement locus 40 and drawback movement track 41 being moved to the zero point of coordinate system simultaneously, just constitute Fig. 7-2; When simultaneously applying in A phase 13 of motor and B phase 14 pumping signal that the anti-phase frequency of two-phase is, stator can be excited to produce in x-z face and to force antisymmetry longitudinal vibration 37, and driving the vibration driving sufficient generation horizontal direction; The C phase 15 of motor inputs the frequency of periodic intervals triggering is simultaneously the sine wave exciting signal of (), produce for exciting stator simultaneously and drive foot local to force longitudinal vibration or drive foot local to force bending vibration or drive foot local longitudinal vibration mode or drive foot local bending vibration modes, drive for antifriction; For guide rail, stator drives the oscillation trajectory 42 of the surperficial particle horizontal direction of foot to be a reciprocating skew lines, and its angle 43 with guide rail be that (180-θ) spend, promotion be pressed in driving sufficient on guide rail counter motion, as shown in Fig. 7-3; Drive sufficient movement locus the oscillation trajectory 42 in single periodic horizontal direction can be divided into two parts to the not same-action of line slideway 2 according to stator, wherein the part run to the right of the oscillation trajectory 42 of horizontal direction plays the effect directly promoting line slideway 2, is rise movement locus part 44; The part run left of the oscillation trajectory 42 of horizontal direction plays and returns rise starting point and the effect preparing again directly to promote line slideway 2, is drawback movement path portion 45; When the initial point of rise movement locus 44 and drawback movement track 45 being moved to the zero point of coordinate system simultaneously, just constitute Fig. 7-4.
The oblique mover V-arrangement piezoelectric motor that antifriction mode drive under off-resonance type of drive A phase and B phase continuously under sine wave signal excitation forced vibration drive and the pumping signal that drives of C phase antifriction and electric excitation mode schematic diagram as shown in Fig. 8-1 to Fig. 8-3; Under being located at off-resonance type of drive, when the A phase 13 of motor applies identical forward bias voltage with B phase 14, stator drives foot 11 generation displacement vertically upward; The A phase 13 of motor applies forward bias voltage, and during the reverse bias voltage that the B phase 14 applying absolute value of motor is identical simultaneously, stator drives foot 11 to produce level displacement to the right; When simultaneously in the continuous sine wave pumping signal that the A phase 13 of motor and the frequency of B phase 14 applying two-phase homophase are, stator can be excited to produce in x-z face and to force symmetrical longitudinal vibration 36, and drive the oscillation trajectory 38 driving foot generation vertical direction; When simultaneously applying in A phase 13 of motor and B phase 14 the continuous sine wave pumping signal that the anti-phase frequency of two-phase is, stator can be excited to produce in x-z face and to force antisymmetry longitudinal vibration 37, and driving the oscillation trajectory 42 driving sufficient generation horizontal direction; According to different to the effect of line slideway 2, the oscillation trajectory 38(in single periodic vertical direction or the oscillation trajectory 42 of horizontal direction) rise track and backhaul track two parts can be divided into; Oscillation trajectory 42 corresponding to single periodic vertical direction oscillation trajectory 38(or horizontal direction) rise and Backhaul, the sinusoidal drive signals 46 in the single cycle that A phase inputs also can be divided into rise signal 47 and returned signal part 48, when the initial point of single cycle Sine wave rise signal 47 and returned signal 48 being moved to the zero point of coordinate system simultaneously, just constitute Fig. 8-1; The sine wave exciting signal that C phase 15 incoming frequency of motor is while the A phase 13 of motor inputs returned signal, and while the A phase 13 of motor inputs rise signal the C phase 15 not input signal of motor, the input signal of motor C phase shows as the sine wave exciting signal of periodic intervals triggering; When line slideway 2 positive movement, the input signal 51 of the continuous sine wave signal 50 that the continuous sine wave signal 49 that motor A phase inputs, B phase input and C phase is as shown in Fig. 8-2; When line slideway 2 counter motion, the input signal 54 of the continuous sine wave signal 53 that the continuous sine wave signal 52 that motor A phase inputs, B phase input and C phase is as shown in Fig. 8-3.
The oblique mover V-arrangement piezoelectric motor that antifriction mode drive under off-resonance type of drive under A phase and the continuous asymmetric sawtooth signal excitation of B phase forced vibration drive and the pumping signal that drives of C phase antifriction and electric excitation mode schematic diagram as shown in Fig. 9-1 to Fig. 9-3; Under being located at off-resonance type of drive, when the A phase 13 of motor applies identical forward bias voltage with B phase 14, stator drives foot 11 generation displacement vertically upward; The A phase 13 of motor applies forward bias voltage, and during the reverse bias voltage that the B phase 14 applying absolute value of motor is identical simultaneously, stator drives foot 11 to produce level displacement to the right; When simultaneously at the continuous asymmetric sawtooth drive signal that the A phase 13 of motor and the frequency of B phase 14 applying two-phase homophase are, stator can be excited to produce in x-z face and to force symmetrical longitudinal vibration 36, and drive the oscillation trajectory 38 driving foot generation vertical direction; When simultaneously applying in A phase 13 of motor and B phase 14 the continuous asymmetric sawtooth drive signal that the anti-phase frequency of two-phase is, stator can be excited to produce in x-z face and to force antisymmetry longitudinal vibration 37, and driving the oscillation trajectory 42 driving sufficient generation horizontal direction; According to different to the effect of line slideway 2, the oscillation trajectory 38(in single periodic vertical direction or the oscillation trajectory 42 of horizontal direction) rise track and backhaul track two parts can be divided into; Oscillation trajectory 42 corresponding to single periodic vertical direction oscillation trajectory 38(or horizontal direction) rise and Backhaul, the asymmetric sawtooth waveforms 55 in the single cycle that A phase inputs also can be divided into rise signal 56 and returned signal part 57, when the initial point of asymmetric for single cycle sawtooth waveforms rise signal 56 and returned signal 57 being moved to the zero point of coordinate system simultaneously, just constitute Fig. 9-1; The sine wave exciting signal that C phase 15 incoming frequency of motor is while the A phase 13 of motor inputs returned signal, and while the A phase 13 of motor inputs rise signal the C phase 15 not input signal of motor, the input signal of motor C phase shows as the sine wave exciting signal of periodic intervals triggering; When line slideway 2 positive movement, the input signal 60 of the continuous asymmetric sawtooth signal 58 that motor A phase inputs, continuous asymmetric sawtooth signal 59 that B phase inputs and C phase is as shown in Fig. 9-2; When line slideway 2 counter motion, the input signal 63 of the continuous asymmetric sawtooth signal 61 that motor A phase inputs, continuous asymmetric sawtooth signal 62 that B phase inputs and C phase is as shown in Fig. 9-3.
The oblique mover V-arrangement piezoelectric motor that antifriction mode drive under off-resonance type of drive under A phase and the continuous asymmetric trapezoidal wave signal excitation of B phase forced vibration drive and the pumping signal that drives of C phase antifriction and electric excitation mode schematic diagram as shown in Figure 10-1 to Figure 10-3; Under being located at off-resonance type of drive, when the A phase 13 of motor applies identical forward bias voltage with B phase 14, stator drives foot 11 generation displacement vertically upward; The A phase 13 of motor applies forward bias voltage, and during the reverse bias voltage that the B phase 14 applying absolute value of motor is identical simultaneously, stator drives foot 11 to produce level displacement to the right.When simultaneously in the continuous asymmetric trapezoidal wave pumping signal that the A phase 13 of motor and the frequency of B phase 14 applying two-phase homophase are, stator can be excited to produce in x-z face and to force symmetrical longitudinal vibration 36, and drive the oscillation trajectory 38 driving foot generation vertical direction; When simultaneously applying in A phase 13 of motor and B phase 14 the continuous asymmetric trapezoidal wave pumping signal that the anti-phase frequency of two-phase is, stator can be excited to produce in x-z face and to force antisymmetry longitudinal vibration 37, and driving the oscillation trajectory 42 driving sufficient generation horizontal direction; According to different to the effect of line slideway 2, the oscillation trajectory 38(in single periodic vertical direction or the oscillation trajectory 42 of horizontal direction) rise track and backhaul track two parts can be divided into; Oscillation trajectory 42 corresponding to single periodic vertical direction oscillation trajectory 38(or horizontal direction) rise and Backhaul, the asymmetric trapezoidal wave 64 in the single cycle that A phase inputs also can be divided into rise signal 65 and returned signal part 66, when the initial point of asymmetric for single cycle trapezoidal wave rise signal 65 and returned signal 66 being moved to the zero point of coordinate system simultaneously, just constitute Figure 10-1; The sine wave exciting signal that C phase 15 incoming frequency of motor is while the A phase 13 of motor inputs returned signal, and while the A phase 13 of motor inputs rise signal the C phase 15 not input signal of motor, the input signal of motor C phase shows as the sine wave exciting signal of periodic intervals triggering; When line slideway 2 positive movement, the input signal 69 of the continuous asymmetric trapezoidal wave signal 67 that motor A phase inputs, continuous asymmetric trapezoidal wave signal 68 that B phase inputs and C phase is as shown in Figure 10-2; When line slideway 2 counter motion, the input signal 72 of the continuous asymmetric trapezoidal wave signal 70 that motor A phase inputs, continuous asymmetric trapezoidal wave signal 71 that B phase inputs and C phase is as shown in Figure 10-3.
In off-resonance type of drive, when A phase 13 and the continuous square wave excitation signal of B phase 14 input of motor, produce in x-z face to force in symmetrical longitudinal vibration 36 or x-z face for exciting stator and force antisymmetry longitudinal vibration 37; The C phase 15 of motor inputs the sine wave exciting signal that frequency that periodic intervals triggers is, produces drive foot local to force longitudinal vibration or drive foot local to force bending vibration or drive foot local longitudinal vibration mode or drive foot local bending vibration modes for exciting stator; Because piezoelectric motor stator is capacitive load, so the driving process of piezoelectric motor can be considered as the repeated charge process of capacitive load; Because the charge and discharge process of capacitive load needs the regular hour, and the discharge and recharge time exists larger difference, therefore piezoelectric motor of the present invention is under off-resonance mode of operation and the response that forced vibration pumping signal is continuous square wave is equivalent to the piezoelectric motor shown in Figure 10-1 to Figure 10-3 under off-resonance mode of operation and forced vibration pumping signal is the response of continuous asymmetric trapezoidal wave; So piezoelectric motor of the present invention is under off-resonance mode of operation and forced vibration pumping signal is the pumping signal of continuous square wave and electric excitation mode is equivalent to Figure 10-1 to Figure 10-3.
Principles of structural design:
1. the size of guide rail inclination stagger angle θ 3 is suitable.The size of guide rail inclination stagger angle θ 3 directly affects the performability of motor.The design principle of guide rail inclination stagger angle θ 3 is: mode amplitude is greater than the roughness R at stator and guide rail contact interface along the normal component at stator and guide rail contact interface
a; Namely the amplitude setting symmetric vibration mode 17 in sub x-z face is U, then this mode of oscillation perpendicular to the normal vibration component of guide rail is: U
f=Ucos θ; In the x-z face of setting, the amplitude of antisymmetric vibration mode 18 is V, then this mode of oscillation perpendicular to the normal vibration component of guide rail is: V
f=Vsin θ; Make stator effectively drive guide rail, must meet the following conditions: Ucos θ >R
a, Vsin θ >R
a; So, the range of choice of guide rail tiltangleθ 3: arcsin (R
a/ V) < θ <arccos (R
a/ U).
2. structurally must design antifriction and drive phase, make motor on the basis that mode drives, can antifriction driving be carried out.
The above; it is only preferred embodiment of the present utility model; not restriction the utility model being made to any other form, and any amendment done according to technical spirit of the present utility model or equivalent variations, still belong to the utility model scope required for protection.
Claims (2)
1. the oblique mover V-arrangement piezoelectric motor that drives of an antifriction mode, it is characterized in that: V-arrangement motor is made up of V-arrangement stator (1) and inclination mover (2), its medium dip mover (2) is the line slideway that an inclination stagger angle (3) is θ degree, and described line slideway (2) is pressed in driving foot (11) of V-arrangement stator (1) under the effect of precompression; Described V-arrangement stator (1) comprises two identical piezoelectric vibrators: left piezoelectric vibrator (4) and right piezoelectric vibrator (5); Each piezoelectric vibrator comprises rear end cap (7), piezoelectric ceramic (8), electrode slice (9) and front end housing (10) successively, wherein piezoelectric ceramic (8) is placed between front end housing (10) and rear end cap (7) and drives near foot (11), electrode slice (9) is placed between the every two panels piezoelectric ceramic (8) between front end housing (10) and rear end cap (7), front end housing (10) and rear end cap (7) are connect by hold-down bolt (6) and are fixed, and front end housing (10) upper end of two piezoelectric vibrators is coupled as one to be formed and drives foot (11); Above-mentioned two identical piezoelectric vibrators (4,5) are symmetrical has angle, overall V-shaped; The piezoelectric ceramic (8) of V-arrangement stator (1) comprises A phase (13), B phase (14) and C phase (15) three-phase piezoelectric ceramic altogether, wherein the A phase (13) of V-arrangement stator (1) and B phase (14) drive for the mode under the type of drive that resonates or forced vibration under off-resonance type of drive drives, and the C phase (15) of V-arrangement stator (1) drives for antifriction.
2. the oblique mover V-arrangement piezoelectric motor that drives of antifriction according to claim 1 mode, is characterized in that: the piezoelectric ceramic (8) of V-arrangement stator (1) is arranged between the front end housing (10) of left and right piezoelectric vibrator (4,5) and rear end cap (7) and drives enough near (11); Left and right piezoelectric vibrator (4,5) front end housing (10) and the piezoelectric ceramic between rear end cap (7) are identical at everyways such as form, quantity, polarization modes; Comprise even number sheet piezoelectric ceramic between each piezoelectric vibrator front end housing (10) and rear end cap (7), the piezoelectric ceramic that every two panels polarised direction is contrary forms one group of piezoelectric ceramic, and these piezoelectric ceramic through-thickness polarize, and utilizes inverse piezoelectric d
33effect excites the vibration of V-arrangement stator (1); Electrode slice is laid in the centre often organizing piezoelectric ceramic, for external pumping signal; Electrode slice is laid in the both sides often organizing piezoelectric ceramic, for ground connection; Each piezoelectric vibrator front end housing (10) is fixed in parallel strike up partnership by hold-down bolt (6) with front end housing (10), rear end cap (7) with the piezoelectric ceramic between rear end cap (7), be arranged in and drive the piezoelectric ceramic (8) near foot (11) to be fixed by the mode bondd or weld and strike up partnership with driving Football Association, these piezoelectric ceramic through-thickness polarize, and utilize inverse piezoelectric d
31effect excites the local vibration driving foot (11); The polarised direction that the direction of arrow (12) is piezoelectric ceramic.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104964613A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Four-axle steering engine driven by piezoelectric vibrators |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104964613A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Four-axle steering engine driven by piezoelectric vibrators |
| CN104964613B (en) * | 2015-07-20 | 2016-09-07 | 哈尔滨工业大学 | Use the four axle steering wheels that piezoelectric vibrator drives |
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