CN206370786U - A kind of annular traveling wave supersonic motor of welding procedure - Google Patents

Abstract

The utility model provides a kind of annular traveling wave supersonic motor of welding procedure, it includes stator, rotor and output shaft, the stator includes hollow stator plate and piezoelectric ceramics module, the middle part of the stator plate is provided with hollow track ring, the track ring is provided with the pad of annular spread, the piezoelectric ceramics module includes N number of piezo ceramic element, and the piezo ceramic element is weldingly fixed on the pad of track ring, and the N is 8 multiple；The gap for stator ring vibration is provided between the stator plate and track ring, the track ring is connected by connector with stator plate；Driving electrodes are additionally provided with the stator plate, the electrode of the identical signal of the piezo ceramic element is electrically connected with corresponding driving electrodes；The rotor is contacted with the surface of piezoelectric ceramics module, and the stator driving rotor rotates to form power output.The technical solution of the utility model improves motor operations life and reliability, efficiency utilization rate is improved, while having higher electromechanical conversion efficiency.

Description

An annular traveling wave ultrasonic motor with welding process

technical field

The utility model belongs to the technical field of motors, in particular to an annular traveling wave ultrasonic motor for welding technology.

Background technique

The ultrasonic motor is a non-electromagnetic motor that uses the inverse piezoelectric effect of piezoelectric ceramics to excite the stator to vibrate in the ultrasonic frequency domain, and converts the vibration into the motion output of the rotor to drive the load through the friction between the stator and the rotor. Compared with electromagnetic motors, it has the characteristics and advantages of small size, light weight, compact structure, fast response, low noise, no electromagnetic interference, high torque density, high torque at low speed, and direct drive. At present, it has been used in many fields such as micro-robots, automobiles, aerospace, precision locators, optical instruments, etc., and has broad application prospects. Traveling wave rotary ultrasonic motor is currently the most mature and widely used type of ultrasonic motor. The piezoelectric ceramic elements used are all circular structures, and are polarized according to certain requirements. They are manufactured in combination with piezoelectric ceramic elements. Technology and ultrasonic motor stator process requirements, it is difficult to efficiently manufacture large-scale partitioned and polarized piezoelectric ceramic rings, which restricts the structural adaptability of this type of motor, and also limits the application of ultrasonic motors.

The existing ultrasonic motor stator manufacturing process is as follows: the segmented polarized piezoelectric ceramic ring is bonded to the metal base of the tooth structure with epoxy resin to form a stator; the annular traveling wave ultrasonic motor constructed by this method has the following limitations :

(1) Since the ceramic ring is bonded to the metal substrate with epoxy resin, on the one hand, the high-frequency vibration of the stator is likely to cause aging and cracking of the adhesive layer, and the working reliability and life of the motor are low. On the other hand, the adhesive layer will affect the vibration in the ceramic Due to the transfer effect between the ring and the metal ring, the working efficiency of the motor is low.

(2) The piezoelectric ceramic material with the same performance and size has a piezoelectric constant d33 >d31, and the piezoelectric ceramic with a ring structure works in the transverse vibration mode, that is, the vibration direction is perpendicular to the direction of the electric field, and the piezoelectric constant d31 is used instead of d33. Electromechanical conversion efficiency is low.

(3) The rotor transmits motion and force through friction on one side of the stator, and the energy utilization rate of traveling wave vibration is low.

Utility model content

Aiming at the above technical problems, the utility model discloses a ring-shaped traveling wave ultrasonic motor with a welding process, which avoids the problem of cracking of the adhesive layer caused by heat generation and vibration fatigue in the operation of the existing ultrasonic motor, and improves the working life and reliability of the motor; The double-rotor clamping stator structure improves energy efficiency utilization and has high electromechanical conversion efficiency.

To this end, the technical solution adopted by the utility model is:

An annular traveling wave ultrasonic motor with a welding process, which includes a stator, a rotor and an output shaft, the stator includes a hollow stator plate and a piezoelectric ceramic module, the middle part of the stator plate is provided with a hollow stator ring, the stator The ring is provided with welding pads centered on the axis of the stator ring and distributed annularly. The piezoelectric ceramic module includes N piezoelectric ceramic elements, and the piezoelectric ceramic elements are welded and fixed on the welding pads of the stator ring. Said N is a multiple of 8; a gap for the vibration of the stator ring is provided between the stator plate and the stator ring, and the stator ring is connected to the stator plate through a connector; a driving electrode is also provided on the stator plate, and the The electrodes of the same signal of the piezoelectric ceramic element are electrically connected to the corresponding driving electrodes; the rotor is located on the piezoelectric ceramic module of the stator ring and is in contact with the surface of the piezoelectric ceramic module, and the output shaft passes through the stator ring The middle part of the stator is connected with the rotor, and the stator drives the rotor to rotate to form a power output.

With this technical scheme, the piezoelectric ceramic element is welded and fixed on the stator ring by welding. The reliability of the welding process is higher than that of the adhesive process, which can avoid the cracking of the adhesive layer caused by heat and vibration fatigue during the operation of the existing ultrasonic motor. , Improve the working life and reliability of the ultrasonic motor.

Wherein, the stator plate and the stator ring are preferably made of elastic matrix material. Further preferably, the stator plate and the stator ring are made of PCB boards.

As a further improvement of the utility model, printed circuits are provided on the stator plate, connectors, and stator ring, and the pads are electrically connected to the driving electrodes through the printed circuit.

As a further improvement of the utility model, the number of the connecting pieces is more than two.

Preferably, the connecting pieces are symmetrically distributed around the axis of the stator ring, and the width of the connecting pieces is 0.5-3mm.

As a further improvement of the utility model, the number of the connecting parts is three, and the width of the connecting parts is 0.8-1.5 mm. Further preferably, the connecting piece has a width of 0.9-1.1 mm.

As a further improvement of the utility model, the connecting piece is a supporting connecting hinge.

As a further improvement of the utility model, the electrode surface of the piezoelectric ceramic element is perpendicular to the ring surface of the stator ring to form longitudinal vibration.

For the same piezoelectric ceramic material, d33 is used for longitudinal vibration, d31 is used for lateral vibration, and d33 is about an order of magnitude larger than d31. With this technical scheme, the PZT electrode surface is perpendicular to the stator ring surface to form longitudinal vibration, and the piezoelectric material is used The d33 has high electromechanical conversion efficiency.

As a further improvement of the utility model, the piezoelectric ceramic elements are arranged according to the polarization direction corresponding to the set driving method, fixed on the stator ring, and welded on the pads of the stator ring; The electrodes between them are welded together by soldering, and the upper surface of the ring surface composed of piezoelectric ceramic elements on the stator ring is made flat.

Preferably, the piezoelectric ceramic element is fixed on the stator ring by red glue.

Preferably, after the piezoelectric ceramic element is welded, it is ground to smooth the annulus formed by the piezoelectric ceramic element and solder on the stator plate, and keep the rings on both sides at the same height. With this technical solution, the connection is more reliable. ,

As a further improvement of the utility model, the number of the rotors is two, the two sides of the stator ring are provided with welding pads, the welding pads on both sides are welded with piezoelectric ceramic elements, the front and back sides of the stator ring are The ring surfaces composed of piezoelectric ceramic elements have the same height; the two rotors are in contact with both sides of the stator ring at the same time, and the output shaft passes through the middle of the stator ring and is connected with the two rotors to form a power output.

The existing traveling wave ultrasonic motor adopts a structure in which a single rotor contacts a toothed stator. This technical solution adopts a double rotor clamping stator structure. The contact area, the contact area of the double rotor holding the stator is twice as large as that of the single rotor contacting the stator, which improves the friction driving ability and its energy efficiency utilization rate is higher.

As a further improvement of the utility model, the stator plate and the stator ring are made of PCB boards, and the connecting circuit is arranged by connecting the same signal electrodes together according to the 4-phase driving method or 2-phase driving method; The arrangement of the polarization direction is fixed on the stator plate with red glue by a placement machine, and then the solder paste is coated on the electrode pads between the piezoelectric ceramic components, and the pressure is completed by reflow soldering process or wave soldering process. Electroceramic components are welded, and then polished to smooth the annulus composed of piezoelectric ceramic elements and solder on both sides of the stator plate, and keep the rings on both sides at the same height. Clamp the rotor plate with the flat spring attached to the stator plate, the output shaft passes through the hole of the flat spring in the center of the rotor plate, and the other end is fixed with a nut; adjust the position of the nut to change the pre-tightening force of the two rotor plates on the stator plate.

As a further improvement of the utility model, the arrangement of the piezoelectric ceramic elements on the pad is: the two piezoelectric ceramic elements on the front side of the stator ring form a group, and the two piezoelectric ceramic elements on the reverse side of the stator ring are In the corresponding group, the polarized positive pole position of the piezoelectric ceramic element on the front side of the stator ring corresponds to the polarized negative pole position of the piezoelectric ceramic element on the reverse side of the stator ring, and the polarized positive pole position of the piezoelectric ceramic element on the reverse side of the stator ring corresponds to the front piezoelectric The polarized negative electrode position of the ceramic element is electrically connected with the electrodes of the piezoelectric ceramic element corresponding to the positive and negative sides of the stator ring through a circuit.

Wherein, the electrodes of the piezoelectric ceramic elements corresponding to the front and back sides of the stator ring are connected through the circuit of the metallized holes on the stator plate.

As a further improvement of the utility model, the piezoelectric ceramic elements and electrodes include 4 sets of standing wave drive units, which are unit A, unit B, unit C and unit D, and each unit includes two pressure points on the front of the stator ring. An electric ceramic element and two piezoelectric ceramic elements on the opposite side of the stator ring, the piezoelectric ceramic elements are arranged in sequence according to unit A, unit B, unit C, and unit D, and are arranged circularly on the front and back sides of the stator ring;

In the unit A and unit B, the polarized positive poles of the two piezoelectric ceramic elements on the front side of the stator ring are all facing the connection of the two piezoelectric ceramic elements, and the two piezoelectric ceramic elements on the opposite side of the stator ring are Polarized positive poles of the two piezoelectric ceramic elements are located on the outside;

In the unit C and unit D, the polarized negative poles of the two piezoelectric ceramic elements on the front of the stator ring face the connection of the two piezoelectric ceramic elements, that is, the poles of the two piezoelectric ceramic elements on the front of the stator ring The polarized positive poles are located outside the two piezoelectric ceramic elements, and the polarized positive poles of the two piezoelectric ceramic elements on the opposite side of the stator ring are all facing the connection of the two piezoelectric ceramic elements;

The drive electrode includes a SIN terminal, a COS terminal and a GND terminal, the polarized positive pole on the front of the stator ring in the unit A is connected to the SIN terminal, and the polarized positive pole on the front of the stator ring in the unit B is connected to the COS terminal, The polarized negative pole on the front of the stator ring in the unit C is connected to the SIN terminal, and the polarized negative pole on the front of the stator ring in the unit D is connected to the COS terminal; The polarized anode of the piezoelectric ceramic element is connected to the GND terminal.

Using the above technical scheme, the piezoelectric ceramic elements and electrodes are divided into four groups of standing wave drive units A, B, C, and D in sequence, and the signals of SIN, COS, -SIN, and -COS are applied in sequence; the PZT polarization in groups A and B on the front The positive pole is close to the excitation signal, and the PZT polarized negative pole in groups C and D is close to the excitation signal; the polarized direction of the PZT on the opposite side is opposite to that on the front side, forming a two-phase drive.

As a further improvement of the utility model, the piezoelectric ceramic elements and electrodes include 4 sets of standing wave drive units, which are respectively unit a, unit b, unit c and unit d, and each unit includes two pressure points on the front of the stator ring. An electric ceramic element and two piezoelectric ceramic elements on the opposite side of the stator ring, the piezoelectric ceramic elements are arranged in sequence according to unit a, unit b, unit c, and unit d, and are arranged circularly on the front and back sides of the stator ring;

In the unit a, unit b, unit c, and unit d, the polarized positive poles of the two piezoelectric ceramic elements on the front of the stator ring are all facing the connection of the two piezoelectric ceramic elements, and the polarized positive poles of the two piezoelectric ceramic elements on the opposite side of the stator ring are The polarized positive poles of the two piezoelectric ceramic elements are located outside the two piezoelectric ceramic elements, that is, the polarized negative poles of the two piezoelectric ceramic elements on the opposite side of the stator ring are all facing the connection of the two piezoelectric ceramic elements;

The driving electrode includes a SIN terminal, a COS terminal and a GND terminal. The polarized positive pole located on the front of the stator ring in the unit a is connected to the SIN terminal to input the SIN signal, and the polarized positive pole located on the front of the stator ring in the unit b is connected to the COS terminal. terminal is connected to input COS signal, the polarized positive pole on the front side of the stator ring in the unit c is connected to the SIN terminal to input the -SIN signal, and the polarized positive pole on the front side of the stator ring in the unit d is connected to the COS terminal to input the -COS signal; The polarized negative electrode of the piezoceramic element located in the front of the stator ring in unit d and away from unit c is connected to the GND terminal.

Using this technical solution, the piezoelectric ceramic elements and electrodes are divided into four groups of standing wave drive units a, b, c, and d in turn, of which two groups a and c are applied with SIN signals, and two groups b and d are excited by COS signals; the front of the stator ring In each group, the positive pole of the PZT polarization is close to the excitation signal, and the polarization direction of the PZT corresponding to the opposite side and the front side is opposite, forming a four-phase drive.

As a further improvement of the present invention, the rotor includes a rotor plate, a flat spring is arranged in the middle of the rotor plate, and the output shaft is fixed by a nut after passing through the center hole of the flat spring.

The utility model can easily superimpose the stator axially to form a large torque output, or weld and manufacture multiple motor stators on the same stator plate to form multiple motor array drives to meet the application requirements of specific occasions; the existing ultrasonic motor has a single structure, Not easily scalable.

As a further improvement of the utility model, there are two rotors, which are respectively located on the upper and lower sides of the stator. The stator is prepared by the following steps: firstly arrange the piezoelectric ceramic elements according to the polarization direction corresponding to the driving method, and use The placement machine fixes the piezoelectric ceramic components on the stator plate with red glue, and then coats the solder paste on the electrode pads between the piezoelectric ceramic components, and completes the welding of the piezoelectric ceramic components through the reflow soldering process or wave soldering process; Then, the ring surfaces composed of piezoelectric ceramic elements and solder on both sides of the stator plate are ground and smoothed, and the heights of the ring surfaces on the front and back sides are kept consistent. Adopting this technical scheme, the method is simple, easy to implement and control, and has high consistency and stability.

Compared with the prior art, the beneficial effects of the utility model are:

First, in the technical solution of the utility model, several piezoelectric ceramic elements are configured according to the matching relationship with the driving signal, and are welded to the substrate by patch welding. The reliability of the welding process is higher than that of the gluing process, avoiding The cracking of the adhesive layer caused by heat and vibration fatigue during the operation of the existing ultrasonic motor improves the working life and reliability of the motor.

Second, in the prior art, the traveling-wave ultrasonic motor adopts a structure in which a single rotor contacts the toothed stator, while the technical solution of the utility model adopts a double-rotor clamping stator structure, and the two rotors contact both sides of the stator at the same time to form a power output. It is equivalent to increasing the contact area between the rotor and the stator, improving the friction driving capability, and having higher energy efficiency utilization.

Third, the technical solution of the utility model welds the piezoelectric ceramic element on the PCB, and the PZT electrode surface is perpendicular to the stator ring surface to form longitudinal vibration, and the d33 of the piezoelectric material is used, which has high electromechanical conversion efficiency.

Description of drawings

Fig. 1 is a schematic diagram of an exploded structure of an annular traveling wave ultrasonic motor according to the welding process of Example 1 of the present invention.

Fig. 2 is a structural schematic diagram of part I of the rotor plate in Fig. 1 of Embodiment 1 of the present utility model.

Fig. 3 is a schematic structural view of the stator plate of part II in Fig. 1 of Embodiment 1 of the present utility model.

Fig. 4 is a diagram of the arrangement law of the two-phase driving piezoelectric ceramics in Embodiment 1 of the present invention.

Fig. 5 is a diagram of the arrangement law of the four-phase driving piezoelectric ceramics in Embodiment 2 of the present invention.

Fig. 6 is a diagram of the deformation law of the annular surface of the stator plate of the utility model.

detailed description

Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in further detail.

Example 1

As shown in Figures 1 to 3, a ring traveling wave ultrasonic motor with a welding process includes a stator 1, a rotor 2 and an output shaft 3, and the stator 1 includes a hollow stator plate 11 and a piezoelectric ceramic module. The middle part of the stator plate 11 is provided with a hollow stator ring 12, and the stator ring 12 is provided with annularly distributed welding pads, and the piezoelectric ceramic module includes N piezoelectric ceramic elements 13, and the piezoelectric ceramic elements 13 are welded Fixed on the pad of the stator ring 12, the said N is a multiple of 8; a gap 14 for the vibration of the stator ring 12 is provided between the stator plate 11 and the stator ring 12, and the stator ring 12 is connected to the hinge 15 by supporting Connect with the stator plate 11. Preferably, the number of the supporting connecting hinges 15 is three, the supporting connecting hinges 15 are distributed symmetrically around the axis of the stator ring 12, and the width of the supporting connecting hinges 15 is 0.8-1.5 mm. Preferably, there are three support connecting hinges 15 .

As shown in Figures 1 to 3, the rotor 2 includes a rotor plate 21, a flat spring 22 is pasted on the middle of the rotor plate 21, and the rotor plate 21 pasted with the flat spring 22 clamps the stator plate 11, and the output shaft 3 pass through the middle of the stator ring 12, and then pass through the hole in the middle of the central plate spring 22 of the rotor plate 21 and fix it with the nut 4; adjust the position of the nut 4 to change the pre-tightening force of the two rotor 2 plates on the stator plate 11.

As shown in Figures 1 to 3, the stator plate 11, the supporting connection hinge 15, and the stator ring 12 are made of PCB boards, and the stator plate 11, the supporting connecting hinge 15, and the stator ring 12 are all provided with printed circuits, so The printed circuit is connected to the pad, and the stator plate 11 is also provided with driving electrodes 16 , and the electrodes of the same signal of the piezoelectric ceramic element 13 are electrically connected to the corresponding driving electrodes 16 through the printed circuit. The PZT electrode surface of the piezoelectric ceramic element 13 is perpendicular to the ring surface of the stator ring 12 to form longitudinal vibration. The piezoelectric ceramic elements 13 are arranged according to the polarization direction corresponding to the set driving method, fixed on the stator ring 12 by red glue 5, and welded on the pads of the stator ring 12; The electrodes between them are welded together by soldering, and the upper surface of the ring surface composed of piezoelectric ceramic elements 13 on the stator ring 12 is made flat.

As shown in Figures 1 to 3, the number of the rotors 2 is two, the two sides of the stator ring 12 are provided with welding pads, and the piezoelectric ceramic elements 13 are arranged in a patch according to the polarization direction corresponding to the driving method. The piezoelectric ceramic element 13 is fixed on the stator ring 12 with red glue 5, and then the electrode pad between the piezoelectric ceramic elements 13 is coated with solder paste, and the piezoelectric ceramic element is completed through a reflow soldering process or a wave soldering process. 13 welding to form solder electrodes 17, and then through grinding, the two sides of the stator ring 12 are polished by piezoelectric ceramic elements 13 and solder electrodes 17. The rings formed by the ceramic elements 13 are of the same height. The two rotors 2 are in contact with both surfaces of the stator ring 12 at the same time, and the output shaft 3 passes through the middle of the stator ring 13 and is connected with the two rotors 2 to form a power output.

As shown in Figure 4, the arrangement of the piezoelectric ceramic elements 13 on the pad is as follows: the two piezoelectric ceramic elements 13 on the front side of the stator ring 12 form a group, and the two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12 form a group. The elements 13 are a corresponding group, the position of the polarized positive electrode 131 of the piezoelectric ceramic element 13 on the front side of the stator ring 12 corresponds to the polarized negative electrode 132 position of the piezoelectric ceramic element 13 on the reverse side of the stator ring 12, and the piezoelectric ceramic element 13 on the reverse side of the stator ring 12 is piezoelectric. The polarized positive electrode 131 of the ceramic element 13 corresponds to the polarized negative electrode 132 position of the front piezoelectric ceramic element 13, and the electrodes of the piezoelectric ceramic element 13 corresponding to the positive and negative positions of the stator ring 12 pass through the metallized hole circuit on the stator ring 12. electrical connection.

As shown in FIG. 4, the connection circuits are arranged in such a way that the same signal electrodes are connected together according to the two-phase driving method. Specifically, the piezoelectric ceramic element 13 includes 4 groups of standing wave drive units, which are respectively unit A, unit B, unit C and unit D, and each unit includes two piezoelectric ceramic elements 13 on the front side of the stator ring 12 Two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12, the piezoelectric ceramic elements 13 are arranged in sequence according to unit A, unit B, unit C, and unit D, and are arranged circularly on the front and back sides of the stator ring 12;

In unit A and unit B, the polarized positive poles 131 of the two piezoelectric ceramic elements 13 on the front of the stator ring 12 are all facing the connection of the two piezoelectric ceramic elements 13, that is, the polarized positive poles 131 are opposite, and the polarized negative poles are opposite to each other. 132 away from; the polarized positive poles 131 of the two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12 are located outside the two piezoelectric ceramic elements 13, that is, the polarized negative poles 132 are opposite, and the polarized positive poles 131 are far away;

In unit C and unit D, the polarized negative poles 132 of the two piezoelectric ceramic elements 13 on the front of the stator ring 12 are all facing the connection of the two piezoelectric ceramic elements 13, that is, the polarized negative poles 132 are opposite, and the polarized positive poles are opposite to each other. 131 away from; the polarized positive poles 131 of the two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12 are all towards the connection of the two piezoelectric ceramic elements 13, that is, the polarized positive poles 131 are opposite, and the polarized negative poles 132 are far away;

The driving electrode 16 includes a SIN terminal, a COS terminal and a GND terminal. The polarized positive pole 131 located on the front side of the stator ring 12 in the unit A is connected to the SIN terminal, and the polarized positive pole 131 located on the front side of the stator ring 12 in the unit B is It is connected to the COS terminal, the polarized negative pole 132 located on the front side of the stator ring 12 in the unit C is connected to the SIN terminal, and the polarized negative pole 132 located on the front side of the stator ring 12 in the unit D is connected to the COS terminal; The polarized anode 131 of the piezoelectric ceramic element 13 located on the front of the stator ring 12 and away from the unit C is connected to the GND terminal.

Example 2

On the basis of Example 1, this example adopts a four-phase driving method, and the arrangement rule and signal connection mode of the piezoelectric ceramic elements 13 on the stator ring 12 on the pads are different from those of Example 1, specifically:

As shown in Fig. 5, the piezoelectric ceramic element 13 and the electrodes include 4 groups of standing wave drive units, which are respectively unit a, unit b, unit c and unit d, and each unit includes two pressure points on the front of the stator ring 12. The electric ceramic element 13 and the two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12, the piezoelectric ceramic elements 13 are arranged in sequence according to unit a, unit b, unit c, and unit d, and are circularly arranged on the positive and negative sides of the stator ring 12. reverse side;

In the unit a, unit b, unit c, and unit d, the polarized positive poles 131 of the two piezoelectric ceramic elements 13 on the front of the stator ring 12 are all facing the connection of the two piezoelectric ceramic elements 13, that is, the poles The polarized positive poles 131 are opposite, and the polarized negative poles 132 are far away; the polarized negative poles 132 of the two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12 are all facing the connection of the two piezoelectric ceramic elements 13, that is, the polarized negative poles 132 are opposite , polarize the positive electrode 131 away from;

The driving electrode 16 includes a SIN terminal, a COS terminal and a GND terminal. The polarized positive pole 131 located on the front side of the stator ring 12 in the unit a is connected to the SIN terminal to input the SIN signal, and the polarized pole 131 located on the front side of the stator ring 12 in the unit b is The polarized positive pole 131 is connected to the COS terminal to input the COS signal, the polarized positive pole 131 on the front side of the stator ring 12 in the unit c is connected to the SIN terminal to input the -SIN signal, and the polarized positive pole 131 on the front side of the stator ring 12 in the unit d is connected to the COS The terminal is connected to the input -COS signal; the polarized negative electrode 132 of the piezoelectric ceramic element located on the front of the stator ring 12 in the unit d and away from the unit c is connected to the GND terminal.

In the two driving methods of Embodiment 1 and Embodiment 2, that is, two-phase driving and four-phase driving, within a single traveling wave wavelength, each piezoelectric ceramic element 13 will generate deformation, so that the stator ring 12 forms the deformation rule as shown in Figure 6, wherein the units a, b, c, and d in the four-phase drive of embodiment 2 correspond to A, B, C, and D in Figure 6 respectively; according to The working principle of the annular traveling wave ultrasonic motor is that the stator 1 can drive the rotor 2 to rotate.

The above content is a further detailed description of the utility model in combination with specific preferred embodiments, and it cannot be assumed that the specific implementation of the utility model is only limited to these descriptions. For a person of ordinary skill in the technical field to which the utility model belongs, without departing from the concept of the utility model, some simple deduction or substitutions can also be made, which should be regarded as belonging to the protection scope of the utility model.

Claims (9)

1. a kind of annular traveling wave supersonic motor of welding procedure, it includes stator, rotor and output shaft, it is characterised in that：Institute Stating stator includes hollow stator plate and piezoelectric ceramics module, and the middle part of the stator plate is provided with hollow track ring, described fixed Subring is provided with the pad of annular spread, and the piezoelectric ceramics module includes N number of piezo ceramic element, the piezo ceramic element It is weldingly fixed on the pad of track ring, the N is 8 multiple；It is provided with and is shaken for track ring between the stator plate and track ring Dynamic gap, the track ring is connected by connector with stator plate；Driving electrodes, the piezoelectricity are additionally provided with the stator plate The electrode of the identical signal of ceramic component is electrically connected with corresponding driving electrodes；The piezoelectricity that the rotor is located at the track ring is made pottery Contacted on ceramic former block and with the surface of piezoelectric ceramics module, the middle part of the output shaft through track ring is connected with rotor, institute Stator driving rotor is stated to rotate to form power output；The PZT electrode face of the piezo ceramic element is vertical with the anchor ring of track ring, Form extensional vibration.

2. the annular traveling wave supersonic motor of welding procedure according to claim 1, it is characterised in that：The stator plate, Printed circuit is equipped with connector, track ring, the pad is electrically connected by printed circuit with driving electrodes.

3. the annular traveling wave supersonic motor of welding procedure according to claim 1, it is characterised in that：The connector Quantity is two or more, and the connector is symmetrical centered on the axial line of track ring, and the width of the connector is 0.5 ~3mm。

4. the annular traveling wave supersonic motor of welding procedure according to claim 3, it is characterised in that：The connector Quantity is three, and the width of the connector is 0.8 ~ 1.5mm.

5. the annular traveling wave supersonic motor of the welding procedure according to claim 1 ~ 4 any one, it is characterised in that：Institute State piezo ceramic element to arrange according to the corresponding polarised direction of driving method of setting, be fixed on by red glue on track ring, and It is welded on the pad of track ring；Electrode between the piezo ceramic element is welded together by scolding tin, and make it is described fixed The upper surface for the anchor ring being made up of in subring piezo ceramic element is smooth.

6. the annular traveling wave supersonic motor of welding procedure according to claim 5, it is characterised in that：The number of the rotor Measure as two, the two sides of the track ring is equipped with pad, and the pad on two sides is welded with piezo ceramic element, the track ring The anchor ring that is made up of piezo ceramic element of positive and negative two sides it is highly identical；Described two rotors connect with the two sides of track ring simultaneously Touch, the output shaft is connected through the middle part of track ring and with two rotors, form power output；The piezo ceramic element Arrangement regulation on pad is：Positive two piezo ceramic elements of track ring are one group, two of track ring reverse side Piezo ceramic element is corresponding one group, the polarization positive pole position correspondence track ring of the positive piezo ceramic element of track ring The polarization negative pole position of reverse side piezo ceramic element, the polarization positive pole position correspondence of the track ring reverse side piezo ceramic element is just The polarization negative pole position of face piezo ceramic element, the electrode of the corresponding piezo ceramic element in the positive and negative two sides of track ring passes through circuit Electrical connection.

7. the annular traveling wave supersonic motor of welding procedure according to claim 6, it is characterised in that：The piezoelectric ceramics Element and electrode include 4 groups of standing wave drive units, respectively unit A, unit B, unit C and cells D, and each unit includes determining Two piezo ceramic elements of positive two piezo ceramic elements of subring and track ring reverse side, the piezo ceramic element according to Unit A, unit B, unit C, cells D are arranged in order, and are circularly set on the positive and negative of track ring；

In the unit A and unit B, the polarization positive pole of positive two piezo ceramic elements of track ring is towards two pressures The junction of electroceramics element, the polarization positive pole of two piezo ceramic elements of the track ring reverse side is located at two piezoelectric ceramics The outside of element；

In the unit C and cells D, the polarization negative pole of positive two piezo ceramic elements of track ring is towards two pressures The junction of electroceramics element, the polarization positive pole of two piezo ceramic elements of the track ring reverse side is towards two piezoelectricity potteries The junction of porcelain element；

The driving electrodes include SIN ends, COS ends and GND ends, be located in the unit A the positive polarization positive pole of track ring with SIN ends are connected, and the positive polarization positive pole of track ring is located in the unit B and is connected with COS ends, stator is located in the unit C The positive polarization negative pole of ring is connected with SIN ends, and the positive polarization negative pole of track ring is located in the cells D and is connected with COS ends；Institute State and be located at track ring front in cells D, be connected in the polarization positive pole of the piezo ceramic element away from unit C with GND ends.

8. the annular traveling wave supersonic motor of welding procedure according to claim 6, it is characterised in that：The piezoelectric ceramics Element and electrode include 4 groups of standing wave drive units, respectively unit a, unit b, unit c and unit d, and each unit includes determining Two piezo ceramic elements of positive two piezo ceramic elements of subring and track ring reverse side, the piezo ceramic element according to Unit a, unit b, unit c, unit d are arranged in order, and are circularly set on the positive and negative of track ring；

In the unit a, unit b, unit c, unit d, the polarization positive pole of positive two piezo ceramic elements of track ring Towards the junction of two piezo ceramic elements, the equal court of polarization negative pole of two piezo ceramic elements of the track ring reverse side The junction of two piezo ceramic elements；

The driving electrodes include SIN ends, COS ends and GND ends, be located in the unit a the positive polarization positive pole of track ring with It is located at the positive polarization positive pole of track ring in SIN ends connection input SIN signals, the unit b and input COS letters is connected with COS ends Number, the positive polarization positive pole of track ring is being connected in input-SIN signals, the unit d track ring just with SIN ends in the unit c The polarization positive pole in face is connected input-COS signals with COS ends；It is located at the positive and remote unit c of track ring pressure in the unit d The polarization negative pole of electroceramics element is connected with GND ends.

9. the annular traveling wave supersonic motor of welding procedure according to claim 5, it is characterised in that：The rotor includes Rotor plate, the middle part of the rotor plate is provided with planar spring, and the output shaft passes through nut after passing through the centre bore of planar spring It is fixed.