CN207968352U - Rotary ultrasonic motor based on the driving of four tuning-fork type piezoelectric vibrators - Google Patents
Rotary ultrasonic motor based on the driving of four tuning-fork type piezoelectric vibrators Download PDFInfo
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- CN207968352U CN207968352U CN201820280536.7U CN201820280536U CN207968352U CN 207968352 U CN207968352 U CN 207968352U CN 201820280536 U CN201820280536 U CN 201820280536U CN 207968352 U CN207968352 U CN 207968352U
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Abstract
The utility model discloses a kind of rotary ultrasonic motor based on the driving of four tuning-fork type piezoelectric vibrators, stator module is installed between runner assembly and mounting assembly；Stator module includes four groups of tuning fork structure plates in cross connection, and the surrounded surface of tuning fork bar is pasted with Piezoelectric Ceramics Excitation component；Rotor is provided with annular groove on one side, pre-tightens and is equipped with pressure ring between pressing plate and the annular groove of rotor；The centre of bottom plate has boss, the quadrangle of bottom plate to be equipped with bearing fixing screws, and bottom plate is connect by bolt with end cap, is provided centrally with bearing block in end cap, bearing is housed in bearing block.The utility model enables motor to export precision rotation movement, and motor is made to have fast response characteristic；Larger rotating torque can be exported, makes motor that there is big power density, can be widely applied for precision rotation driving, the driving of small shape and micro- shape servo actuator.
Description
Technical field
The utility model is related to a kind of in plane vibration operation modes using four tuning fork composite constructions and out-of-plane vibration to work
The rotary ultrasonic motor of mode composite drive belongs to piezoelectric ultrasonic motor field, specifically a kind of to be based on four tuning-fork type pressures
The rotary ultrasonic motor of electric tachometer indicator driving.
Background technology
Ultrasound electric machine is developed in last century the eighties, it is a kind of novel small and special electric machine based on inverse piezoelectric effect,
There are two processes for energy conversion, first, electric energy is converted by vibration mode energy by mechanical electric coupling by inverse piezoelectric effect,
First, vibrational energy is converted to rotor kinetic energy.Ultrasound electric machine is with simple in structure, small, precision is high, response is fast, powers off certainly
Lock, without electromagnetic interference the advantages that, largely compensate for deficiency of the conventional motors under micro- field and strong electromagnetic interference environment.It is super
Acoustic-electric machine has all been applied successfully in modern micro- shape aircraft, space flight device, camera, wrist-watch and business automation equipment etc.,
It is its indispensable important execution unit.Currently, ultrasound electric machine industrialization focuses primarily upon rotary and linear ultrasonic electric
This two classes motor of machine, and a kind of particular form of the rotary ultrasonic motor (PUSM) as ultrasound electric machine, because there is movement and power
Feature is coupled, and so that its technical contradiction is increased sharply, design complexity, drive control difficulty, to cause its to develop relative delay.It is external
In terms of research, Massachusetts Institute of Technology Anita M.Flynn in 1992 etc. produce micro- shape traveling wave rotary ultrasonic motor, stator
Outer diameter is 2mm, and the range of speeds of internal diameter 1.2mm, motor are 100~300r/min.Switzerland scholar G.-A.Racine in 1993
Etc. producing a kind of standing wave drive shape rotary ultrasonic motor, motor size is 6mm × 6mm × 2mm, under the driving voltage of 10V,
Non-loaded rotating speed is 600r/min.1998, the researcher K.Tani and M.Suzuki etc. of new life company of Japan developed one
Kind utilizes flexible and mode of flexural vibration the new construction electric rotating machine of cantilever beam, a diameter of 2mm of motor to be highly 2mm, driving
When voltage peak is 10V, rotating speed is up to 450r/min.Develop a kind of utilization hollow metal cylinder bending in University of Pennsylvania in 2002
The rotary ultrasonic motor of mode, a diameter of 2.4mm of this motor, long 10mm, rotating speed 570r/min, output torque reach
1.8mNm, efficiency 25%.At home, 1989, Zhou Tieying, Dong Shuxiang etc. of Tsinghua University had developed a diameter of 1mm
Micro- shape column type rotary ultrasonic motor, the max. output torque of this motor is 4 μ Nm, maximum speed 1800r/min.
Zhejiang University has investigated Hybrid transducer shape rotary ultrasonic motor, which reaches 13.2Nm, no-load speed 12.6r/
The ultrasound electric machine of min.Operation mechanism of the Zhao Chun life academicians to ultrasound electric machine of Nanjing Aero-Space University, electromechanical Coupled Dynamics
Model, Design of Structural parameters, drive control and experimental technique etc. expand system and in-depth study, develop
More than the 20 kinds of ultrasound electric machine including TRUM series circular plate type traveling wave shape rotary ultrasonic motors.All in all, it has released
Rotary ultrasonic motor structure type is also extremely limited, and the performance of motor also has prodigious room for promotion.But due to rotary ultrasonic
The advantages such as response fast, power density is big, the accurate height of positioning of motor, therefore in many high-new skills such as micro-move device, micro assemby, robot
In art field there are other motors to be difficult to the important function substituted, more in aerospace, nuclear magnetic resonance, precision finishing, light
There is special important application prospect in the various fields such as fine assembly, micro- medical procedure.
Utility model content
The face of symmetrical tuning fork bar two-by-two in four tuning-fork type structural slabs is utilized the purpose of this utility model is to provide a kind of
Interior bending vibration mode of oscillation and the rotary ultrasonic motor of face excurvation vibrational mode driving make motor output precision rotation movement,
And there is fast response characteristic, and larger torque and power density can be exported.
In view of above-mentioned purpose, the utility model is realized using following technical scheme.It is driven based on four tuning-fork type piezoelectric vibrators
Dynamic rotary ultrasonic motor, including stator module, runner assembly and mounting assembly, the stator module are installed on the rotating group
Between part and the mounting assembly；
The stator module includes four groups of tuning fork structure plates in cross connection, and tuning fork structure plate is by two sounds arranged side by side
Fork arm is constituted, and in axis hole is provided at the center of cross connection, the root of tuning fork structure plate is provided with location hole；Tuning fork bar
It is rectangular, it is internally provided with the through-hole for improving stator mode, and the positive and negative of tuning fork boom end is both provided with the driving of protrusion
Foot；The surrounded surface of tuning fork bar is pasted with Piezoelectric Ceramics Excitation component, and Piezoelectric Ceramics Excitation component is by bending vibration excitation pottery outside face
Bending vibration excitation ceramics are constituted in porcelain knead dough, and the positive antiplane of tuning fork bar is pasted with bending vibration excitation ceramics, a left side for tuning fork bar outside face
Right side is pasted with bending vibration excitation ceramics in face；The sufficient top surface of driving is coated with Kynoar sill；
The runner assembly includes rotor, pressure ring and pre-tightens pressing plate, and rotor is provided with annular groove on one side, the annular groove and pressure ring
Corresponding matching pre-tightens and is equipped with pressure ring between pressing plate and the annular groove of rotor；Rotor is provided centrally with keyway, one end of shaft
Inwardly be sequentially arranged with first bearing, adjust pad and end cap by end, end cap, which is installed on, to be pre-tightened in pressing plate centre bore, shaft it is another
One end is connect with keyway；Adjust pad is provided between hubcap and first bearing；
The mounting assembly includes end cap and bottom plate, and there is a boss in the centre of bottom plate, and the intermediate of boss is arranged axis hole, in axis hole
Second bearing is installed, boss is equipped with threaded hole, and boss is fitted with gasket, and the quadrangle of bottom plate is equipped with bearing and fixes spiral shell
Nail, bottom plate are connect by bolt with end cap, are provided centrally with bearing block in end cap, bearing is housed in bearing block；
The stator fixing screws pass through the location hole of stator module to be fixedly connected with the threaded hole on boss, drive sufficient
Top surface and the rotor bottom surface of runner assembly connect.
Preferably, the ceramic positive antiplane for being respectively symmetrically pasted on tuning fork bar of bending vibration excitation outside the face.
Preferably, the ceramic left and right side for being respectively symmetrically pasted on tuning fork bar of bending vibration excitation in the face.
Preferably, the adjust pad is at least two panels.
The utility model has the technical effect that：1, using simple four tuning-fork types structure stator, realize that the rotation of rotor is driven
It is dynamic, it avoids using rotation error caused by motion changing mechanism in traditional xOy tumblers, to enable motor to export essence
Close rotary motion, and make motor that there is fast response characteristic；2, four couple of stator module drives foot alternately to push runner assembly
It rotates, motor output rotating torque can be increased exponentially, make motor that there is big power density, and motor operation is made more to become
Stablize；3, motor enough drives rotor using the driving being arranged in four tuning-fork type structural slab planes, is advantageously implemented electricity
Machine miniature designs, and can be widely applied for precision rotation driving, the driving of small shape and micro- shape servo actuator.
Description of the drawings
Fig. 1 is the installation diagram of the utility model；
Fig. 2 is the planar structure schematic diagram of stator module 1 in the utility model；
Fig. 3 is the assembling structure schematic diagram of runner assembly 2 in the utility model；
Fig. 4 is the assembling structure schematic diagram of mounting assembly 3 in the utility model；
Fig. 5 is the assembling structure schematic diagram of 3 bottom surface of mounting assembly in the utility model；
Fig. 6 is antisymmetry bending vibration modes floor map in the operation mode face of stator module 1 in the utility model；
Fig. 7 is 450 oblique view of antisymmetry bending vibration modes outside the operation mode face of stator module 1 in the utility model；
Fig. 8 is antisymmetry bending vibration modes side view outside the operation mode face of stator module 1 in the utility model；
Fig. 9 is the piezoelectric ceramics location arrangements of stator module 1 and its piezoelectric polarization power supply configuration plane in the utility model
Schematic diagram；
Figure 10 is piezoelectric ceramics location arrangements and its piezoelectricity side poleization power supply the configuration side of stator module 1 in the utility model
View；
Figure 11 is that stator X moves driving principle schematic diagram to, Y-direction in the utility model；
Figure 12 is stator movement driving principle stereoscopic schematic diagram in the utility model.
In figure:1- stator modules, 11- tuning fork structure plates, 110- tuning fork bars, 111- driving foots, 112- through-holes, 113- or more
Symmetrical tuning fork bar, the symmetrical tuning fork bars of 114-；12- Piezoelectric Ceramics Excitation components, bending vibration excitation ceramics outside the faces 121-,
Bending vibration excitation ceramics, 13- axis holes, 14- location holes in the faces 122-；
2- runner assemblies, 21- rotors, 211- keyways, 22- pressure rings, 23- pre-tighten cover board, 24- shafts, 241- end caps, 25-
Adjust pad, 26- first bearings；
3- mounting assemblies, 31- end caps, 32- bottom plates, 33- boss, 34- gaskets, 35- bearing fixing screws, 36- bolts,
37- second bearings, 38- stator fixing screws.
Specific implementation mode
Below in conjunction with drawings and examples, the utility model is described in further detail.Referring to Fig. 1 to Fig. 5, it is based on four tuning forks
The rotary ultrasonic motor of formula piezoelectric vibrator driving, including stator module 1, runner assembly 2 and mounting assembly 3, the stator module 1
It is installed between the runner assembly 2 and the mounting assembly 3；
The stator module 1 include four groups in cross connection tuning fork structure plates 11, tuning fork structure plate 11 by two simultaneously
The tuning fork bar 110 of row is constituted, and in axis hole 13 is provided at the center of cross connection, the root of every group of tuning fork bar 110 is arranged
There is location hole 14；Tuning fork bar 110 is rectangular, is internally provided with the through-hole 112 for improving stator mode, and 110 end of tuning fork bar
Positive and negative be both provided with protrusion driving foot 111；The surrounded surface of tuning fork bar 110 is pasted with Piezoelectric Ceramics Excitation component
12, Piezoelectric Ceramics Excitation component 12 is by bending vibration excitation ceramics 122 are constituted in ceramic 121 knead doughs of bending vibration excitation outside face, tuning fork bar 110
Positive antiplane be pasted with outside face bending vibration excitation ceramics 121, the left and right side of tuning fork bar 110 is pasted with bending vibration excitation pottery in face
Porcelain 122；111 top surfaces of driving foot are coated with Kynoar sill；
The runner assembly 2 includes rotor 21, pressure ring 22 and pre-tightens pressing plate 23, and rotor 21 is provided with annular groove on one side, should
Annular groove matching corresponding with pressure ring 22 pre-tightens and is equipped with pressure ring 22 between pressing plate 23 and the annular groove of rotor 21；The center of rotor 21
It is provided with keyway 211, one end of shaft 24 is inwardly sequentially arranged with first bearing 26, adjust pad 25 and end cap 241 by end, end
Lid 241, which is installed on, to be pre-tightened in 23 centre bore of pressing plate, and the other end of shaft 24 is connect with keyway 211；
The mounting assembly 3 includes end cap 31 and bottom plate 32, and there are boss 33, the intermediate setting of boss 33 in the centre of bottom plate 32
Axis hole is equipped with second bearing 37 in axis hole, and boss 33 is equipped with threaded hole, and boss 33 is fitted with gasket 34, bottom plate 32
Quadrangle is equipped with bearing fixing screws 35, and bottom plate 32 is connect by bolt 36 with end cap 31, and axis is provided centrally in end cap 31
Bearing, bearing block is interior to be equipped with bearing 26；
The stator fixing screws 38 pass through the location hole 14 of stator module 1 to be fixedly connected with the threaded hole on boss 33,
The top surface of driving foot 111 is connect with 21 bottom surface of rotor of runner assembly 2.
The adjust pad 25 is two panels.
The operation mode of the utility model is vibrated, wherein anti-outside face using 1 specific two-phase operation mode of stator module
Antisymmetry bending vibration modes are then for realizing the contact and disengaging between runner assembly 1 and stator module 2, in face for symmetrical bending vibration modes
The rotary motion of the rotor 21 of driving runner assembly 2 around the shaft is realized respectively；Antisymmetry bending vibration modes are made pottery based on piezoelectricity outside face
The inverse piezoelectric effect of porcelain applies specific driving voltage, 11 base of excitation tuning fork structure plate by bending vibration excitation ceramics 121 outside opposite
In the out-of-plane bending vibration of four tuning fork structure plate planes, drive 11 end of tuning fork structure plate respectively along perpendicular to four tuning fork structure plates
Two negative directions of plane are bent and are higher by decussate texture plate plane, tuning fork bar 113 symmetrical above and below and symmetrical tuning fork
The out-of-plane bending vibration of bar 114 shape of shaking is opposite so that tuning fork bar 113 symmetrical above and below in four tuning-fork type structures and symmetrical
Tuning fork bar 114 on 111 points of driving foot alternate kept and the rotor 21 of runner assembly 2 is contacted and detached for two groups；
Antisymmetry bending vibration modes are to apply specific driving voltage, excitation by bending vibration excitation ceramics 122 in opposite in face
The in-plane bending of in-plane bending vibration of the tuning fork bar 110 based on 11 plane of tuning fork structure plate, tuning fork bar 113 symmetrical above and below shakes
Dynamic shape antisymmetry of shaking so that the driving foot 111 on tuning fork bar 113 symmetrical above and below pushes the rotor 21 of runner assembly 2 to produce simultaneously
The tangential force of the raw both forward and reverse directions along x forms the turning pair of the directions x around the shaft；It is curved in the face of symmetrical tuning fork bar 114
Qu Zhendong shakes shape antisymmetry so that the driving foot 111 on symmetrical tuning fork bar 114 pushes the rotors of runner assembly 2 simultaneously
21 generate the tangential force of the both forward and reverse directions along y, form the turning pair of the directions y around the shaft.To be formed in the faces xoy around the shaft
Rotary motion.
Embodiment：The rotary ultrasonic motor that the utility model is driven based on four tuning-fork type piezoelectric vibrators, including stator module
1, runner assembly 2 and mounting assembly 3, referring to Fig. 1 to Fig. 5.Stator module 1 leads between mounting assembly 3 and runner assembly 2
Foot 111 of overdriving is connect with runner assembly 2, and is connect with boss 33 by the stator fixing screws 38 of mounting assembly 3；Stator pack
Part 1 includes four groups of tuning fork structure plates 11 in cross connection, and tuning fork structure plate 11 is by two tuning fork structure plates 110 arranged side by side
It constitutes, and in axis hole 13 is provided at the center of cross connection, the root of tuning fork structure plate 11 is provided with location hole 14；Tuning fork
Bar 110 is rectangular, is internally provided with the through-hole 112 for improving stator mode, and the positive and negative of 110 end of tuning fork bar is both provided with
The driving foot 111 of protrusion；The surrounded surface of tuning fork bar 110 is pasted with Piezoelectric Ceramics Excitation component 12, Piezoelectric Ceramics Excitation group
Part 12 by bending vibration excitation ceramics 122 are constituted in ceramic 121 knead doughs of bending vibration excitation outside face, paste by the positive antiplane of tuning fork bar 110
There are bending vibration excitation ceramics 121 outside face, the left and right side of tuning fork bar 110 to be pasted with bending vibration excitation ceramics 122 in face；Driving foot 111
Top surface is coated with Kynoar sill；Runner assembly 2 is including rotor 21, pressure ring 22 and pre-tightens pressing plate 23, and the one of rotor 21
Face is provided with annular groove, annular groove matching corresponding with pressure ring 22, pre-tightens and is equipped with pressure ring between pressing plate 23 and the annular groove of rotor 21
22；Rotor 21 is provided centrally with keyway 211, and one end of shaft 24 is inwardly sequentially arranged with first bearing 26, adjusting pad by end
Piece 25 and end cap 241, end cap 241, which is installed on, to be pre-tightened in 23 centre bore of pressing plate, and the other end of shaft 24 is connect with keyway 211；Branch
Holder assembly 3 includes end cap 31 and bottom plate 32, and the centre of bottom plate 32 has boss 33, the intermediate of boss 33 that axis hole is arranged, pacifies in axis hole
Equipped with second bearing 37, boss 33 is equipped with threaded hole, and boss 33 is fitted with gasket 34, and the quadrangle of bottom plate 32 is equipped with bearing
Fixing screws 35, bottom plate 32 are connect by bolt 36 with end cap 31, are provided centrally with bearing block in end cap 31, bearing block is built-in
There is bearing 26；Stator fixing screws 38 are fixedly connected across location hole 14 with the threaded hole on boss 33, the top surface of driving foot 111
It is connect with 21 bottom surface of rotor of runner assembly 2.Adjust pad 25 is two panels.
Such as Fig. 2, the plane in the end of the tuning fork structure plate 11 of four tuning-fork type structures is both provided with driving foot 111, is placed in
11 positive driving of tuning fork structure plate foot 111 is mainly used for that runner assembly 2 is pushed to rotate, and is placed in the back of the body of tuning fork structure plate 11
The driving foot 111 in face, it is main to play a part of to improve stator operation mode.It is parallel to 11 plane of tuning fork structure plate in driving foot 111
Surface be coated with a strata vinylidene sill, it is intended to increase the driving foot 111 of stator module 1 with runner assembly 2
Friction drive between rotor 21 and extension motor service life；The inside of tuning fork structure plate 11 is both provided with adjusting hole 112, hole
Center line overlapped with the center of bar, in favor of realize stator three-phase operation mode frequency invariance and improve stator structure it is soft
Property；11 4 end of tuning fork structure plate is threaded hole 14, connection of the threaded hole 14 for stator module 1 and mounting assembly 3, and rises
The effect gripped is provided with through-hole 13 at four tuning-fork type structure centres, to be connected with axis.
Such as Fig. 3, rotor is connected by keyway 211 with the axis 24 of output rotary motion, pressure ring 22 respectively with preload pressing plate 23,
For rotor 21 by annular face contacts, axis positions bearing 26 to be positioned to the axis 24 of output rotary motion, is connect with the interference fit of axis 24
It touches；
Such as Fig. 1 and Fig. 5, the boss of the threaded hole 14 and mounting assembly 3 of 11 end set of tuning fork structure plate of stator module 1
Lead to realize that the preload of stator module 1, gasket 34 and boss 33 are coaxially positioned by centre bore equipped with gasket 34 between 33
The stator fixing screws 38 for crossing mounting assembly 3 connect；The driving of stator module 1 is in contact with the rotor of runner assembly 2 enough so that
Driving foot 111 on tuning fork bar 11 forms prismatic pair with rotor 21 and connect；Bottom plate 32 is equipped with bearing fixing screws 35 for that will prop up
Holder assembly 3 is fixed in other mechanisms.
Such as Fig. 2, Fig. 6 to Fig. 9, Piezoelectric Ceramics Excitation component 12 is by bending vibration encourages outside ceramic 122 knead doughs of bending vibration excitation in face
Ceramics 121 are constituted, and the plane of tuning fork structure plate 11 is pasted with longitudinal vibration excitation ceramics 121 outside face, and the side of tuning fork structure plate 11 is viscous
Bending vibration excitation ceramics 122 in face are posted, include 32 high performance piezoelectric potsherd PZT8, the pressure of each piezoelectric ceramic piece in total
Electric polarization direction is each perpendicular to 11 adhesive surface of tuning fork structure plate, and parallel with normal to a surface direction；Bending vibration excitation pottery in face
The outer bending vibration of 122 knead dough of porcelain encourages ceramics 121 to be respectively used to antisymmetry bending vibration knead dough external symmetry bending vibration in 1 face of excitation stator module
Two-phase operation mode.
Such as Fig. 2, Fig. 6 to Fig. 9, bending vibration excitation ceramics 122 are made of 16 piezoelectric ceramic pieces in face, they are pasted respectively
In the left and right side of tuning fork structure plate 11, shake at shape wave crest (or trough) in bending vibration in 11 face of tuning fork structure plate, and tuning fork knot
The laying mode of bending vibration excitation potsherd is identical in the face of structure plate 11.
Such as Fig. 2, Fig. 6 to Fig. 9, bending vibration excitation ceramics 121 are made of 16 piezoelectric ceramic pieces outside face, they are pasted respectively
In the obverse and reverse sides of tuning fork structure plate 11, shake at shape wave crest (or trough) in bending vibration outside 11 face of tuning fork structure plate, and tuning fork knot
The arrangement of bending vibration excitation potsherd is identical outside the face of structure plate 11.
The operation principle of the rotary ultrasonic motor of the utility model is the certain vibration Working mould by exciting stator module 1
State drives the driving being placed on 11 front of tuning fork structure plate foot 111 to do elliptic motion along xOz planes and yOz planes simultaneously, due to
The drive rotor generation simultaneously of driving foot 111 on tuning fork bar 113 symmetrical above and below forms the side x along the tangential force of the both forward and reverse directions of x
To turning pair around the shaft, drive rotor is generated along the positive and negative of y the driving foot 111 on symmetrical tuning fork bar 114 simultaneously
The tangential force in direction forms the turning pair of the directions y around the shaft, by the friction coupling between driving foot 111 and runner assembly 2
It closes, the rotor 21 of runner assembly 2 is pushed to rotate along 1 shaft axis of stator.
As shown in Figure 6 to 8,1 particular job mode of stator module includes mainly tuning fork bar 113 symmetrical above and below and a left side
Right symmetrical tuning fork bar 114 is in antisymmetry flexural vibration mode outside the face in the faces xOy, antisymmetry flexural vibration mode etc. two in face
Phase operation mode.Wherein, antisymmetry bending vibration modes are mainly used for instantaneously connecing between realization runner assembly 2 and stator module 1 outside face
It touches and detaches, the antisymmetry bending vibration modes then rotary motion for realizing driving runner assembly 2 around the shaft in face.Motor is based on a left side
Right 114 in-plane bending mode vibration of symmetrical tuning fork bar and out-of-plane bending modal vibration, synthesize on driving foot 111 along yOz
The elliptical trajectory in face, since drive rotor is generated along y just the driving foot 111 on symmetrical tuning fork bar 114 simultaneously
The tangential force of negative direction forms the turning pair of the directions y around the shaft；Utilize 113 in-plane bending mode of tuning fork bar symmetrical above and below
Vibration and out-of-plane bending modal vibration synthesize the elliptical trajectory along the faces xOz, due to symmetrical above and below on driving foot 111
Tuning fork bar 113 on driving foot 111 drive rotor generates the tangential forces of the both forward and reverse directions along x simultaneously, form x directions around the shaft
Turning pair.So stator is coupled by driving foot 111 with the friction between runner assembly 2, turning for runner assembly 2 is pushed
Son 21 rotates along 1 shaft axis of stator.
For ensure driving foot 111 on it is simultaneously synthesizing go out along the faces xOz and yOz elliptic motion, it is desirable that the two of stator module 1
The intrinsic frequency of phase operation mode is equal or as close possible to while to generate mechanical noise when preventing motor from working, it is necessary to logical
The every structure size for crossing reasonable disposition stator module 1 makes two-phase operation mode frequency be in ultrasonic frequency domain and meets frequency one
Cause property.
As Fig. 9 need to be upper and lower for symmetric curvature operation mode vibration in the face of effective, correct excitation stator module 1
It is passed through on bending vibration excitation ceramics 122 in the face that symmetrical tuning fork bar 113 and symmetrical 114 left and right side of tuning fork bar are pasted
High-frequency electric power drive signal；Respectively by tuning fork bar 113 and symmetrical 114 arranged on left and right sides of tuning fork bar symmetrical above and below
16 unilateral interior bending vibration excitation ceramics 122 are divided into two groups by symmetry, and identical polarization direction is used with the potsherd in group.Such as figure
9, it is perpendicular to adhesive surface and identical as normal direction backwards to 1 entity of stator module that piezoelectric polarization direction is indicated with "+", with "-"
Indicate piezoelectric polarization direction perpendicular to adhesive surface and with 1 entity of normal direction phase opposite sense stator module, sound symmetrical above and below
The polarization direction of bending vibration excitation ceramics 122 is arranged symmetrically in the face of fork arm 113 and symmetrical tuning fork bar 114.All
The surface of bending vibration excitation ceramics 122 is passed through same frequency sine cos ω t driving voltages in face, and bending vibration encourages ceramics 122 and four in face
The adhesive surface of tuning-fork type structure tuning fork structure plate 11 is grounded zero driving voltage of access.
Such as Figure 10, antisymmetry is bent operation mode vibration outside the face effectively, correctly to excite stator module 1, need to be upper
It is passed through on bending vibration excitation ceramics 121 outside the face that symmetrical tuning fork bar 113 and symmetrical 114 positive and negative of tuning fork bar are pasted down
High-frequency electric power drive signal, the driving signal frequency should be identical as bending vibration pumping signal in face.Such as Figure 10, it is located at symmetrical above and below
114 positive and negative face of tuning fork bar 113 and symmetrical tuning fork bar outside bending vibration excitation ceramics 121 use opposite piezoelectric polarization
Direction, the outer bending vibration in piezoelectric polarization direction face corresponding with front of bending vibration excitation ceramics 121 encourages pottery outside the face of single bar reverse side
The piezoelectric polarization direction of porcelain 121 is opposite.The surface of bending vibration excitation ceramics 121 is passed through same frequency cosine sin ω t and swashs outside all faces
Voltage is encouraged, the adhesive surface of bending vibration excitation ceramics 121 and four tuning-fork type structure tuning fork structure plates 11 is grounded zero excitation of access outside face
Voltage.
Such as Figure 11 and Figure 12, the driving foot 111 of stator module 1 is with time phase difference along the elliptic motion of xOz planes
For the two same frequency sine sin ω t voltages of 90o, inspire respectively in the face of stator the vibration of single order longitudinal vibration Modality work with outside face
After Modality work vibration, facilitated by two phase vibration coupling.It is the following four stage by vibration period T of stator point,
Then corresponding elliptical orbit is made of four parts：
Such as Figure 11 (Step 1), within 0~T/4 vibration periods, the outer bending vibration of stator face make tuning fork bar 113 symmetrical above and below by
Direct rod shape makes the driving foot 111 on 113 top of tuning fork bar symmetrical above and below be connect with the holding of runner assembly 2 at maximum antecurvature shape outside face
It touches, and symmetrical tuning fork bar 114 is not contacted by direct rod shape at curved shape after maximum outside reversed face, and with rotor 21 at this time；
The outer bending vibration of stator face makes tuning fork bar 113 symmetrical above and below by initial position B1In-plane bending is to B2Place.In the period, stator module 1
113 top of tuning fork bar driving foot 111 symmetrical above and below contacted simultaneously with runner assembly 2, due to tuning fork bar 113 symmetrical above and below
On driving foot 111 drive rotor generates the tangential forces of the both forward and reverse directions along x simultaneously, form the turning pair of x directions around the shaft,
Therefore the driving 111 common drive rotors 21 of foot on tuning fork bar 113 symmetrical above and below form first that the directions x rotate around the shaft
Step pitch λ.
Such as Figure 11 (Step 2), within T/4~T/2 vibration periods, the outer bending vibration of stator face drives tuning fork bar symmetrical above and below
113 revert to direct rod shape by antecurvature shape outside largest face, make driving foot 111 and runner assembly on tuning fork bar 113 symmetrical above and below
2 are kept in contact；And symmetrical tuning fork bar 114 reverts to direct rod shape by rear bending outside largest face at this time, and it is symmetrical
Tuning fork bar 114 on driving foot 111 do not contacted with runner assembly 21；Bending vibration makes tuning fork bar 113 symmetrical above and below in stator face
By maximum deflection B in face2Revert to straight-bar B3Place, in the period, the driving foot 111 on the symmetrical tuning fork bar of stator 113
It is contacted simultaneously with runner assembly 2, since drive rotor is generated along x's the driving foot 111 on tuning fork bar 113 symmetrical above and below simultaneously
The tangential force of both forward and reverse directions forms the turning pair of the directions x around the shaft, therefore the driving foot on tuning fork bar 113 symmetrical above and below
111 common drive rotors 21 form second step pitch λ that the directions x rotate around the shaft.
Such as Figure 11 (Step 3), within T/2~3T/4 vibration periods, the outer bending vibration of stator face makes tuning fork bar symmetrical above and below
113 curve outside face curved shape after maximum, while the driving foot 111 on tuning fork bar 113 symmetrical above and below and runner assembly by direct rod shape
2 remain disengaged from；And symmetrical tuning fork bar 114 is curved to antecurvature shape outside largest face by direct rod shape at this time, and symmetrical sound
Driving foot 111 on fork arm 114 is contacted with runner assembly 21；Bending vibration makes tuning fork bar 113 symmetrical above and below by face in stator face
B at straight-bar3B at in-plane bending to maximum deflection4, on the period, symmetrical tuning fork bar 114 driving foot 111 with rotation
Component 21 contacts, since drive rotor generates the both forward and reverse directions along y to the driving foot 111 on symmetrical tuning fork bar 114 simultaneously
Tangential force, form the turning pair of y directions around the shaft, therefore the driving foot 111 on symmetrical tuning fork bar 114 pushes away jointly
Turn 21 forms the third step pitch λ that the directions y rotate around the shaft.
Such as Figure 11 (Step 4), within 3T/4~T vibration periods, the outer bending vibration of stator face drives tuning fork bar symmetrical above and below
Direct rod shape is reverted to by curved shape after maximum on 113, makes to drive foot 111 to protect with runner assembly 2 on tuning fork bar 113 symmetrical above and below
Hold disengaging；And symmetrical tuning fork bar 114 reverts to direct rod shape, and symmetrical tuning fork bar by maximum antecurvature shape at this time
Driving foot 111 on 114 is contacted with runner assembly 2；In the period, in stator face bending vibration make tuning fork bar 113 symmetrical above and below by
B at maximum deflection in face4Restore to B at straight-bar1；Driving foot 111 on the period, symmetrical tuning fork bar 114 and rotation
Component 21 contacts, since drive rotor generates the both forward and reverse directions along y to the driving foot 111 on symmetrical tuning fork bar 114 simultaneously
Tangential force, form the turning pair of y directions around the shaft, therefore the driving foot 111 on symmetrical tuning fork bar 114 pushes away jointly
Turn 21 forms the 4th step pitch λ that the directions y rotate around the shaft.
As shown in figure 11, stator module 1 often completes said one vibration period T, and 113 top of tuning fork bar symmetrical above and below is driven
Action spot 111 will complete the preceding song position B out of largest face1Antecurvature position B outside largest face2Curved position B after in largest face3Largest face
Curved position B after outer4Preceding song position B in largest face1An elliptical trajectory；So stator module 1 often completes said one
Vibration period T will just push the rotor 21 of runner assembly 2 along x to rotating 2 step pitches.When stator module 1 constantly repeats above-mentioned vibration
When the period, it will push the rotor 21 of runner assembly 2 constantly along x to rotation.If in reverse face outside bending vibration and face between bending vibration
Lead-lag phase relation, then negative direction rotation of the rotor 21 of runner assembly 2 by formation around the shaft.
Such as Figure 11 and Figure 12, the driving foot 111 of stator module 1 is with time phase along the elliptical trajectory of yOz planes
The two same frequency sine sin ω t voltages that potential difference is 90 °, inspire stator in-plane bending mode operational vibration and face excurvation respectively
After bent Modality work vibration, facilitated by two phase vibration coupling.If being four-stage by vibration period T of stator point,
It then drives elliptic motion of the foot 111 in the faces yOz that can regard as to be made of four parts：
Such as Figure 11 (Step 1), within 0~T/4 vibration periods, the outer bending vibration of stator face make symmetrical tuning fork bar 114 by
Curved shape after direct rod shape curves outside largest face makes the driving foot 111 on symmetrical 114 top of tuning fork bar be kept with runner assembly 2
It is detached from, and tuning fork bar 113 symmetrical above and below at this time curves antecurvature shape outside reversed largest face by direct rod shape, and connect with rotor 21
It touches；Bending vibration makes symmetrical tuning fork bar 114 by initial position A in stator face1In-plane bending is to A2Place.In the period, stator pack
113 top of the tuning fork bar driving foot 111 symmetrical above and below of part 1 is contacted with runner assembly 2 simultaneously, due to tuning fork symmetrical above and below
The drive rotor generation simultaneously of driving foot 111 on bar 113 forms the rotation of the directions x around the shaft along the tangential force of the both forward and reverse directions of x
Turn couple, therefore the driving 111 common drive rotors 21 of foot on tuning fork bar 113 symmetrical above and below form the directions x and rotate around the shaft
First step pitch λ.
Such as Figure 11 (Step 2), within T/4~T/2 vibration periods, the outer bending vibration of stator face drives symmetrical tuning fork bar
114 are reverted to that direct rod shape is curved by curved shape after maximum, make the driving foot 111 on symmetrical tuning fork bar 114 and runner assembly 2
It remains disengaged from；And tuning fork bar 113 symmetrical above and below at this time is restored by maximum antecurvature shape to direct rod shape, and tuning fork bar symmetrical above and below
Driving foot 111 on 113 is contacted with runner assembly 21；Bending vibration makes tuning fork bar 114 by maximum deflection A outside face in stator face2It is extensive
Again at maximum deflection A in face3Place, in the period, in the period, 113 top of the tuning fork bar driving symmetrical above and below of stator module 1
Foot 111 is contacted with runner assembly 2 simultaneously, due to the drive rotor production simultaneously of driving foot 111 on tuning fork bar 113 symmetrical above and below
The tangential force of the raw both forward and reverse directions along x forms the turning pair of the directions x around the shaft, therefore on tuning fork bar 113 symmetrical above and below
Driving 111 common drive rotors 21 of foot form second step pitch λ that the directions x rotate around the shaft.
Such as Figure 11 (Step 3), within T/2~3T/4 vibration periods, the outer bending vibration of stator face makes symmetrical tuning fork bar
114 curve maximum antecurvature shape by direct rod shape, while the driving foot 111 on symmetrical tuning fork bar 114 connects with runner assembly 2
It touches；And tuning fork bar 113 symmetrical above and below at this time curves curved shape after maximum by direct rod shape, and on tuning fork bar 113 symmetrical above and below
Driving foot 111 is detached from runner assembly 21；Bending vibration makes symmetrical tuning fork bar 114 by maximum deflection A in face in stator face3
Maximum preceding crook A outside bending to face4.In the period, symmetrical 114 top of the tuning fork bar driving foot 111 of stator module 1 is same
When contacted with runner assembly 2, due on symmetrical tuning fork bar 114 driving foot 111 simultaneously drive rotor generate along y just
The tangential force of negative direction forms the turning pair of the directions y around the shaft, therefore the driving foot 111 on tuning fork bar 113 symmetrical above and below
Common drive rotor 21 forms the third step pitch λ that the directions y rotate around the shaft.
Such as Figure 11 (Step 4), within 3T/4~T vibration periods, the outer bending vibration of stator face drives symmetrical tuning fork bar
114 by maximum antecurvature shape to revert to direct rod shape curved, makes to drive foot 111 to protect with runner assembly 2 on symmetrical tuning fork bar 114
Hold contact；Tuning fork bar 113 symmetrical above and below at this time reverts to direct rod shape, and tuning fork bar 113 symmetrical above and below by curved shape after maximum
On driving foot 111 with runner assembly 2 be detached from；In the period, symmetrical 114 top of tuning fork bar of stator module 1 drives
Foot 111 is contacted with runner assembly 2 simultaneously, due to the drive rotor production simultaneously of driving foot 111 on symmetrical tuning fork bar 114
The tangential force of the raw both forward and reverse directions along y forms the turning pair of the directions y around the shaft, therefore on tuning fork bar 113 symmetrical above and below
Driving 111 common drive rotors 21 of foot form the 4th step pitch λ that the directions y rotate around the shaft.
As shown in figure 11, stator module 1 often completes said one vibration period T, and symmetrical 114 top of tuning fork bar is driven
Action spot 111 will complete the preceding song position A out of largest face1Curved position A after outside largest face2Position A after in largest face3Outside largest face
Antecurvature position A4Preceding song position A in largest face1An elliptical trajectory；So stator module 1 often completes said one and shakes
Dynamic cycle T, just by the rotor 21 for pushing runner assembly 2 along y to rotating 2 step pitches.When stator module 1 constantly repeats above-mentioned vibration week
When the phase, it will push the rotor 21 of runner assembly 2 constantly along y to rotation.If surpassed between bending vibration outside bending vibration and face in reverse face
Preceding lagging phase relationship, then negative direction rotation of the rotor 21 of runner assembly 2 by formation around the shaft.
As the driving foot 111 of Figure 11 and Figure 12, stator module 1 are respectively completed the elliptic motion along yOz planes, xOz planes
Track, since drive rotor 21 generates cutting for the both forward and reverse directions along x to the driving foot 111 on tuning fork bar 113 symmetrical above and below simultaneously
Xiang Li forms the turning pair of the directions x around the shaft, the driving foot 111 on symmetrical tuning fork bar 114 while drive rotor 21
The tangential force of the both forward and reverse directions along y is generated, the turning pair of the directions y around the shaft is formed, so that rotor 21 is formed along stator
The rotary motion of 1 shaft axis.
Claims (4)
1. based on the rotary ultrasonic motor of four tuning-fork type piezoelectric vibrators driving, including stator module, runner assembly and mounting assembly,
It is characterized in that, the stator module is installed between the runner assembly and the mounting assembly；
The stator module includes four groups of tuning fork structure plates in cross connection, and tuning fork structure plate is by two tuning fork bars arranged side by side
It constitutes, and in axis hole is provided at the center of cross connection, the root of tuning fork structure plate is provided with location hole；Tuning fork bar is in square
Shape is internally provided with the through-hole for improving stator mode, and the positive and negative of tuning fork boom end is both provided with the driving foot of protrusion；Sound
The surrounded surface of fork arm is pasted with Piezoelectric Ceramics Excitation component, and Piezoelectric Ceramics Excitation component is by the ceramic knead dough of bending vibration excitation outside face
Interior bending vibration excitation ceramics are constituted, and the positive antiplane of tuning fork bar is pasted with bending vibration excitation ceramics, the left and right side of tuning fork bar outside face
It is pasted with bending vibration excitation ceramics in face；The sufficient top surface of driving is coated with Kynoar sill；
The runner assembly includes rotor, pressure ring and pre-tightens pressing plate, and rotor is provided with annular groove on one side, and the annular groove is opposite with pressure ring
It should match, pre-tighten and pressure ring is installed between pressing plate and the annular groove of rotor；Rotor is provided centrally with keyway, and one end of shaft is by holding
Head is inwardly sequentially arranged with first bearing, adjust pad and end cap, and end cap, which is installed on, to be pre-tightened in pressing plate centre bore, the other end of shaft
It is connect with keyway；Two panels adjust pad is provided between hubcap and first bearing；
The mounting assembly includes end cap and bottom plate, and the centre of bottom plate has boss, the intermediate of boss that axis hole is arranged, is installed in axis hole
There are second bearing, boss to be equipped with threaded hole, boss is fitted with gasket, and the quadrangle of bottom plate is equipped with bearing fixing screws, bottom
Plate is connect by bolt with end cap, is provided centrally with bearing block in end cap, bearing is housed in bearing block；
The stator fixing screws pass through the location hole of stator module to be fixedly connected with the threaded hole on boss, drive sufficient top surface
It is connect with the rotor bottom surface of runner assembly.
2. the rotary ultrasonic motor according to claim 1 based on the driving of four tuning-fork type piezoelectric vibrators, which is characterized in that institute
State the positive antiplane that bending vibration excitation ceramics outside face are respectively symmetrically pasted on tuning fork bar.
3. the rotary ultrasonic motor according to claim 1 based on the driving of four tuning-fork type piezoelectric vibrators, which is characterized in that institute
State the left and right side that bending vibration excitation ceramics in face are respectively symmetrically pasted on tuning fork bar.
4. the rotary ultrasonic motor according to claim 1 based on the driving of four tuning-fork type piezoelectric vibrators, which is characterized in that institute
It states adjust pad and is at least two panels.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820280536.7U CN207968352U (en) | 2018-02-28 | 2018-02-28 | Rotary ultrasonic motor based on the driving of four tuning-fork type piezoelectric vibrators |
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| CN201820280536.7U CN207968352U (en) | 2018-02-28 | 2018-02-28 | Rotary ultrasonic motor based on the driving of four tuning-fork type piezoelectric vibrators |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108111056A (en) * | 2018-02-28 | 2018-06-01 | 南昌航空大学 | Rotary ultrasonic motor and operation mode based on the driving of four tuning-fork type piezoelectric vibrators |
| CN110299867A (en) * | 2019-07-16 | 2019-10-01 | 太原科技大学 | A kind of four-footed driving rotary ultrasonic wave motor |
| CN113162466A (en) * | 2021-01-25 | 2021-07-23 | 南京航空航天大学 | Surface-mounted double-stator rotary ultrasonic motor and control method |
-
2018
- 2018-02-28 CN CN201820280536.7U patent/CN207968352U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108111056A (en) * | 2018-02-28 | 2018-06-01 | 南昌航空大学 | Rotary ultrasonic motor and operation mode based on the driving of four tuning-fork type piezoelectric vibrators |
| CN108111056B (en) * | 2018-02-28 | 2023-06-20 | 南昌航空大学 | Rotary ultrasonic motor driven by four tuning fork type piezoelectric vibrators and working mode |
| CN110299867A (en) * | 2019-07-16 | 2019-10-01 | 太原科技大学 | A kind of four-footed driving rotary ultrasonic wave motor |
| CN113162466A (en) * | 2021-01-25 | 2021-07-23 | 南京航空航天大学 | Surface-mounted double-stator rotary ultrasonic motor and control method |
| CN113162466B (en) * | 2021-01-25 | 2023-01-06 | 南京航空航天大学 | Surface-mounted double-stator rotary ultrasonic motor and control method |
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