JPH02261073A - Ultrasonic motor - Google Patents
Ultrasonic motorInfo
- Publication number
- JPH02261073A JPH02261073A JP1076907A JP7690789A JPH02261073A JP H02261073 A JPH02261073 A JP H02261073A JP 1076907 A JP1076907 A JP 1076907A JP 7690789 A JP7690789 A JP 7690789A JP H02261073 A JPH02261073 A JP H02261073A
- Authority
- JP
- Japan
- Prior art keywords
- rotor
- driving force
- piezoelectric element
- stator
- vibrator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 abstract description 17
- 239000010959 steel Substances 0.000 abstract description 17
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000004804 winding Methods 0.000 abstract description 4
- 230000008602 contraction Effects 0.000 description 8
- 230000003321 amplification Effects 0.000 description 6
- 238000003199 nucleic acid amplification method Methods 0.000 description 6
- 239000000470 constituent Substances 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 241000287509 Piciformes Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は超音波モータ、そのなかで特にきつつき型に代
表される振動結合型の超音波モータに関するものである
。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an ultrasonic motor, and particularly to a vibration-coupled type ultrasonic motor represented by a woodpecker type.
［発明の概要］
本発明は、ステータとロータとの間に介在された圧電振
動子を振動させ、該振動によりロータに円周方向の分力
を発生させて、ロータを回転させるようになっている超
音波モータにおいて、前記圧電振動子を、圧電素子と、
スチールワイヤーやスチールベルト等の駆動力伝達部材
で構成し、該駆動力伝達部材の一端部を前記圧電素子に
係止し、中央部を前記ロータの周面に沿って３６０°未
満の範囲で巻回すると共に、他端部を駆動力（振動）伝
達部材係止部に係止することにより、圧電素子の振動を
スチールベルト等の駆動力伝達部材を介してロータに伝
達し、該ロータに円周方向の分力を発生させて、ロータ
を回転させる構成としたものである。[Summary of the Invention] The present invention vibrates a piezoelectric vibrator interposed between a stator and a rotor, and the vibration generates a component force in the circumferential direction of the rotor, thereby rotating the rotor. In an ultrasonic motor, the piezoelectric vibrator is a piezoelectric element;
It is composed of a driving force transmitting member such as a steel wire or a steel belt, one end of the driving force transmitting member is locked to the piezoelectric element, and the central part is wound in a range of less than 360° along the circumferential surface of the rotor. By rotating the piezoelectric element and locking the other end in the driving force (vibration) transmission member locking part, the vibration of the piezoelectric element is transmitted to the rotor via the driving force transmission member such as a steel belt, and the rotor is circularly rotated. The rotor is configured to generate a component force in the circumferential direction to rotate the rotor.
［従来の技術］
圧電振動子の伸縮歪を利用してロータを回転させる超音
波モータとして特開昭５５−４６８８３号公報が知られ
・ている。[Prior Art] Japanese Patent Laid-Open No. 55-46883 is known as an ultrasonic motor that rotates a rotor by utilizing the expansion and contraction strain of a piezoelectric vibrator.
これを第５図に基づいて説明すると、＋０１は角板形ス
テータ、１０２は円筒形ロータ、１０３はロータ軸であ
り軸受１０４に支えられ、ステータ１０１はサポート１
０５に固定され、荷重手段１０６は例えばバネ材料から
なり、ステータＩＯ１の非固定端をロータ１０２の表面
に押付けている。上記ステータ１０１は圧電素子１０８
からなる振動子＋０７で構成されており、電極１０９゜
１０９′、リード線１１０，１１０’を通して電源（図
示せず）に接続されている。To explain this based on FIG.
05, and the loading means 106 is made of a spring material, for example, and presses the non-fixed end of the stator IO1 against the surface of the rotor 102. The stator 101 is a piezoelectric element 108
It is connected to a power source (not shown) through electrodes 109 and 109' and lead wires 110 and 110'.
そして、上記モータに電源から電圧Ｅ１周波数ｆの交流
電圧を印加すると、圧電素子１０８は圧電逆効果のため
歪を生じ、振動子＋０７及びステータ１０１は長さ方向
の伸縮運動を行なう。その際にステータ＋０１の一端は
サポート１０５に固定されているため、他端のみがロー
タ１０２の外周に沿って往復運動を行ない、荷重手段１
０６の押付は作用によりロータ１０２を矢印方向に突き
進めて、ロータ１０２を回転させるようになっている。When an alternating current voltage of voltage E1 and frequency f is applied to the motor from the power source, the piezoelectric element 108 generates distortion due to the piezoelectric reverse effect, and the vibrator +07 and the stator 101 perform an expansion and contraction movement in the length direction. At this time, since one end of the stator +01 is fixed to the support 105, only the other end performs reciprocating motion along the outer periphery of the rotor 102, and the loading means 1
The pressing action of 06 pushes the rotor 102 in the direction of the arrow and causes the rotor 102 to rotate.
［発明が解決しようとする課題］
ところで」二記従来の超音波モータにあっては圧電素子
で作られた振動子＋０７の非固定端をロータ１０２の周
面に直接、接触させて、該振動子１０７の先端でロータ
１０２の周面をつつく（きつつき型と呼ばれる所以であ
る）ことにより、ロータ１０２を回転させる構成になっ
ていたために次に述べるような問題点があった。[Problems to be Solved by the Invention] By the way, in the conventional ultrasonic motor described in Section 2, the non-fixed end of the vibrator +07 made of a piezoelectric element is brought into direct contact with the circumferential surface of the rotor 102, and the vibration is Since the rotor 102 is rotated by poking the peripheral surface of the rotor 102 with the tip of the child 107 (this is why it is called a woodpecker type), there are problems as described below.
（１）振動子１０７の伸縮に応じて、その先端がロータ
１０２の周面に接離し、かつロータ１０２に回転力を発
生させるようにしなければならず、両者間の位置決め調
整が難しい。(1) As the vibrator 107 expands and contracts, its tip must move toward and away from the circumferential surface of the rotor 102 and generate rotational force in the rotor 102, making it difficult to adjust the positioning between the two.
（２）振動子１０７の先端が直接、ロータ１０２に当た
るため、振動子１０７の先端が摩耗してトルク特性の低
下等を惹起する。(2) Since the tip of the vibrator 107 directly hits the rotor 102, the tip of the vibrator 107 wears out, causing a decrease in torque characteristics.
本発明は従来のように圧電素子（振動子）の先端を直接
、ロータの周面に接触させるのではなく、圧電素子をス
チールベルトやスチールワイヤ等の駆動力伝達部材を介
してロータの周面に接触させる構成とすることにより、
上記従来の問題点を解決できるようにしたものである。The present invention does not directly contact the tip of the piezoelectric element (vibrator) with the circumferential surface of the rotor as in the past, but instead connects the piezoelectric element to the circumferential surface of the rotor via a driving force transmission member such as a steel belt or steel wire. By making it contact with the
This is designed to solve the above-mentioned conventional problems.
［課題を解決するための手段］
ステータと、ロータと、これらステータとロータの間に
介在された圧電振動子を備えていて、該圧電振動子の振
動でロータに円周方向の分力を発生させて、ロータを回
転させるようになっている超音波モータにおいて、
前記圧電振動子を、伸縮歪運動を行なう圧電素子と、該
圧電素子の伸縮歪運動をロータに伝達してロータを回転
させるために、その一端部を前記圧電素子側に係止され
、中央部が前記ロータの周面に沿って３６０′未満（１
８０′前後が好適）の範囲で巻回され、他端部がステー
タ等に設けられた駆動力伝達部材係止部に係止されてい
るスチールワイヤーやスチールベルト等の駆動力伝達部
材で構成した。[Means for solving the problem] A stator, a rotor, and a piezoelectric vibrator interposed between the stator and the rotor are provided, and the vibration of the piezoelectric vibrator generates a component force in the circumferential direction on the rotor. In an ultrasonic motor configured to rotate a rotor, the piezoelectric vibrator is a piezoelectric element that performs an expansion/contraction strain motion, and the piezoelectric vibrator is configured to transmit the expansion/contraction strain motion of the piezoelectric element to the rotor to rotate the rotor. , one end thereof is locked to the piezoelectric element side, and the central part extends less than 360' (1
It is composed of a driving force transmitting member such as a steel wire or a steel belt, which is wound within a range of about 80' (preferably around 80') and whose other end is locked to a driving force transmitting member locking part provided on a stator, etc. .
［作用］
前記圧電素子か所謂伸びた状態になるとスチールベルト
等の駆動力伝達部材のロータ周面への巻付けが緩んだ状
態になってロータを回転させる力は殆んど発生せず、圧
電素子が縮んだ、状態になるとスチールヘルド等の駆動
力伝達部材かロータの周面に強く巻付き、その際に作用
するロータの円周方向の分力でロータ回転駆動力を得て
、ロータを回転させる。[Operation] When the piezoelectric element is in a so-called stretched state, the winding of the driving force transmission member such as a steel belt around the rotor circumferential surface becomes loose, and almost no force is generated to rotate the rotor, and the piezoelectric element When the element is in a contracted state, the driving force transmission member such as a steel heald wraps tightly around the circumferential surface of the rotor, and the component force in the circumferential direction of the rotor that acts at this time generates rotor rotational driving force, and the rotor is rotated. Rotate.
［実施例］ 次に本発明の実施例を第１〜４図を参照して説明する。[Example] Next, embodiments of the present invention will be described with reference to FIGS. 1 to 4.
第１図は本発明の超音波モータの第１実施例を示す。FIG. 1 shows a first embodiment of the ultrasonic motor of the present invention.
図において１は超音波モータ（要部）であり、該モータ
１は、ステータ２と、ロータ３と、これらステータ２と
ロータ３の間に介在された圧電振動子４とを備えていて
、該圧電振動子４の振動でロータ３に円周方向の分ノｊ
を発生させて、ロータ３を回転させるようになっている
。In the figure, 1 is an ultrasonic motor (main part), and the motor 1 includes a stator 2, a rotor 3, and a piezoelectric vibrator 4 interposed between the stator 2 and the rotor 3. The vibration of the piezoelectric vibrator 4 causes the rotor 3 to move in the circumferential direction.
is generated to rotate the rotor 3.
前記圧電振動子４は、電圧を印加することにより伸縮歪
運動を行なう圧電素子５と、該圧電素子５の伸縮歪運動
をロータ３に伝達して、ロータ３に円周方向の分力を発
生させて、該ロータ３を回転させる駆動力伝達部材６と
からなっている。The piezoelectric vibrator 4 includes a piezoelectric element 5 that performs an expansion/contraction strain movement by applying a voltage, and transmits the expansion/contraction strain movement of the piezoelectric element 5 to the rotor 3 to generate a component force in the circumferential direction on the rotor 3. and a driving force transmission member 6 that rotates the rotor 3.
前記駆動力伝達部材６はスチールワイヤーで形成されて
いて、その一端部は前記圧電素子５によって振動される
振動増幅アーム７に係止され、中央部は前記ロータ３の
周面に略１８０°巻付けられていて、他端部がステータ
２に設けた駆動力伝達部材係止部８に係止されている。The driving force transmitting member 6 is made of a steel wire, one end of which is engaged with a vibration amplifying arm 7 that is vibrated by the piezoelectric element 5, and the central part is wound approximately 180 degrees around the circumferential surface of the rotor 3. The other end is locked to a driving force transmission member locking part 8 provided on the stator 2.
なお、振動増幅アーム７は文字通り、圧電素子５の振動
を増幅させるためのものであり、弾性を有する金属板で
矩形状に作られていて、その長さ方向の一端部がビスタ
でステータ２に枢支されている。また前記ステータ２は
前記振動増幅アーム７をその」二面に取付けた垂直部１
０と、該垂直部ＩＯの下端側に略直角に連設された水平
部ＩＩとで」状に形成されていて、前記水平部１１の上
面と振動増幅アーム７の下面との間に前記圧電索子５が
取付けられている。そして、この圧電素子５も増幅（伸
縮量）を大きくするために所謂積層型に形成されている
。Note that the vibration amplification arm 7 is literally for amplifying the vibration of the piezoelectric element 5, and is made of an elastic metal plate in a rectangular shape, and one end in the length direction is connected to the stator 2 with a vista. It is pivotally supported. Further, the stator 2 has a vertical portion 1 having the vibration amplifying arm 7 attached to its two sides.
0 and a horizontal portion II which is connected at a substantially right angle to the lower end side of the vertical portion IO. A cord 5 is attached. This piezoelectric element 5 is also formed in a so-called laminated type in order to increase amplification (amount of expansion and contraction).
第１実施例の超音波モータは上記のような構成であるか
ら、圧電素子５に交流電圧を加えると、該圧電素子５が
連続的に伸縮運動を繰返す。Since the ultrasonic motor of the first embodiment has the above-described configuration, when an alternating current voltage is applied to the piezoelectric element 5, the piezoelectric element 5 continuously repeats the expansion and contraction motion.
そして、圧電素子５が伸びると、振動増幅アーム７は駆
動力伝達部材６のロータ３の周面への巻付けを緩める方
向に移動し、圧電素子５が縮むと振動増幅アーム７は駆
動力伝達部材６をロータ３の周面に巻付ける方向に移動
する。When the piezoelectric element 5 extends, the vibration amplification arm 7 moves in a direction to loosen the winding of the driving force transmission member 6 around the circumferential surface of the rotor 3, and when the piezoelectric element 5 contracts, the vibration amplification arm 7 moves to transmit the driving force. The member 6 is moved in the direction of wrapping it around the circumferential surface of the rotor 3.
従って、振動増幅アーム７が振動し、駆動力伝達部材６
がロータ３周面への巻付けが緩むときには、両者間の摩
擦が減少するのでロータ３は殆ど回転せず、逆に、駆動
力伝達部材６がロータ３の周面に巻付くときには両者間
の摩擦が増大し、その際に発生するロータ３の円周方向
の分力でローり３は回転されることになるのである。Therefore, the vibration amplification arm 7 vibrates, and the driving force transmission member 6
When the winding of the driving force transmitting member 6 around the circumferential surface of the rotor 3 loosens, the friction between them decreases, so the rotor 3 hardly rotates. Conversely, when the driving force transmitting member 6 winds around the circumferential surface of the rotor 3, the friction between the two decreases. The friction increases, and the roller 3 is rotated by the component force generated in the circumferential direction of the rotor 3.
第２図は本発明の超音波モータの第２実施例を示す。FIG. 2 shows a second embodiment of the ultrasonic motor of the present invention.
この第２実施例と前記第１実施例の相違点は駆動力伝達
部材係止部８の構造にある。The difference between this second embodiment and the first embodiment lies in the structure of the driving force transmission member locking portion 8.
即ち前記第１実施例にあっては、駆動力伝達部材係止部
８は、ただ単に駆動力伝達部材６の他端部を固定的に係
止するものにすぎなかったが、第２実施例では駆動力伝
達部材係止部８に圧電素子１２と振動増幅アーム１３を
使用し、駆動力伝達部材６の一端部と他端部にそれぞれ
振動を加えることができるようになっている。That is, in the first embodiment, the driving force transmitting member locking portion 8 merely fixedly locks the other end of the driving force transmitting member 6, but in the second embodiment In this case, a piezoelectric element 12 and a vibration amplifying arm 13 are used in the driving force transmitting member locking portion 8, so that vibration can be applied to one end and the other end of the driving force transmitting member 6, respectively.
従って、前記駆動力伝達部材６の一端部の圧電素子５と
他端部の圧電素子１３のうちのいずれか一方にのみ電圧
を印加して、ロータ３を正転させ、これとは逆に他方に
のみ電圧を印加するとロータ３を逆転させることができ
るようになっている。Therefore, a voltage is applied to only one of the piezoelectric element 5 at one end of the driving force transmission member 6 and the piezoelectric element 13 at the other end to rotate the rotor 3 in the forward direction, and vice versa. The rotor 3 can be reversed by applying voltage only to the rotor 3.
また駆動力伝達部材６の両端部の圧電素子５゜Ｉ２の双
方にそれぞれ位相を変えた電圧を印加して、ロータ３の
回転効率を向上させることができるようになっている。Further, by applying voltages with different phases to both piezoelectric elements 5°I2 at both ends of the driving force transmitting member 6, the rotational efficiency of the rotor 3 can be improved.
他の構成部分は第１実施例の場合と同様であるので同一
構成部分には同一符号を付して重複する説明を省略する
。Other constituent parts are the same as those in the first embodiment, so the same constituent parts are given the same reference numerals and redundant explanation will be omitted.
第３〜４図は本発明の超音波モータの第３実施例を示す
。3 and 4 show a third embodiment of the ultrasonic motor of the present invention.
この第３実施例においては駆動力伝達部材６にスチール
ベルトを使用すると共に、ロータとの接触面に低摩耗（
擦）材層１４を取付けて、駆動力伝達部材６の摩耗を防
止するようになっている。In this third embodiment, a steel belt is used for the driving force transmission member 6, and the contact surface with the rotor has low wear (
A rubbing material layer 14 is attached to prevent the driving force transmission member 6 from being worn out.
他の構成部分は第１、第２実施例の場合と同じであるの
で、同一構成部分には同一符号を付して重複する説明を
省略する。Since the other constituent parts are the same as those in the first and second embodiments, the same constituent parts are given the same reference numerals and redundant explanations will be omitted.
なお第１、第２実施例の場合においても、駆動力伝達部
材６としてのスチールワイヤーの周面に低摩耗材層を設
けてもよいことは勿論である。In the case of the first and second embodiments as well, it goes without saying that a low-wear material layer may be provided on the circumferential surface of the steel wire serving as the driving force transmission member 6.
また実施例では駆動力伝達部材６の端部を振動増幅アー
ム７を介して圧電素子５等に接続する構成にしたが、直
接、圧電素子に接続してもよい。Further, in the embodiment, the end of the driving force transmission member 6 is connected to the piezoelectric element 5 etc. via the vibration amplification arm 7, but it may be connected directly to the piezoelectric element.
また圧電素子の積層型のものに限定されない。Further, the present invention is not limited to a stacked type of piezoelectric elements.
［発明の効果コ
本発明の超音波モータには次に述べるような効果がある
。[Effects of the Invention] The ultrasonic motor of the present invention has the following effects.
（１）ロータの周面にスチールワイヤーやスチールベル
ト等の駆動力伝達部材を巻付ける構成にしたので、従来
の振動子の先端をロータの周面に直接、接触させるもの
に較べて両者間の位置決め調整等が容易になる。(1) Since the structure is such that a driving force transmission member such as a steel wire or a steel belt is wrapped around the circumferential surface of the rotor, the distance between the Positioning adjustment, etc. becomes easier.
（２）従来の振動子の先端をロータの周面に接触させる
もののように振動子の先端がすぐに摩耗してしまうとい
うようなことがなくなり、モータの耐久性を高め、モー
タ効率の向上及び維持を図ることができる。(2) Unlike conventional methods in which the tip of the vibrator contacts the circumferential surface of the rotor, the tip of the vibrator does not wear out quickly, increasing the durability of the motor and improving motor efficiency. It is possible to maintain it.
第１図は本発明の第１実施例の斜視図、第２図は第２実
施例の斜視図、第３図は第３実施例の斜視図、第４図は
第３図の要部の断面図、第５図は従来例の斜視図である
。
ｌ・・・超音波モータ、２・・・ステータ、３・・・ロ
ータ、４・・・圧電振動子、５・・圧電素子、６・・・
駆動力伝達部材（スチールワイヤー、
・・・駆動力伝達部材体１１一部。
スチールベルト）
−への寸１４’）■ト田
第３実施例の斜視図
第３図
符開平
２６１υ’／３ Ｇ））
従来例の斜視図Fig. 1 is a perspective view of the first embodiment of the present invention, Fig. 2 is a perspective view of the second embodiment, Fig. 3 is a perspective view of the third embodiment, and Fig. 4 shows the main parts of Fig. 3. The sectional view and FIG. 5 are perspective views of the conventional example. l...Ultrasonic motor, 2...Stator, 3...Rotor, 4...Piezoelectric vibrator, 5...Piezoelectric element, 6...
Driving force transmitting member (steel wire, . . . part of the driving force transmitting member body 11. Steel belt) - Dimension 14') ■Perspective view of the third embodiment Figure 3 Open flat 261υ'/3 G )) Perspective view of conventional example
Claims (2)
タの間に介在されていて、前記ロータに円周方向の分力
を発生させて、これを回転させる圧電振動子を備えてい
て、 前記圧電振動子を、圧電素子と、該圧電素子側に一端部
が係止され、中央部を前記ロータの周面に沿って巻回さ
れた状態で他端部が駆動力伝達部材係止部に係止されて
いる駆動力伝達部材とで構成したことを特徴とする超音
波モータ。(1) A stator, a rotor, and a piezoelectric vibrator that is interposed between the stator and the rotor and generates a component force in the circumferential direction of the rotor to rotate it, and the piezoelectric vibration one end of the child is locked to the piezoelectric element, and the other end is locked to the driving force transmission member locking portion while the center portion is wound along the circumferential surface of the rotor. 1. An ultrasonic motor comprising: a driving force transmitting member;
材係止部を圧電素子で形成し、駆動力伝達部材の一端部
と他端部にそれぞれ振動を加えることができるようにし
た超音波モータ。(2) In the ultrasonic motor of item 1, the driving force transmitting member locking part is formed of a piezoelectric element, and the ultrasonic wave can apply vibration to one end and the other end of the driving force transmitting member, respectively. motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1076907A JPH02261073A (en) | 1989-03-29 | 1989-03-29 | Ultrasonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1076907A JPH02261073A (en) | 1989-03-29 | 1989-03-29 | Ultrasonic motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02261073A true JPH02261073A (en) | 1990-10-23 |
Family
ID=13618744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1076907A Pending JPH02261073A (en) | 1989-03-29 | 1989-03-29 | Ultrasonic motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02261073A (en) |
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