JPH02294259A - Rotary driving mechanism - Google Patents
Rotary driving mechanismInfo
- Publication number
- JPH02294259A JPH02294259A JP1114492A JP11449289A JPH02294259A JP H02294259 A JPH02294259 A JP H02294259A JP 1114492 A JP1114492 A JP 1114492A JP 11449289 A JP11449289 A JP 11449289A JP H02294259 A JPH02294259 A JP H02294259A
- Authority
- JP
- Japan
- Prior art keywords
- ring
- rotor
- cylindrical member
- stator
- contact
- 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
- 238000010586 diagram Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010009 beating Methods 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
皮掠分立
本発明は、超音波モータのロー夕とステータの回転叩動
機横に関し、例えば，モータからの減速ｔｕｆｆにも適
用されるものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to the side of the rotary beating machine of the rotor and stator of an ultrasonic motor, and is also applied to, for example, a deceleration tuff from the motor.
ｋ末抜携
特開昭６１−１３２０６８号公報には、主動回転軸に同
軸的に設けた磁石の外周面と，従動回転体の周壁に吸着
させて主動回転軸の回転を伝達することが開示されてい
る。また、［小型・軽星目指す新アクチュエータ」 （
日経メカニカル１９８９．３．２０．ｐ．３２〜５０）
には、第３図に示すように電歪公転子型の超音波モータ
の構成で、円板形のステータとリンク形のロー夕を用い
る例が示されている。ステータは圧電素子の両面に４分
割の電極を貼り付けたもので、中心軸は固定してある。Japanese Unexamined Patent Publication No. 61-132068 discloses that the rotation of the driving rotating shaft is transmitted by attaching the outer peripheral surface of a magnet coaxially to the driving rotating shaft to the peripheral wall of a driven rotating body. has been done. In addition, [New actuator aiming at small and light stars] (
Nikkei Mechanical 1989.3.20. p. 32-50)
As shown in FIG. 3, an example of an electrostrictive rotor-type ultrasonic motor using a disc-shaped stator and a link-shaped rotor is shown. The stator consists of a piezoelectric element with four electrodes attached to both sides, and the central axis is fixed.
電圧は両面の対向した電極の間に加える。ロータの内径
はステータの外径よりわずかに大きい。A voltage is applied between opposing electrodes on both sides. The inner diameter of the rotor is slightly larger than the outer diameter of the stator.
この超音波モータの動作原理は人間がフラフープを回す
のに似ている。ます、ステータの４対の電極Ａ−Ｄのう
ち、Ａに正、Ｃに負の電圧を加える。すると、第４図（
ａ）のように、Ａの部分は膨張し、Ｃの部分は収縮する
。この結果、ロータの重心は固定した中心に対してＡ側
に移動する。The operating principle of this ultrasonic motor is similar to that of a human spinning a hula hoop. First, of the four pairs of electrodes A to D of the stator, a positive voltage is applied to A and a negative voltage is applied to C. Then, Figure 4 (
As in a), part A expands and part C contracts. As a result, the center of gravity of the rotor moves toward the A side with respect to the fixed center.
次に、電極Ｂに正、Ｄに負の電圧を加える。すると第４
図（ｂ）のように、Ｂの部分は膨張し、Ｄの部分は収縮
し、ロータの重心は中心に対してＢ側に移動する。同様
に電圧を切り替えながら重心を移動させると、第４図（
ｃ）、（ｄ）のように、ステータの重心は固定した中心
の周囲を右回りに回転する。Next, a positive voltage is applied to electrode B and a negative voltage is applied to electrode D. Then the fourth
As shown in Figure (b), the part B expands, the part D contracts, and the center of gravity of the rotor moves toward the B side with respect to the center. If you move the center of gravity while switching the voltage in the same way, Figure 4 (
As shown in c) and (d), the center of gravity of the stator rotates clockwise around a fixed center.
重心が移動する結果，ステータの外周はロータに接触す
る。この時、ステータの重心は固定した中心の周囲を右
回りに回転しているため、接触する際にロータを右回り
に邸動する。従ってロータが回転する。As a result of the center of gravity moving, the outer periphery of the stator comes into contact with the rotor. At this time, since the center of gravity of the stator is rotating clockwise around a fixed center, the rotor moves clockwise when it makes contact. The rotor therefore rotates.
しかしながら、ロー夕とステータのスベリが発生し，従
来のこの種（いわゆるフラフープ型）の超音波モータは
効皐的に電気モータに比較して悪い。また、ロータとス
テータの押圧力による摩擦力によりロータが回転力を得
、回転するが，摩擦の為，確動型（ｅｘ．ギヤ）ではな
いのでスベリが必ず発生して回転の効率を悪くしている
。さらに、大きなＩｇ擦力を得ることができない為、伝
達トルクが小さい等の欠点がある。これを防ぐ為，本発
明は、前述の特開昭６１−１３２０６８号公報に記載さ
れた主動回転体と従動回転体に磁気吸着力を作用させる
方式を利用するようにしたものである。However, slippage between the rotor and the stator occurs, and conventional ultrasonic motors of this type (so-called hula hoop type) are less effective than electric motors. In addition, the rotor obtains rotational force due to the frictional force caused by the pressing force between the rotor and stator and rotates, but due to friction, since it is not a positive type (e.g. gear), slippage always occurs and rotation efficiency deteriorates. ing. Furthermore, since it is not possible to obtain a large Ig friction force, there are drawbacks such as a small transmission torque. In order to prevent this, the present invention utilizes the method described in the above-mentioned Japanese Patent Application Laid-Open No. 132068/1983, in which a magnetic attraction force is applied to the driving rotary body and the driven rotary body.
■一一」萌
本発明は、上述のごとき欠点を解決するためになされた
もので、接触圧力を保ち、回転効率の向上を図る回転叩
動機措、さらには回転力発生機４１がを提供することを
目的としてなされたものである。The present invention has been made to solve the above-mentioned drawbacks, and provides a rotary beating mechanism that maintains contact pressure and improves rotational efficiency, and further provides a rotary force generator 41. It was done for that purpose.
眉一一一収
本発明は、上記目的を達成するために，円筒部材に該円
筒部材の内径よりやや小さい径の棒状部材が挿入された
状態で、該円筒部材又は該捧状部材のどちらか一方の中
心位置を略１”Ｊ弧状に移動し、前記円筒部材の内側と
前記棒状部材の外側とを接触することにより他の一方を
回転させる機描において、磁気力を前記円筒部材の内側
と前記棒状部材の外側に作用させて接触圧力を保つこと
を特徴としたものである。以下、本発明の実施例に基づ
いて説明する。In order to achieve the above-mentioned object, the present invention is directed to a cylindrical member in which a rod-like member having a diameter slightly smaller than the inner diameter of the cylindrical member is inserted into the cylindrical member. In a machine in which the center position of one is moved in an approximately 1" J arc shape and the other is rotated by contacting the inside of the cylindrical member with the outside of the rod-shaped member, magnetic force is applied between the inside of the cylindrical member and the outside of the rod-shaped member. The present invention is characterized in that the contact pressure is maintained by acting on the outside of the rod-shaped member.Hereinafter, an explanation will be given based on embodiments of the present invention.
第１図は、本発明による回転錠動機稙の一実施例を説明
するための構成図で、図中、１は圧電素子、２は固定シ
ャフト，３はリング、４は永久磁石，５はロータ、５′
はシャフト、６，７は軸受である。積／＆ Ｌ，た圧電
素子１は各々４分割した電極が貼ってあり、外周にリン
グ３が固着されている。このリンク３は軟鉄などの磁性
体でできている。ロータ５は軸受６により、またロータ
５から延在するシャフト５′は軸受７により回転自在に
軸支され、内側には永久磁石リング４が固定されている
。永久磁石リンク４の内径は、リング３の外径よりわず
かに大きくなっている。このような構成で圧電素子ｌに
対して電圧を印加する。回転原理については前述のとお
りである。これにより、ロータ５を回転させる。この時
、圧？ｉｉ素子１の変形によるリング３と永久磁石リン
グ４との接触は、永久磁石リング４の吸着力に増大し，
スベリを小さくする効果があり、回転効率は向上すると
同時に、伝達トルクが飛躍的に向上し，大トルク伝達が
可能になるなど多大な効果がある。FIG. 1 is a configuration diagram for explaining an embodiment of the rotary lock mechanism according to the present invention, in which 1 is a piezoelectric element, 2 is a fixed shaft, 3 is a ring, 4 is a permanent magnet, and 5 is a rotor. , 5'
is a shaft, and 6 and 7 are bearings. Each of the piezoelectric elements 1 has electrodes divided into four parts attached thereto, and a ring 3 is fixed to the outer periphery of the piezoelectric element 1. This link 3 is made of a magnetic material such as soft iron. The rotor 5 is rotatably supported by a bearing 6, and a shaft 5' extending from the rotor 5 is rotatably supported by a bearing 7, and a permanent magnet ring 4 is fixed inside. The inner diameter of the permanent magnet link 4 is slightly larger than the outer diameter of the ring 3. With this configuration, a voltage is applied to the piezoelectric element l. The rotation principle is as described above. This causes the rotor 5 to rotate. At this time, pressure? (ii) The contact between the ring 3 and the permanent magnet ring 4 due to the deformation of the element 1 increases the attraction force of the permanent magnet ring 4,
It has the effect of reducing slippage, improving rotational efficiency, and at the same time dramatically improving transmission torque, making it possible to transmit large torque.
第２図は、第１図とロー夕とステータが逆になった楕成
を示す図で、８は圧電素子、９はステータリング、１０
はロータ、１１はロータリング、１２．１３は軸受，１
４は固定枠、１５は止め輪である。固定枠１４に積層し
た圧電素子８が固定され、この圧電素子８は中央に穴が
あいた円板状のものが積層してある。内径側にはステー
タリング９が固着され、このステータリンク９は磁性体
でつくられている。ステータリンク９の中心には、ロー
タ１０が貫通し，その両端は、軸受１２，１３で軸支さ
れている。ステータリング９に対応した位置に永久磁石
でできたロータリング１１がロータ１０に固着されてい
る。動作は第１図に示したものと同様である。なお、リ
ング、ロータの接触をなめらかにする為、ゴムなどを薄
くコーティングをすると、回転時の振動が少なくなり好
適合である。FIG. 2 is a diagram showing an elliptical configuration in which the rotor and stator are reversed from those in FIG. 1, where 8 is a piezoelectric element, 9 is a stator ring, and 10
is the rotor, 11 is the rotor ring, 12.13 is the bearing, 1
4 is a fixed frame, and 15 is a retaining ring. A stacked piezoelectric element 8 is fixed to a fixed frame 14, and the piezoelectric element 8 is a stack of disk-shaped elements with a hole in the center. A stator ring 9 is fixed to the inner diameter side, and this stator link 9 is made of a magnetic material. A rotor 10 passes through the center of the stator link 9, and both ends of the rotor 10 are supported by bearings 12 and 13. A rotor ring 11 made of a permanent magnet is fixed to the rotor 10 at a position corresponding to the stator ring 9. The operation is similar to that shown in FIG. In addition, in order to smooth the contact between the ring and the rotor, it is best to apply a thin coating of rubber or the like to reduce vibrations during rotation.
紘一一來
以上の説明から明らかなように、本発明によると，スベ
リが少なくなり、回転効率が向上する。As is clear from the above description, according to the present invention, slippage is reduced and rotational efficiency is improved.
また、接触圧力が増大する為、伝達トルクが飛涸的に向
上し、大トルク伝達が可能となる。Furthermore, since the contact pressure increases, the transmission torque increases dramatically, making it possible to transmit large torque.
第１図は、本発明による回転駆動機横の一実施例を説明
するための襦成図，第２図は、第１図のロー夕とステー
タが逆になった４が成を示す図、第３図は、電歪公転子
型の超音波モータのもが成を示す図、第４図（ａ）〜（
ｄ）は、超音波モータの動作原理を説明するための図で
ある。
１・・・圧電素子，２・・・固定シャフト、３・・・リ
ング、４・・・永久磁石リング、５・・・ロータ、５′
・・・シャフト、６，７・・・軸受。
特許出願人 株式会社 リコーFIG. 1 is a diagram illustrating an embodiment of the side of a rotary drive machine according to the present invention, and FIG. 2 is a diagram showing a configuration in which the rotor and stator of FIG. 1 are reversed. Figure 3 is a diagram showing the structure of an electrostrictive rotor type ultrasonic motor, and Figures 4 (a) to (
d) is a diagram for explaining the operating principle of an ultrasonic motor. 1... Piezoelectric element, 2... Fixed shaft, 3... Ring, 4... Permanent magnet ring, 5... Rotor, 5'
...shaft, 6,7...bearing. Patent applicant Ricoh Co., Ltd.
Claims (1)
状部材が挿入された状態で、該円筒部材又は該棒状部材
のどちらか一方の中心位置を略円弧状に移動し、前記円
筒部材の内側と前記棒状部材の外側とを接触することに
より他の一方を回転させる機構において、磁気力を前記
円筒部材の内側と前記棒状部材の外側に作用させて接触
圧力を保つことを特徴とする回転駆動機構。1. With a rod-shaped member having a diameter slightly smaller than the inner diameter of the cylindrical member inserted into the cylindrical member, move the center position of either the cylindrical member or the rod-shaped member in a substantially arc shape, and A mechanism for rotating one of the rod-like members by bringing the inside and the outside of the rod-like member into contact with each other, wherein a magnetic force is applied to the inside of the cylindrical member and the outside of the rod-like member to maintain contact pressure. Drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1114492A JPH02294259A (en) | 1989-05-08 | 1989-05-08 | Rotary driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1114492A JPH02294259A (en) | 1989-05-08 | 1989-05-08 | Rotary driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02294259A true JPH02294259A (en) | 1990-12-05 |
Family
ID=14639115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1114492A Pending JPH02294259A (en) | 1989-05-08 | 1989-05-08 | Rotary driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02294259A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11682945B2 (en) | 2016-02-15 | 2023-06-20 | Indiana University Research And Technology Corporation | High torque density electric motor/generator with rolling element |
-
1989
- 1989-05-08 JP JP1114492A patent/JPH02294259A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11682945B2 (en) | 2016-02-15 | 2023-06-20 | Indiana University Research And Technology Corporation | High torque density electric motor/generator with rolling element |
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