JPH0515176A - Ultrasonic motor and paper sheet carrier - Google Patents

Abstract

PURPOSE:To provide an ultrasonic motor which can rotate a spherical rotor in two or three directions and which can be employed in the correction of feeding or inclination of paper sheet. CONSTITUTION:End faces of piezoelectric resonators 1a, 1b, 1c are brought into pressure contact, at three points spaced apart with the circumference (a great circle) of a spherical rotor 7 supported rotatably. Upon driving the piezoelectric oscillators 1a, 1b, 1c, elliptical oscillations take place on the end faces thereof. Consequently, the spherical rotor 7 can be rotated around x, y or z axis by driving each of the piezoelectric oscillators 1a, 1b, 1c. Furthermore, the spherical rotor 7 can be rotated around an arbitrary axis through combination of driving. When the ultrasonic motor is employed in the feeding of paper currency 8 through the spherical rotor 7, feeding of paper currency 8, correction of inclination and lateral positional correction can be realized.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ultrasonic motor which drives a rotor, a rotary shaft and the like by utilizing mechanical resonance of a piezoelectric vibrator, and a paper and a card which use the ultrasonic motor. The present invention relates to a paper sheet conveying device for sending paper sheets.

[0002]

BACKGROUND ART AND ITS PROBLEMS In a bill validator used in an automatic teller machine (CD), an automatic ticket vending machine (ATM), etc., when a bill is inserted into the discriminator in a tilted state, Cannot be determined.

However, the conventional bill conveying device for feeding bills to the bill discriminating device does not have a mechanism for preventing the bills from entering the bill discriminating device in an inclined state. In some cases, the bills were sent in an inclined state, and in that case, the bills were returned as unidentifiable.

Specifically, as an apparatus for conveying paper sheets such as banknotes and cards, there is an apparatus filed by the inventor of the present invention prior to the present invention. This paper sheet transporting device is shown in FIGS. 9 and 10.

The paper sheet transporting device C shown in FIGS. 9 and 10 is constructed so that an ultrasonic motor D is used to feed paper, cards and the like. The ultrasonic motor D includes a multi-mode piezoelectric vibrator 51 and a pair of rotating shafts 52 and 53,
The piezoelectric vibrator 51 has a central vibration node supported by a stator (not shown), and its both ends are brought into pressure contact with the outer peripheral surfaces of the ends of the rotary shafts 52 and 53. Also, the rotating shaft 5
2, 53 are rotatably supported by bearings (not shown), and rubber rollers 54, 55 are provided on the outer peripheral surface of the central portion.
Is provided.

However, when the piezoelectric vibrator 51 is driven by the drive circuit, the contact points U and T at both ends are elliptically oscillated, and the friction between the piezoelectric vibrator 51 and the rotary shafts 52, 53 causes the rotary shafts 52, 53 to rotate. Rotate in the same direction. At this time,
When the card 56 or the like is fed to the transport surface below the transport device C, the card 56 or the like is transported by the rubber rollers 54 and 55.

Since the conventional paper sheet conveying apparatus has the above-mentioned structure, it can only feed the paper or the card straight, and cannot straighten the inclined paper or the card. It was.

[0008]

SUMMARY OF THE INVENTION The present invention has been made in view of the above background art, and an object of the present invention is to provide an ultrasonic motor that rotates in at least two directions. An object of the present invention is to provide a paper sheet transporting device that can feed a paper sheet such as a paper or a card and correct the inclination by using a motor.

[0009]

An ultrasonic motor according to the present invention is provided with a spherical rotary member rotatably supported and a spherical rotary member under pressure contact with the spherical rotary member to apply a rotational force in a plurality of directions to the spherical rotary member. It is characterized by comprising a plurality of piezoelectric vibrators arranged so as to be applied.

Further, as the piezoelectric vibrator, a multi-mode vibrator using longitudinal and longitudinal vibrations and even-order in-plane bending vibrations may be used.

Furthermore, the paper sheet conveying apparatus of the present invention is characterized in that the above-mentioned ultrasonic motor is used to convey paper sheets such as paper and cards and correct the inclination.

[0012]

In the ultrasonic motor according to the present invention, the spherical rotor is provided, and the spherical rotor is rotated by two or more piezoelectric vibrators. It can be rotated in three directions. Therefore, multi-directional control can be made possible with one ultrasonic motor.

Further, in the paper sheet conveying apparatus of the present invention, since the ultrasonic motor capable of rotating in at least two directions is used to feed the paper or the card, the paper or the like is rotated by the unidirectional rotation. The skew of the paper or the like can be corrected by transporting and rotating in the other direction, and the skew of the paper or the like can be corrected by a simple structure to transport the paper straight or the like.

[0014]

First, the piezoelectric vibrator 1 used in the ultrasonic motor A according to the present invention will be described in detail. As shown in FIG. 3, the piezoelectric vibrator 1 includes four electrodes 3a, 3a, 3b, 3b on one principal surface of a rectangular plate-shaped piezoelectric substrate 2 so as to divide the principal surface of the substrate 2 into four. And an earth electrode (not shown) on the other main surface. These electrodes 3
a, 3a, 3b, 3b are individually provided in a state of being insulated from each other, and then, electrodes 3a, 3 located diagonally to each other are provided.
a, 3b, and 3b are electrically connected to each other.

The drive circuit of the piezoelectric vibrator 1 is composed of two AC voltage sources 4 and 5. One of the electrodes 3b and 3b connected diagonally is connected to the AC voltage source 4 to generate V _0. The voltage of sin ωt is applied, and the voltage of V ₀ cos ωt by the AC voltage source 5 or the voltage of V ₀ sin ωt by the AC voltage source 4 is applied to the other electrodes 3a, 3a by switching the switch 6. It

Now, as shown in FIG. 3, the switch 6 is connected to the a side, and the electrodes 3a,
3a; voltage V ₀ cos ω with a phase difference of π / 2 in 3b and 3b
When t and V ₀ sin ωt are applied, the piezoelectric vibrator 1
In the longitudinal and longitudinal vibration mode vibrations that expand and contract in the longitudinal direction as shown in FIG. 5, and in the even-numbered planes that alternately bend in opposite S-shapes as shown in FIGS. 4 (a) and 4 (b). Bending vibration mode vibration occurs. When the resonance frequencies (natural frequencies) of both vibration modes are equal, both vibration modes are combined, so that points U and T corresponding to the boundaries between the electrodes at both ends in the longitudinal direction of the piezoelectric vibrator 1 are separated from each other. Elliptical vibration in the same direction occurs. In order to make both resonance frequencies equal, the piezoelectric vibrator 1 is designed so that the ratio of the length of the short side to the length of the long side is close to 0.26: 1.

Further, as shown in FIG. 6, when the switch 6 is switched to the low side, the electrodes 3a, 3a;
When the in-phase voltage V ₀ sin ωt is applied to b and 3b, only the vibration in the longitudinal-longitudinal vibration mode as shown in FIG.

1 and 2 are a plan view and a front view of an ultrasonic motor A according to an embodiment of the present invention. This is the three piezoelectric vibrators 1a, 1b, 1c having the above structure.
The spherical rotor 7 is driven by a piezoelectric vibrator, and piezoelectric vibrations are respectively applied to three locations on the same circumference (great circle) of the spherical rotor 7 rotatably supported by a supporting portion (not shown). The end faces of the children 1a, 1b, 1c are brought into pressure contact with each other,
By driving each of the piezoelectric vibrators 1a, 1b and 1c, the spherical rotor 7 can be rotated around its center around three axes orthogonal to each other. For example, as shown in FIG. 1 and FIG. 2, when the x, y, and z axes are set so that the plane including the circumference is parallel to the xy plane, the first piezoelectric vibrator 1a moves in the longitudinal direction. The second piezoelectric vibrator 1b is arranged so that its main surface is parallel to the x-axis and perpendicular to the y-axis, and the longitudinal direction of the second piezoelectric vibrator 1b is parallel to the y-axis, and its main surface is perpendicular to the x-axis. The third piezoelectric vibrator 1c is arranged such that its longitudinal direction is parallel to the x-axis and its main surface is perpendicular to the z-axis. Therefore, the first piezoelectric vibrator 1a
When a two-phase voltage as shown in FIG. 3 is applied only to the end face to cause elliptical vibration, the spherical rotor 7 rotates about the y-axis. Similarly, when a two-phase voltage as shown in FIG. 3 is applied only to the second piezoelectric vibrator 1b to cause elliptical vibration on the end face, the spherical rotor 7
Rotates about the x-axis. Furthermore, the third piezoelectric vibrator 1
When a two-phase voltage as shown in FIG. 3 is applied only to c to cause elliptical vibration at the end face, the spherical rotor 7 rotates about the z axis.
If the piezoelectric vibrators other than the piezoelectric vibrator (eg, the piezoelectric vibrator 1a) that is being driven to rotate the spherical rotor 7 are kept in a stopped state, the spherical rotor 7 will be affected by frictional force. Since it serves as a brake, for the piezoelectric vibrators (for example, piezoelectric vibrators 1b and 1c) that do not contribute to the rotation of the spherical rotor 7, all the electrodes 3a, 3a, 3b, 3b have the same phase as shown in FIG. Voltage is applied to generate only longitudinal and longitudinal vibrations as shown in FIG.
And the frictional force between 1c) and the spherical rotor 7 is reduced.

FIG. 8 shows another driving method of the ultrasonic motor A. This is the piezoelectric vibrators 1a and 1b.
Of the spherical rotor 7 in the case where the two-phase voltage as shown in FIG. 3 is applied to drive only the piezoelectric vibrator 1c and the voltage of the same phase as shown in FIG. The rotation direction is shown, and the spherical rotor 7 is x in the xy plane.
It is rotating around an axis that is tilted with respect to the axis and the y-axis. Similarly, only two arbitrary piezoelectric vibrators are driven with a two-phase voltage, or three piezoelectric vibrators are driven with a two-phase voltage, and the voltage applied to each piezoelectric vibrator is controlled to control each piezoelectric vibrator. Adjust the output of the spherical rotor to 3
It can be rotated around any direction of the dimension.

The ultrasonic motor is used to convey paper money such as paper money and paper in a paper money feeding mechanism such as a CD or ATM, a paper feeding mechanism of a facsimile, a manual feeding mechanism such as a copying machine or a printer. It can be used as a device.

FIG. 7 (a) shows the structure of a sheet conveying device B using the ultrasonic motor A, and FIGS. 7 (b) to 7 (f) show a spherical rotor 7 of the sheet conveying device B. The movement of the banknote 8 is shown. Here, since the spherical rotor 7 serves as a roller for directly feeding the bills 8 and the like, the surface of the spherical rotor 7 has an appropriate friction coefficient. Further, the ultrasonic motor A is arranged as shown in FIG. 7A, and the banknotes 8 and the like are sent in the y-axis direction in a state parallel to the xy plane.

Next, the operation of the paper sheet conveying apparatus B will be described. First, the paper sheet transporting device B with the banknote 8 tilted
When it enters (Fig. 7 (b)), 2 is applied only to the piezoelectric vibrator 1b.
A spherical voltage is applied to rotate the spherical rotor 7 around the x-axis, and the banknote 8 is fed in parallel in the y-axis direction until it reaches the center of the ultrasonic motor (FIG. 7 (c)). Next, the piezoelectric vibrator 1
A two-phase voltage is applied only to c to rotate the spherical rotor 7 around the z-axis, and the bill 8 while being detected by a sensor (not shown).
The inclination is corrected so that is straight (Fig. 7 (d)).
Further, in order to correct the position of the banknote 8 in the lateral direction, a two-phase voltage is applied only to the piezoelectric vibrator 1a to rotate the spherical rotor 7 around the y-axis, and a sensor (not shown) detects it. The bill 8 is laterally fed to a normal position (FIG. 7 (e)). When the bill is corrected to the normal orientation and position as described above, the two-phase voltage is applied again only to the piezoelectric vibrator 1b to rotate the spherical rotor 7 around the x axis, and the bill 8 is moved to the y axis. Transport to the next device in the direction.

As described above, a paper sheet transporting device capable of transporting a bill or the like fed in an inclined state to a normal state and then transporting it to the next bill discriminating device or the like is realized with a simple structure. be able to.

[0024]

According to the present invention, the spherical rotor can be rotated independently in two directions or three directions, and the object can be moved in multiple directions by one ultrasonic motor, or in another direction. It can be rotated.

Further, in the paper sheet conveying apparatus of the present invention, the paper is conveyed by rotating the spherical rotor in one direction,
The inclination of the paper or the like can be corrected by rotating in a different direction, and the inclination of the paper or the like can be corrected by a simple structure and the paper or the like can be conveyed straight.

[Brief description of drawings]

FIG. 1 is a plan view of an ultrasonic motor according to an embodiment of the present invention.

FIG. 2 is a front view of the above.

FIG. 3 is an explanatory diagram showing a piezoelectric vibrator used in the ultrasonic motor and the driving method thereof.

4 (a) and 4 (b) are diagrams showing vibration in an in-plane bending vibration mode in the piezoelectric vibrator of the above.

FIG. 5 is a diagram showing vibration in a longitudinal-longitudinal vibration mode in the above piezoelectric vibrator.

FIG. 6 is an explanatory diagram showing another driving method for the above piezoelectric vibrator.

7 (a), (b), (c), (d), (e), and (f) are explanatory views showing a procedure of correcting the posture of the paper by the ultrasonic motor and sending the paper.

FIG. 8 is a plan view showing another driving method of the ultrasonic motor.

FIG. 9 is a front view showing a paper sheet conveying apparatus according to a prior application technique.

FIG. 10 is a plan view of the above.

[Explanation of symbols]

1a, 1b, 1c Piezoelectric vibrator 7 Spherical rotor 8 banknotes

Claims (3)

[Claims] 1. A spherical rotary member rotatably supported, and a plurality of piezoelectric vibrations which are brought into pressure contact with the spherical rotary member and are arranged to apply rotational forces in a plurality of directions to the spherical rotary member. An ultrasonic motor consisting of a child. 2. The ultrasonic motor according to claim 1, wherein the piezoelectric vibrator is a multimode vibrator using longitudinal and longitudinal vibrations and even-order in-plane bending vibrations. 3. A paper sheet conveying device, which uses the ultrasonic motor according to claim 1 or 2 to convey a paper sheet such as paper or a card and correct the inclination of the paper sheet.