JPH057953B2 - - Google Patents
Info
- Publication number
- JPH057953B2 JPH057953B2 JP2007368A JP736890A JPH057953B2 JP H057953 B2 JPH057953 B2 JP H057953B2 JP 2007368 A JP2007368 A JP 2007368A JP 736890 A JP736890 A JP 736890A JP H057953 B2 JPH057953 B2 JP H057953B2
- Authority
- JP
- Japan
- Prior art keywords
- stator
- movable element
- vibration
- contact
- traveling wave
- 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.)
- Expired - Lifetime
Links
- 238000005452 bending Methods 0.000 claims description 13
- 230000007935 neutral effect Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Description
【発明の詳細な説明】 本発明は超音波モータに関するものである。[Detailed description of the invention] The present invention relates to an ultrasonic motor.
従来から広く用いられている各種モータ装置
は、その駆動源として電磁力を応用したものが大
部分であり、各種用途に使われている。しかしこ
れら装置の大きさ、重量及び回転力等は用いられ
る材料によつて一定の制限を受けるものである。 Most of the various motor devices that have been widely used in the past utilize electromagnetic force as their driving source, and are used for various purposes. However, the size, weight, rotational force, etc. of these devices are subject to certain limitations depending on the materials used.
何故ならば、これらの因子は用いられる材料の
磁気的特性等によつて決められるものであり、こ
れらの特性を超えた装置は回転駆動を行うことが
不可能となるためである。 This is because these factors are determined by the magnetic properties of the materials used, and devices exceeding these properties cannot be rotated.
一方、これらの各種モータ装置に代替する装置
として、本出願人によつて超音波振動を利用した
モータ装置即ち、超音波振動子によつて固定子を
励振させて屈曲進行波を発生させ、固定子表面に
加圧接触させた可動子を所定方向に移動させる超
音波モータが提案されている（特願昭57−205220
号〔特公平１−17354号〕、特開昭57−29400号
〔特公平１−17353号〕）。 On the other hand, as an alternative to these various motor devices, the present applicant has proposed a motor device that uses ultrasonic vibration, that is, a stator is excited by an ultrasonic vibrator to generate a bending traveling wave, and a fixed motor device is proposed. An ultrasonic motor has been proposed that moves a movable element in a predetermined direction while being in pressure contact with the surface of the element (Japanese Patent Application No. 57-205220).
No. [Special Publication No. 1-17354], Japanese Patent Application Publication No. 57-29400 [Special Publication No. 1-17353]).
これら発明によつて超音波の持つ強力な振動エ
ネルギーを回転又は直進運動に変換することによ
つて小形にして軽量なモータ装置を実現したもの
であるが、本発明はこれらの装置のうち、特に固
定子に相当する弾性体に改善を加えることによ
り、可動子の速度を上げることができ、種々の使
用目的にかなつた超音波モータを提供することを
目的とするものである。 These inventions have realized a compact and lightweight motor device by converting the powerful vibrational energy of ultrasonic waves into rotational or linear motion. The object of the present invention is to provide an ultrasonic motor that can increase the speed of the movable element by improving the elastic body corresponding to the stator, and that can be used for various purposes.
次に、図面を参照して超音波モータの基本動作
原理、本発明の構成及び実施例に関し説明を行
う。 Next, the basic operating principle of an ultrasonic motor, the configuration and embodiments of the present invention will be explained with reference to the drawings.
第１図は動作原理を説明するための一部拡大斜
視図である。２は金属弾性体からなる固定子であ
り、その表面２Ａ上に横振動と縦振動が合成され
た屈曲進行波が形成された状態を拡大して示して
いる。ここで、屈曲進行波とは弾性体の屈曲振動
により生ずる波であり、弾性体の表面には縦波と
横波とが90°位相のずれた楕円振動が形成され、
固定子２に沿つて伝搬する。第１図は屈曲振動に
よる屈曲進行波の伝搬状態（振動源は図示せず）
のみを示している。即ち、質点(C)に着召すると、
横振幅(a)（上下方向）と縦振巾(b)（左右方向）と
の合成された楕円(Q)上を矢印(M)の方向に運動して
おり、その屈曲進行波は音速Ｕのスピードで移動
している。
FIG. 1 is a partially enlarged perspective view for explaining the principle of operation. Reference numeral 2 denotes a stator made of an elastic metal body, and the state in which a bending traveling wave, which is a combination of transverse vibration and longitudinal vibration, is formed on the surface 2A of the stator is shown in an enlarged manner. Here, a bending traveling wave is a wave generated by bending vibration of an elastic body, and an elliptical vibration is formed on the surface of the elastic body in which a longitudinal wave and a transverse wave are out of phase by 90 degrees.
propagates along stator 2. Figure 1 shows the propagation state of a bending traveling wave due to bending vibration (the vibration source is not shown)
Only shown. That is, when you arrive at mass point (C),
It is moving in the direction of the arrow (M) on an ellipse (Q) that is a combination of the transverse amplitude (a) (vertical direction) and the longitudinal amplitude (b) (horizontal direction), and its bending traveling wave has a speed of sound U is moving at a speed of
この運動は固定子２の表面２Ａ上のどの点であ
つても同様であつて、この状態下でフリーな可動
子５の表面を固定子２の表面上に加圧接触させる
と、可動子５は固定子２の屈曲進行波の頂点Ａ及
びA′の部分でのみ接触しており、かつこれらの
頂点Ａ，A′は振動速度ｖ＝2πfb（ただしｆは振動
数）で矢印Ｍの方向に運動しているのであるか
ら、フリーな可動子５は固定子２との摩擦力によ
つて矢印Ｎの方向に駆動されることになる。可動
子５は固定子２に沿つて所定方向に移動し、固定
子２が円形の場合には円運動をし、固定子２が直
線の場合には直進動する。 This movement is the same at any point on the surface 2A of the stator 2, and when the surface of the free movable element 5 is pressed into contact with the surface of the stator 2 under this condition, the movable element 5 are in contact only at the vertices A and A' of the bending traveling wave of the stator 2, and these vertices A and A' are vibrating in the direction of arrow M at a vibration velocity v = 2πfb (where f is the frequency). Since it is in motion, the free movable element 5 is driven in the direction of arrow N by the frictional force with the stator 2. The movable element 5 moves in a predetermined direction along the stator 2, and when the stator 2 is circular, it moves in a circular motion, and when the stator 2 is linear, it moves in a straight line.
そこで、可動子５の速度を上げるには振動速度
ｖ＝2πfbを上げればよいことがわかる。つまり横
振巾ａに比べ縦振巾ｂを大きくすればよい。固定
子２の屈曲振動による屈曲進行波の横振巾ａおよ
び縦振巾ｂの割合は
ｂ／ａ＝2πh1／λ
λ：波長
h1：中立軸から表面までの距離 ……(1)
であり、波長λは
である。 Therefore, it can be seen that in order to increase the speed of the mover 5, it is sufficient to increase the vibration speed v=2πfb. In other words, it is sufficient to make the vertical swing width b larger than the lateral swing width a. The ratio of the transverse amplitude a and the longitudinal amplitude b of the bending traveling wave due to the bending vibration of the stator 2 is b/a=2πh 1 /λ λ: wavelength h 1 : distance from the neutral axis to the surface ...(1) Yes, the wavelength λ is It is.
断面２次半径は次式により定義される。 The secondary radius of the cross section is defined by the following equation.
(1)、(2)式よりｂ／ａを大きくするにはｆ、Ｅ、
ρを既定値とするとh1を大きくするか、Ｒ小さく
すれば良いことがわかる。 From equations (1) and (2), to increase b/a, f, E,
It can be seen that if ρ is set to a default value, it is sufficient to increase h 1 or to decrease R.
弾性体からなる固定子２に屈曲進行波を発生さ
せる手段としては、固定子２に圧電体を接着する
方法などがある。又固定子２の一面にのみ可動子
５を接触させる場合と、固定子２の両面の夫々に
可動子５を接触させる場合がある。 As a means for generating a bending traveling wave in the stator 2 made of an elastic body, there is a method of bonding a piezoelectric body to the stator 2. Further, there are cases where the movable element 5 is brought into contact with only one surface of the stator 2, and cases where the movable element 5 is brought into contact with each of both surfaces of the stator 2.
本発明は、弾性体からなる固定子２の可動子５
と接触面２Ａに、中立軸Ｂ側に向けて多数の切込
み１を列設したことを特徴とするものである。
The present invention provides a movable element 5 of a stator 2 made of an elastic body.
This is characterized in that a large number of notches 1 are arranged in a row on the contact surface 2A toward the neutral axis B side.
このように構成することにより、同一材質で同
一の曲げ剛性を備えた軸方向同一断面形状の固定
子を用いたものに比例して、可動子５の駆動速度
を大にすることができたのである。 With this configuration, the driving speed of the movable element 5 can be increased in proportion to the stator that is made of the same material, has the same bending rigidity, and has the same cross-sectional shape in the axial direction. be.
これは上記(1)、(2)式におけるh1を実質的に大き
くして、可動子５の駆動速度を大にしたことを意
味すると解釈できる。 This can be interpreted to mean that h 1 in the above equations (1) and (2) is substantially increased, and the driving speed of the movable element 5 is increased.
第２図及び第３図に示す実施例は、中立軸Ｂの
上下両側を対称構造とし、上下両面が接触面２
Ａ，２Ａとして用いられる例を示している。弾性
体よりなる固定子２は、矩形断面弾性体の両接触
面２Ａ，２Ａの夫々に、中立軸Ｂ側に向け多数の
切込み１，１……が長手方向に等ピツチで形成さ
れたものである。換言すれば、これら切込み１，
１……により、その残部には中実基体部分６より
多数の突片部３，３……が形成された形状とな
り、中立軸Ｂから接触面２Ａまでの距離h1が実質
的に大となる。
The embodiment shown in FIGS. 2 and 3 has a symmetrical structure on both upper and lower sides of the neutral axis B, and both upper and lower surfaces have contact surfaces 2.
An example used as A, 2A is shown. The stator 2 made of an elastic body has a large number of notches 1, 1, . be. In other words, these cuts 1,
1..., the remaining portion has a shape in which more protruding pieces 3, 3... are formed than the solid base portion 6, and the distance h1 from the neutral axis B to the contact surface 2A is substantially large. Become.
本発明によれば、高速駆動が可能となる超音波
モータを提供することができる。
According to the present invention, it is possible to provide an ultrasonic motor that can be driven at high speed.
第１図は超音波モータの基本動作原理を説明す
るための一部拡大斜視図、第２図は本発明の実施
例の斜視図、第３図はその断面図である。
１……切込み、２……固定子、２Ａ……接触
面、５……可動子、Ｂ……中立軸。
FIG. 1 is a partially enlarged perspective view for explaining the basic operating principle of an ultrasonic motor, FIG. 2 is a perspective view of an embodiment of the present invention, and FIG. 3 is a sectional view thereof. 1...notch, 2...stator, 2A...contact surface, 5...mover, B...neutral axis.
Claims (1)
タであつて、 固定子２は、弾性体からなり、励振されて屈曲
進行波を発生し、表面に当接された可動子５を駆
動するものであり、可動子５との接触面２Ａから
中立軸Ｂ側に向けて多数の切込み１が列設された
ものである 超音波モータ。[Claims] 1. An ultrasonic motor having a stator 2 and a movable element 5, wherein the stator 2 is made of an elastic body, generates a bending traveling wave when excited, and is brought into contact with a surface. An ultrasonic motor that drives a movable element 5 with a large number of notches 1 arranged in a row from a contact surface 2A with the movable element 5 toward a neutral axis B side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007368A JPH0315278A (en) | 1990-01-16 | 1990-01-16 | Elastic vibrator in traveling bending vibration motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007368A JPH0315278A (en) | 1990-01-16 | 1990-01-16 | Elastic vibrator in traveling bending vibration motor |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58053362A Division JPS59178988A (en) | 1983-03-29 | 1983-03-29 | Stator of surface wave motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0315278A JPH0315278A (en) | 1991-01-23 |
| JPH057953B2 true JPH057953B2 (en) | 1993-01-29 |
Family
ID=11664030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2007368A Granted JPH0315278A (en) | 1990-01-16 | 1990-01-16 | Elastic vibrator in traveling bending vibration motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0315278A (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5233258A (en) * | 1991-03-28 | 1993-08-03 | Nec Corporation | Ultrasonic sheet feeder, low-profile ultrasonic motor, and method of driving the same |
| JPH05325557A (en) * | 1992-05-26 | 1993-12-10 | Mitsubishi Electric Corp | Semiconductor memory |
| JP3328575B2 (en) | 1998-03-25 | 2002-09-24 | 日本碍子株式会社 | Acceleration sensor element, acceleration sensor, and manufacturing method thereof |
| JP3328574B2 (en) | 1998-03-25 | 2002-09-24 | 日本碍子株式会社 | Acceleration sensor element, acceleration sensor, and manufacturing method thereof |
| DE102008026429A1 (en) * | 2008-06-02 | 2009-12-10 | Physik Instrumente (Pi) Gmbh & Co. Kg | ultrasonic actuator |
| JP7409658B2 (en) * | 2020-06-11 | 2024-01-09 | 株式会社新生工業 | actuator |
-
1990
- 1990-01-16 JP JP2007368A patent/JPH0315278A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0315278A (en) | 1991-01-23 |
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