JPS58148682A - Motor device using supersonic vibration - Google Patents

Abstract

PURPOSE:To form a motor which utilizing supersonic vibration by associating a plurality of electrostrictive elements in an elastic unit and moving a movable element which is contacted under pressure with the surface of the unit by the synthetic progressive wave lateral and longitudinal waves. CONSTITUTION:The nodes of a cylindrical vibrator 13 which is made of an elastic material in a casing 11 is supported by a supporting member 12, and a rotor 14 is contacted as a movable element at the inner peripheral surface under pressure on the taper 13'. The vibrator 13 axially elongates and contacts by providing electrostrictive elements 18, 19 inserted with electrode at the intermediate and applying high frequency voltage to them. The mass point A on the surface of an elastic unit 1 moves on an ellipse Q synthesized with lateral and lngitudinal vibrations (a) and (b) in the direction M, the movable element 2 which is contacted under pressure wit the unit 1 is moved in the direction N. This principle is utilized to rotate the rotor 14 and to transmit it to a shaft 15. Accordingly, a motor of small size and weight utilizing supersonic vibration can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention converts the first traveling wave excited in the front WJ of an ultrasonic transducer into a unidirectional motion of moving objects placed in pressure contact with each other. The present invention relates to a motor device.

Various motor devices that have been widely used for a long time are
) Most of them apply electromagnetic force as a driving source,
Used for various leakage purposes. However, the size, weight, and rotational force (torque) of the stiffening device are subject to certain limitations depending on the materials used. This is because the above-mentioned factors are determined by the magnetic properties of the materials used, and devices exceeding these properties cannot be rotated.

On the other hand, a device to replace the various motor devices mentioned above and a
No. 1527S3) has been proposed, and its technical content is that one end of a vibrating body vibrated by an ultrasonic transducer and one end surface of a moving body are placed in opposing positions, and a plate-shaped or rod-shaped No device has been disclosed in which a reciprocating motion of an ultrasonic transducer is converted into unidirectional motion of a moving body by interposing a vibrating piece and tilting the vibrating piece at an appropriate angle. The invention described above has realized a lightweight motor device that converts the powerful vibrational energy of ultrasonic waves into rotational or linear motion. From a different perspective, the present invention aims to provide a motor device that utilizes a traveling wave that excites the surface of an ultrasonic vibrator having an electrostrictive collector or a magnetostrictive element embedded in an elastic body.

The operating principle and embodiments of the motor device according to the present invention will be described in detail below with reference to drawing V#.

Fig. 1 is a partially enlarged perspective view for explaining the principle of operation. 1 is an elastic body such as gold S, and on its surface 1' there is an Ik collar wave that is a combination of horizontal and vertical vibrations. The formed state is shown enlarged. The traveling wave mentioned above is firstly a superficial wave generally called a Rayleigh wave, and it is theoretically known that it exists as a wave that propagates along the surface of an elastic body. Elastic waves in solids include longitudinal waves and transverse waves, each of which exists at its extreme, but due to the boundary condition of the surface, they intertwine and are synthesized. K, which generates Rayleigh waves, is a crystal that causes vertical or transverse vibration V'''f on the substrate medium!
It's good to bash rkJ.

The 2nd KQ allows you to observe the table'rkJ wave component at a considerable distance from the vibration source no matter how you hit it.
It is a traveling wave caused by the bending vibration of a shaped (82-shaped) elastic body.Longitudinal waves, transverse waves, and constant circular vibrations with a 90° phase are formed on the surface of the elastic body. and propagate. In the case of FIG. 1, the vibration source is not shown, and only the Rayleigh wave propagation pattern 7+- is shown. Now, when looking at the mass point AK, it is moving in the direction of the arrow M on the inertial circle Q, which is a combination of the horizontal width a (vertical direction) and the longitudinal width b (horizontal direction). The traveling wave is moving at the speed of sound N valve σ]. Under this condition, when the surface l110 of the free moving body 2 is brought into pressure contact with the surface of the elastic body l, the moving body 2 comes into contact only at the peaks A and A' of the traveling waves of the elastic body 1. and the vertex A, A is the vibration velocity)-2TCi-b
(where X is the frequency) and is moving in the direction of the arrow M (C), the foot moving body 2 is driven in the direction of the arrow by the frictional force with the elastic body 1.

The present invention relates to a motor device based on the driving of a moving object by the traveling wave described above, and embodiments thereof will be described below.

FIG. 2 shows a partial cross-sectional view of the device, and in the figure, ] is a casing main body, in which the node portion of a fir-shaped bending vibrator 13 is supported by a support member 12, and the vibrator is
A taber 13' is provided on the outer circumferential surface of the substantially central portion of the rotor 13, and one end of the inner circumferential surface of the rotor 14 as a moving body is placed in pressure contact with the surface of the taber 13'. The rotor 4 is supported movably in the axial direction relative to the rotating shaft 15, and the rotational force is transmitted to the rotating shaft 15 through the mechanism 16g. Reference numeral -17, which will be described later with reference to figures, indicates a bearing.

The vibrator 13 is configured to incorporate electrostrictive elements 18 and 19t' in the middle, and serves as an excitation source for traveling waves. Third
The figure shows a side surface WJt of the vibrator 13, and FIG. 4 shows a cross section taken along line A--A in FIG. 3. In FIG. 3, the electrostrictive element 18.
19 is configured to extend and contract in the axial direction as shown by the arrows, and a busy electric current a2)V is sandwiched between them. The arrangement of the electrostrictive element and electrodes is as shown in Figure 4, with electrodes a and bVm* located diagonally.
Similarly, electrodes c and d are connected to lead to terminal n (.The electrostrictive elements at the respective diagonal positions operate to expand and contract in opposite directions. That is, electrode aK The electrostrictive element 38.19 in contact with electrode bK is polarized to 5 so that it operates in the extension direction, and the electrostrictive element 18.19 in contact with electrode bK operates in the contraction direction.Furthermore, the electrostrictive element 38.19 in contact with electrode di The electrostrictive elements 38 and 19 that perform cKW! are polarized so as to operate in the shortening direction.

Fig. 185 is a sectional view showing an example of the pressure regulating mechanism 16. The same figure shows an example of the automatic pressure regulating mechanism. 24 and a plurality of steel balls 6. By providing a groove, there is a steel ball in the groove when there is no load, and as a load is applied and the torque increases, the steel ball or groove is lifted up and axial pressure is generated. . As a result, the torque of the rotor 4 is transmitted to the rotating shaft 15 side.

With the above configuration, when a high frequency voltage is applied between the terminal 21 connected to electrodes a and b shown in FIG. 4 and the vibrator 13, the vibrator 13 causes a bending vibration as shown in FIG. 6. That is, in the first-order vibration state, point B in the center is the antinode of vibration, and points H and 2 are nodes of vibration. Next, a longitudinal wave and a transverse wave that are 90' out of phase with respect to the voltages of the electrodes a and b are artificially created between the terminal B connected to the other terminal 4kc+d and the vibrator 13. The resulting wave is a rotating circular vibration.

As shown in FIG. 7, the center of the oscillator fMi 13 B, that is, the antinode part of the vibration, and the inner circumferential surface 14 of the rotor 14 circumscribing the center of the oscillator 13
11M's warning letter every 1/4 period (AI
(To) (CI (shown in DI). That is, the inner peripheral surface 1a of the rotor 14 is in contact with the peak of the wave of the vibrator 13111,
The contact point sequentially moves around the inner circumferential surface 14' of the rotor 14 every cycle. The velocity of the mass point at the apex is proportional to the amplitude of vibration, and is 0 to several m/-, m degrees. The reason why the vibration generated by the vibrator 91AK due to the movement of the contact point is converted into rotational force on the rotor side! It is described below. That is, the ridge of the inner circumferential surface 14 of the rotor 14 and the vibrator 13 inscribed therein.
When comparing the circumference length of the outer peripheral surface 13B of When the rotor rotates once, the rotor 141111 increases by the difference between the two stations mentioned above.
It will shift by 1, which will be taken out as a rotation.

Furthermore, the direction of rotation of the rotor can be switched by reversing the phase of the high frequency voltage applied to electrodes a, b or c, d. FIG. 8 shows another embodiment of the present invention. figure,
(-A -A @ sectional view. According to this embodiment, a ring-shaped bending vibrator 33v supported by a support member 32 is disposed inside the casing body 31, and a set of 1 gusset is provided on the inner peripheral surface thereof. The rotor, which is fitted so that the outer peripheral surface of the rotation preadjustment is in contact with the rotor, is supported movably in the axial direction with respect to the rotating shaft 35, and has a pressure adjustment similar to the configuration shown in FIG. A mechanism 36Y is provided to transmit rotational force to the rotating shaft.A indicates an electrostrictive element, and A indicates a bearing.In Fig. 8(B), (
In the figure, the cross section of the casing body 31 is omitted)
The ring-shaped bending vibrator &3 is made of an elastic body, and the electrostrictive elements n fixedly disposed on its outer periphery are polarized so as to expand and contract in the directions of the arrows, and the electrodes a, b, c, a,
e, f+ g, hvB.

Furthermore, connect electrodes a, b, c, and dv to terminal 3.
9, connect the electrodes e, r, g+ ht' in the same way and lead to the terminal lead. Terminal 39 and 1'&#1tl after the vibrator
When a Cia frequency voltage Y is applied and a high frequency voltage with a phase shift of 90° is applied between the terminal 40 and the vibrator, the vibrator blade generates bimorph-shaped bending vibration. In this case, the bending frequency f is as follows: E: Young's modulus 6): Poisson's ratio a:
Radius of central circle h: Thickness of circumference n: Order of bending vibration f': Density of material In the above example, n
In the case of = 2, the contact state of the rotation pre-adjustment inscribed in the vibrator 33 is calculated every 1/4 period as shown in FIG.
”C(Al (Bl 1c1 (Di K Show L Ta.

The point of contact between the two above is the peak of the wave, and the peak makes half a revolution on the outer circumferential surface of the rotor for each period of vibration, and the vibration generated by the vibration of the rotor due to the movement of the contact point is 1411 K. The fact that the torque is transmitted as a rotational force is as explained using the example shown in FIG. FIG. 10 shows still another embodiment of the present invention, and shows an example of a linear motor that converts ultrasonic wave vibration into wave vibration tvM-advanced motion. In the figure, one or more elastic bodies 42 (42) t' are brought into pressure contact with the surface of a plate-like member 41, and a piezoelectric body 43 (43) is provided on a part of the surface of the elastic body 42. 42 to generate surface wave (Rayleigh wave) sound. By making the corner part 42' of the elastic body 42 curved, surface waves propagate along the surface of the elastic body 42, and the plate-like member 41Y arrow W
drive to move in the direction. FIG. 11 shows the unidirectional surface wave generation method used in the above embodiment, in which several electrodes 44, 44, . and is connected to the phase shifter 45. The skeleton phase shifter 45 provides 0°, 12° to each circuit.
By applying a high-frequency voltage with a phase of <120° such as 0° and 240°, the piezoelectric material 436C generates a unidirectional surface wave 1.
It can be generated. In this embodiment, an electrostrictive element is mainly used, or a magnetostrictive element may be used instead.

The driving principle and embodiments of the motor device using ultrasonic vibration according to the present invention have been described in detail. This is a device that uses a traveling wave that is excited by surface vibration, and generates a traveling wave accompanied by inertial vibration using the powerful vibration energy of ultrasonic waves, and converts it into rotational or linear motion of a moving object. It is made by a temporary method of
This method has the great effect of providing a small and lightweight motor device with driving power, and can be applied to a variety of applications.

[Brief explanation of the drawing]

FIG. 1 shows the operating principle v#1 of the present invention. FIG. 2 is a partially enlarged perspective view showing an embodiment of the present invention, FIG. 3 is a side view of the vibrator, and FIG.
135 is a sectional view showing an example of the pressure regulating mechanism;
FIG. 6 is a state diagram showing the bent state of the vibrator, FIG. 7 is an exploded view showing the contact state of the vibrator and rotor, and FIG. 8 is a partial cross-section of another embodiment of the present invention. Figure, (ROIA-A,
The lid cut-off 'r# diagram and the iris 9 diagram are the contact state of the vibrator and rotor.
FIG. 10 is an exploded view showing A, and FIG. 10 is a perspective view showing another embodiment of the present invention. FIG. 11 is a diagram showing a method for generating a unidirectional surface wave used in the above embodiment. I...Elastic body 2...Moving body II, 31...
Casing body +2. a2...Supporting member 13
．． 33... Vibrator 1 1 set... Taper 1
4.34... Rotor 15.35... Rotating shaft 16
．． 36...Pressure regulating mechanism 17...Bearing 18.19.
・・Electrostrictive element ・・Electricity etc., 24 ・・Cam
6... Steel ball 37 River electrostrictive element... Bearing 41
Plate member 42 Elastic body 43 Piezoelectric body 44 Electrode 45 Phase shifter patent applicant
Finger 1) Annual production ゛・Size 8゛' Figure 7 Figure 9 Figure 10 To 1 43 Figure 11 Procedural amendment 1981 1 to 2 To the Commissioner of the Japan Patent Office 1, Indication of the case Patent application 1982- No. 29400 2, Title of the invention Utilizing ultrasonic vibration 1. Relationship between the amended motor device 3 and the amended case and Figure 8 (B)) 5. Contents of the amendment (1) As per attached sheet 12) Attached sheet passage 1, (1 Attached sheet passage (1) Amend the scope of the 4I permission request into written text. (2) ) Detailed description of the invention a) "...Ima mass point AV" on page 5, line 15 of the specification
C" is corrected to "...Now at mass point B." b) In the same book, on the same page, line 17, change the “...arrow M” to [・
...Arrow NJK correction. C) Change "...sound speed N" in line 18 of the same page of the same book to "...
...Correct to the sound speed U. d) On the same page of the same book @ line 19, "... is moving. This state..." is changed to "... is moving. This movement is caused by the movement on the surface of the elastic body. The same is true for any point in 1', and the state is corrected to ``...''. e) In the same book, page 10, line 6, ``It is arranged like...a song.''...J is changed to ``It is arranged like......''. Correct to. f) “・・・・・・♂: Boissot/
``Ratio...'' is changed to ``・・・・・・♂: Boisson's ratio.
...". 3) Correct the drawings Figure 1 and Figure 8 (B) as shown in the attached sheet. Claim (1) A combination of a plurality of electrostrictive elements or magnetostrictive elements,
In addition, by arranging the ultrasonic movable element in the elastic body, one surface of the elastic body, and one end surface of the moving body moving in a certain direction at a position where they come into pressure contact with each other, Converting a combined traveling wave of transverse waves and longitudinal waves excited on the surface of the elastic body into unidirectional motion of the moving body.
A motor device that uses ultrasonic waves as a characteristic. +21 fR sonic aperture has a configuration in which two or more magnetostrictive elements or magnetostrictive elements are built into a cylinder or cylindrical elastic body.1. By forming the moving body that is brought into pressurized contact with one end surface of the ultrasonic transducer into a cylindrical rotor (-), the transverse waves and longitudinal waves excited on the surface of the ultrasonic transducer are A t, fC motor device using octopus sonic vibrations according to claim (1), which converts a synthesized traveling wave into a unidirectional rotational motion of a moving object. (,4) Ultrasonic vibrator is constructed by incorporating two or more circuits of magnetostrictive ropes in a ring-shaped elastic body, and one end surface of the rotor inside the ring-shaped elastic body and one end surface of the elastic body are mutually connected. The composite traveling wave of transverse waves and longitudinal waves excited on the surface of the elastic body is transmitted to the shell (l).
A motor device using ultrasonic vibration according to claim 11, characterized in that the moving body is made of a plate-shaped member that moves in a fixed direction, Two or more circuits of magnetostrictive or electrostrictive elements are fixedly arranged on the surface of one or more elastic bodies that come into pressure contact with a shaped member, and by shifting the phase of the high-frequency voltage applied to each circuit, A motor utilizing ultrasonic vibration according to claim (1), characterized in that a traveling wave is formed by combining a transverse wave and a longitudinal wave to move the plate member straight in a fixed direction. Device.

Claims (1)

[Claims] Mouth) An ultrasonic transducer constructed by combining a plurality of electrostrictive elements or magnetostrictive elements and incorporated into an elastic body, and one end surface of the ultrasonic transducer that moves in a fixed direction. By placing one end surface of the moving body in a position where they are in pressure contact with each other, the combined traveling wave of the transverse wave and the longitudinal wave excited on the surface of the ultrasonic transducer is caused to move in one direction of the moving body. (2) The ultrasonic vibrator is constituted by incorporating two or more circuits of electrostrictive elements or magnetostrictive elements into a cylindrical or cylindrical elastic body; Since the moving body that is brought into pressurized contact with one end surface of the ultrasonic transducer is configured as a cylindrical rotor, the traveling wave, which is a composite of transverse waves and longitudinal waves excited on the surface of the ultrasonic transducer, can be transferred to the moving body. A motor device using ultrasonic vibration according to claim 11 (3+ The ultrasonic vibrator includes an electrostrictive element or a magnetostrictive element t2 in a ring-shaped elastic body). The ultrasonic transducer is constructed by incorporating a circuit or more, and has a structure in which one end surface of a rotating shaft fitted and disposed in a skeleton ring-shaped elastic body and one end surface of the vibrator are in pressurized contact with each other, and the ultrasonic vibrator is excited on the surface of the ultrasonic vibrator. A motor device using ultrasonic vibration according to claim (1), which converts a traveling wave, which is a composite of transverse waves and longitudinal waves, into a unidirectional rotational motion of a rotating shaft.(4) The moving body consists of a plate-like member that moves in a fixed direction, and the surface of one or more elastic bodies that comes into pressure contact with the plate-like member has two
By fixedly arranging magnetostrictive or electrostrictive elements larger than the circuit and shifting the phase of the high Liu wave voltage applied to each circuit, a traveling wave in which a transverse wave and a longitudinal wave are combined is formed on the surface of the elastic body. A motor device using ultrasonic vibration according to claim 11, characterized in that a shaped member is moved straight in a fixed direction.