SU738016A1

SU738016A1 - Stepping motor

Info

Publication number: SU738016A1
Application number: SU772485969A
Authority: SU
Inventors: Валентин Алексеевич Абрамов; Александр Яковлевич Байков; Андрей Павлович Габов; Григорий Ильич Вайнер; Валентин Семенович Мамедов; Алексей Андреевич Шевченко; Александр Васильевич Попов
Original assignee: За витель I 1| йа-:-:|(«/;;г - -...,Г .,.Kf iilil 4.,-, - - ;
Priority date: 1977-05-13
Filing date: 1977-05-13
Publication date: 1980-05-30

Description

Изобретение относится к области приборостроения и автоматики и может быть использовано для перемещения магнитных носителей в виде ленты, диска, барабана, а также для'привода станков с программным управлением, графопостроителей, устройство поведения с лазерным лучом, в работотехнике и т.д.The invention relates to the field of instrumentation and automation and can be used to move magnetic media in the form of a tape, disk, drum, as well as for the drive of machine tools with programmed control, plotters, behavior device with a laser beam, in work engineering, etc.

Известен шаговый двигатель, содержащий выполненные из пьезоактивного материала движущие и фиксирующие элементы и подвижный элемент с выходным валом [1].Known stepper motor containing made of a piezoelectric material moving and locking elements and a movable element with an output shaft [1].

В известном двигателе пары пьезоэлементов выполнены в виде секторов, которые приклеены к симметрично расположенным выступам фигурного подвиж^ ного элемента, насаженного на ось вращения (вал) и размещенного между двумя одинаковыми жестко соединенными между собой дисками.In the known engine, pairs of piezoelectric elements are made in the form of sectors that are glued to symmetrically located protrusions of a curly movable element, mounted on a rotation axis (shaft) and placed between two identical rigidly interconnected disks.

Недостатками прототипа являются низкая надежность двигателя, обусловленная наличием коллекторного Узла и, в частности, скользящих контактов. Кроме того, скользящие контакты являются источником тормозного момента от силы трения. Другими существенны ми недостатками прототипа являются большой приведенный момент инерций фигурного подвижного элемента с закрепленными на нем движущими и фиксирующими пьезокерамическими элементами, а также низкая надежность клеевого соединения последних. Низкая надежность клеевого соединения в подобной конструкции вызвана тем, что при прикладывании управляющего напряжения места соединений движущих и фиксирующих пьезоэлементов испытывают деформацию сдвига.The disadvantages of the prototype are the low reliability of the engine due to the presence of the collector Assembly and, in particular, sliding contacts. In addition, sliding contacts are a source of braking torque due to friction. Other significant disadvantages of the prototype are the large reduced moment of inertia of the figured movable element with the moving and fixing piezoceramic elements fixed on it, as well as the low reliability of the glued joints of the latter. The low reliability of the adhesive joint in this design is due to the fact that when applying a control voltage, the joints of the moving and fixing piezoelectric elements experience shear deformation.

Целью изобретения является повышение надежности путем исключения токоподводящих скользящих^ контактов.The aim of the invention is to increase reliability by eliminating current-carrying sliding contacts.

Указанная цель достигается'тем, что он снабжен установленным на корпусе основанием, охватывающим подвижный элемент по внешнему диаметру, к торцовым сторонам которого закреплены, например, посредством фланцев, фиксирующие элементы, к их противоположным сторонам укреплены стержни, к которым в тангенциальном направлении закреплены движущие элементы, прилегающие своими концевыми частями к поверхности подвижного элемента·This goal is achieved by the fact that it is equipped with a base mounted on the housing, covering the movable element along the outer diameter, to the end sides of which are fixed, for example, by means of flanges, fixing elements, rods are attached to their opposite sides, to which the moving elements are tangentially fixed adjacent with their end parts to the surface of the movable element

Кроме того, шаговый двигатель предлагаемой конструкции отличается·тем, что движущие элементы снабжены наконечниками из материала с повышенным коэффициентом трения и высокой износостойкости, а основание закреплено к корпусу посредством упругого элемента, например, мембраны.In addition, the stepper motor of the proposed design differs in that the moving elements are provided with tips made of a material with a high coefficient of friction and high wear resistance, and the base is fixed to the housing by means of an elastic element, for example, a membrane.

На фиг. 1 изображен описываемый двигатель, продольный разрез; на фиг. 2 - поперечный разрез по А-А на. фиг. 1.In FIG. 1 shows the described engine, a longitudinal section; in FIG. 2 is a transverse section along AA on. FIG. one.

Предлагаемый шаговый двигатель содержит корпус- 1 с двумя крышками 2 и 3, в которых размещены подшипниковые опоры 4 и 5 выходного вала 6 с диском 7 (подвижный элемент). Диск 7 охватывают снаружи и с торцов два одинаковых блока движущих 8 и фиксирующих 9 элементов с фланцами 10 и 11, жестко соединенными с основанием 12. К каждому фланцу прикреплено четыре фиксирующих 9 и такое же количество движущих 8. элементов посредством промежуточных радиальных призматических стержней 13, размещенных через 45° в поперечном сечении. Соединение указанных элементов производится при помощи клея. При этом использование стержней 13 для присоединения движущих элементов 8 к фиксирующим элементам 9 в виде втулок или призм позволяет исключить деформацию их соединения (клеевого соединения) при воздействии электрического поля. Движущие элементы 8 снабжены накладками 14, выполненными из материала, обеспечивающего максимальный коэффициент трения и удельное давление взаимодействующих поверхностей. Возможные перекосы установки и торцовое биение подвижного элемента 7 компенсируются упругим соединением основания 12 с корпусом 1, выполненным в виде мембраны 15.The proposed stepper motor comprises a housing-1 with two covers 2 and 3, in which are placed bearings 4 and 5 of the output shaft 6 with the disk 7 (movable element). The disk 7 encompasses from the outside and from the ends two identical blocks of driving 8 and fixing 9 elements with flanges 10 and 11 rigidly connected to the base 12. Four fixing 9 and the same number of moving 8. elements are attached to each flange by means of intermediate radial prismatic rods 13, placed across 45 ° in cross section. The connection of these elements is carried out using glue. In this case, the use of rods 13 for attaching the driving elements 8 to the fixing elements 9 in the form of bushings or prisms allows to exclude the deformation of their joints (adhesive joints) when exposed to an electric field. The driving elements 8 are equipped with pads 14 made of a material that provides the maximum coefficient of friction and the specific pressure of the interacting surfaces. Possible distortions of the installation and the end runout of the movable element 7 are compensated by the elastic connection of the base 12 with the housing 1, made in the form of a membrane 15.

Предлагаемый шаговый двигатель работает по принципу передачи и суммирования малых дискретных перемещений движущих элементов на рабочем выходном органе (диске) с использованием фиксирующих элементов. Цикл работы двигателя происходит в следующей последовательности:The proposed stepper motor operates on the principle of transmission and summation of small discrete movements of moving elements on a working output organ (disk) using fixing elements. The engine cycle takes place in the following sequence:

1. одновременное зажатие путем подачи, например, обратного напряжения на электрода четырех фиксирующих элементов 9, закрепленных на диаметрально противоположных участках торцовой,- поверхности двух фланцев 10 и 11 (для упрощения черте- . жа электрода на пьезоэлементах не показаны). При этом происходит взаимодействие торцовых поверхностей подвижного элемента 7 с накладками 14, которые связаны сжатыми фиксирующими элементами.1. simultaneous clamping by applying, for example, reverse voltage to the electrode of four fixing elements 9, mounted on diametrically opposite sections of the end face, the surface of two flanges 10 and 11 (to simplify the drawing of the electrode on piezoelectric elements not shown). When this occurs, the interaction of the end surfaces of the movable element 7 with the pads 14, which are connected by compressed locking elements.

2. Перемещение (поворот) подвижного элемента 7 с валом б на один шаг, равный амплитуде<колебания движущих элементов 8 при подаче на их электроды, например, прямого напряжения.2. The movement (rotation) of the movable element 7 with the shaft b by one step equal to the amplitude <of the oscillation of the moving elements 8 when applying, for example, direct voltage to their electrodes.

3. Одновременное зажатие четырех фиксирующих элементов 9 размещенных на плоскости, повернутой на 90^е относительно возбужденных фиксирующих элементов первого цикла.3. The simultaneous gripping of four locking elements 9 placed in a plane rotated through 90 ^e with respect to the excited fixing elements of the first cycle.

4. Одновременное разжатие четырех фиксирующих элементов первого цикла работы.4. The simultaneous release of the four locking elements of the first cycle of work.

5. Перемещение (поворот) подвижного элемента'<7 -на следующий шаг путем подачи прямого напряжения на движущие элементы 8, повернутые на 90° относительно движущих элементов второго цикла.5. The movement (rotation) of the movable element '<7 is the next step by applying direct voltage to the moving elements 8, rotated 90 ° relative to the moving elements of the second cycle.

Повторение указанных циклов позволяет осуществить вращение подвижного элемента 7 с валом б в одну сторону. Реверс двигателя осуществляется изменением полярности подаваемых напряжений на движущие элементы 8 относительно управляющих напряжений фиксирующих элементов 9. Возможны также и другие способы управления двигателем.Repetition of these cycles allows the rotation of the movable element 7 with the shaft b in one direction. The reverse of the engine is carried out by changing the polarity of the supplied voltages to the driving elements 8 relative to the control voltages of the fixing elements 9. Other methods of controlling the engine are also possible.

Описанный шаговый двигатель прост в изготовлении и технологичен в сборке .The described stepper motor is easy to manufacture and technologically advanced to assemble.

Claims

(54) STEP ENGINE The invention relates to the field of instrumentation and automation and can be used to move magnetic media in the form of a tape, disc, drum, as well as to drive computer-controlled machine tools, plotters, a laser beam innovator, in engineering, and so on. d. A stepping motor is known which contains driving and fixing elements and a movable element with an output shaft 1. Made of a piezo-active material. In a known engine, pairs of piezo elements are made in the form of sectors that are glued to symmetrically located protrusions of a shaped movable element mounted on an axis of rotation (shaft) and placed between two identical rigidly interconnected disks. The disadvantages of the prototype are low reliability of the engine, o6ycxriOB with the presence of a collector Node and, in particular, sliding contacts. In addition, sliding contacts are a source of braking torque. from s.tl friction. Other significant drawbacks of the prototype are the large reduced moment of inertia of the shaped moving element with the driving and fixing piezoceramic elements fixed on it, as well as the low reliability of the adhesive bond of the latter. The low reliability of the adhesive joint in such a design is caused by the fact that when a control gate is applied, the joints of the driving and fixing piezoelectric elements undergo a shear deformation. The aim of the invention is to increase reliability by eliminating current-carrying sliding contacts. This goal is achieved by the fact that it is provided with a base mounted on the housing, covering the movable element in outer diameter, to the end sides of which there are fixed, for example, by means of flanges, fixing elements, rods are fixed to their opposite sides, to which the driving elements are fixed in the tangential direction, adjacent with their end parts to the surface of the moving element. In addition, the stepper motor of the design is different — the driving elements are provided with tips from a material with a higher coefficient of wear and high wear resistance, and the base is fixed to the body by means of an elastic element, for example, a membrane. FIG. 1 depicts the described engine, a longitudinal section; Fig. 2 shows a cross section along A-A in Fig. 1. The proposed stepping motor comprises a housing-1 with two covers 2 and 3 in which bearings are placed 4 and 5 of the output shaft 6 with a disk 7 (movable element) The disc covers outside and from the ends two identical blocks of driving 8 and locking 9 elements with flanges 10 and 11 rigidly connected to the base 12. Four fixing 9 and the same number of driving 61 are attached to each flange by means of intermediate radial prismatic rods 13 ,, placed through 45 ° in transverse th section. The connection of these elements is made with the help of glue. In this case, the use of rods 13 for attaching the driving elements 8 to the locking elements 9 in the form of bushings or prisms makes it possible to eliminate the deformation of their joint (adhesive joint) when exposed to an electric field. The driving elements 8 are provided with linings 14 made of a material that provides the maximum coefficient of friction and the specific pressure of the interacting surfaces. Possible distortions of the installation and face runout of the movable element 7 are compensated for by the elastic connection of the base 12 with the housing 1, made in the form of a membrane 15. The proposed stepping motor works on the principle of transferring and balancing small discrete movements of the driving elements on the working output body (disk) using fixing elements . The engine cycle occurs in the following sequence: 1. simultaneous clamping by supplying, for example, reverse voltage to the electrodes of four locking elements 9 fixed on diametrically opposite parts of the front / surface of two flanges 10 and 11 (to simplify the drawing) piezoelements not shown). When this occurs, the interaction of the running surfaces of the movable element 7 occurs with the plates 14, which are associated with the compressed locking elements. 2. The movement (rotation) of the movable element 7 with the shaft b by one mat, equal to the amplitude of oscillation of the driving elements 8 when applied to their electrodes, for example, direct voltage. 3. Simultaneous clamping of four locking elements 9 placed on a plane rotated 90 relative to the excited locking elements of the first cycle. 4. Simultaneous release of the four locking elements of the first cycle of operation. 5. Moving (turning) the movable element - to the next step by applying voltage to the driving elements 8, rotated by 90 relative to the driving elements of the second cycle. The repetition of these cycles allows the rotation of the movable element 7 with the shaft b in one direction. The reverse of the motor is carried out by changing the polarity of the applied voltages to the driving elements 8 relative to the control voltages of the locking elements 9. Other ways of controlling the motor are also possible. The described stepper motor is simple to manufacture and easy to assemble. The formula of the invention is 1. A stepper motor comprising driving and fixing elements made of a piezoactive material and movable with an output shaft, characterized in that, in order to increase reliability by excluding current-supplying sliding contacts, it is equipped with one mounted on. The housing has a base covering the movable element with an outer diameter, to the front sides of which the fixing elements are attached, for example, by means of flanges, to their opposite sides there are rods attached to which in the tangential direction the driving elements adjacent their ends to the surface of the movable element.

2. An engine according to Claim 1, characterized in that the driving elements are provided with linings of a material with an increased coefficient of friction and high wear resistance.

3. Motor according to PP, 1 and 2, differing from the fact that the base is attached to the body by means of an elastic element, for example a membrane, Sources of information taken into account during the examination 1. USSR Author's Certificate No. 511647, cl. H 01 L 41/10, 1976.