M286995 八、新型說明： 【新型所屬之技術領域】 ，創作係有關於一種超音波馬達，尤其是指一 =:電磁式馬達具有結構簡單、▼容易 特性，可；而且由於具有高扭力與低轉速的 之超音波馬達 結構創新設計。 物 【先前技術】M286995 VIII, new description: [New technology field], the creation department is about an ultrasonic motor, especially refers to: = electromagnetic motor has a simple structure, ▼ easy characteristics, and; because of high torque and low speed The ultra-sonic motor structure is innovatively designed. [previous technique]
的共振的=皮馬達，主要是利用壓電結構 由錄超音波馬達定子上產生 …㈣魏馬達的直線運動或者轉動縣，這已是 … ， 生的振動藉 「q丹又风馬運的直線運動或者轉動運 過三十年來人們對於超音波馬達驅動原理的Γ里了 又'5兒’可以第—圖所示之現有超音波馬達為例， 基本原理說明 做一 ▲请參閱第一圖所示（美國專利5,233258)，其係於剛 性較強的結構體（11)上裝置二壓電致動元件（12)、（13)， 並在此兩個壓電致動元件（12)、（13)間搭配設計一彈性體 04) ’同時在彈性體（14)的對應處設置對象物（15)。該二 壓電^動凡件（12)、（13)由於逆壓電效應的關係，當施以 正電壓時會產生伸長變形，當施以負電壓時則會縮短變 形。因此，當將二壓電致動元件（12)、（13)與彈性體（14) 做搭配設計時，會使彈性體（14)因壓電致動元件（12)、（13) 之變形產生所想要的變形。 又’當對壓電致動元件（12)、（13)各別施以正弦波電 壓與餘弦波電壓時，則會使壓電致動元件（12)、（13)產生 5 M286995 週期性變形量，如第二圖所示。相對應於第二圖所示之壓 電致動元件（12)、（13)變形量變化情形，彈性體（14)之變 形情形表示於第三圖，當彈性體（14)上AB處發生位移^ 化時，會構成C處產生橢圓形變形執跡。透過第一圖中之 正向力F的作用，可使橢圓形變形運動藉由磨擦運動推動 對象物（15)進行左右直線運動。The resonance of the picomotor, mainly using the piezoelectric structure produced by the recording of the ultrasonic motor on the stator ... (four) Wei motor's linear motion or turning the county, this is already ..., the vibration of the birth by "q Dan and wind horse transport straight line For the past 30 years, people have been able to use the existing ultrasonic motor as shown in the figure for the principle of ultrasonic motor drive. For the basic principle, please refer to the first figure. (U.S. Patent No. 5,233,258), which is incorporated on a more rigid structure (11) to mount a bi-piezoelectric actuating element (12), (13), and here two piezoelectric actuating elements (12) And (13) match the design of an elastic body 04) 'At the same time, the object (15) is placed at the corresponding position of the elastic body (14). The two piezoelectric parts (12), (13) due to the inverse piezoelectric effect The relationship is that when a positive voltage is applied, elongation deformation occurs, and when a negative voltage is applied, the deformation is shortened. Therefore, when the bimorph actuating elements (12), (13) and the elastic body (14) are matched Designed to cause the elastomer (14) to be created by the deformation of the piezoelectric actuators (12), (13) Deformation. When the sine wave voltage and the cosine wave voltage are applied to the piezoelectric actuators (12) and (13), the piezoelectric actuators (12) and (13) are generated for 5 M286995 cycles. The amount of deformation is as shown in the second figure. The deformation of the elastic body (14) is shown in the third figure corresponding to the change of the deformation amount of the piezoelectric actuators (12) and (13) shown in the second figure. When the displacement occurs at the AB on the elastomer (14), it will form an elliptical deformation trace at C. Through the action of the positive force F in the first figure, the elliptical deformation motion can be caused by the friction movement. Push the object (15) to move left and right in a straight line.
為了使彈性體（14)上的作用點能夠產生足夠大小的 橢圓形變形執跡，一般需要將之設計成馬達定子的形狀， 使定子發生左右變形振動的頻率與發生上下變形的頻率 能夠相同，如此一來才能夠以相同的頻率的正廢 餘弦波電壓施加在壓電致動元件⑽、⑽上，讓彈性體 (14)產生橢圓形變形執跡。 然而，要得到左右變形振動與上下變形振動之頻 夠相同的定子結構，在設計上雖然容易，在實際的製作丄 卻相當不容易’因為只要有—點尺寸誤差便會產生差距復 大的結果。因此’若能以單—正弦波㈣壓電致動元件促 使馬達定子產生橢1U彡㈣執跡，便能解決超音波 製作上的精度要求，並且在驅動電路的設計上也可以 不需要同時產生正弦波與餘弦波電壓之的 關係而得到簡化。 ㈣電源的 【新型内容】 今’創作人即是#於上述現有之超音波馬達於實際每 :用上的缺失之處’而加以修正、改良，同時 二 =神及理，，並藉由專業之知識、經驗的輔助，以^ 6 M286995 磁波、無噪音之優點，而且由於具有高扭力與㈣速的特 性’可不需搭配減速機構直接_對象物之超音波馬達。 即本創作之目的主要係為令馬達定子能在正弦波電 壓的驅動下產生橢圓形運動執跡，而且為了使馬達能狗進 订正反向的直線運動，定子上橢圓形運動執跡的正反向旋 轉必須能夠簡單的由正弦波相位之改變或是切換壓電致 動元件之輸入電壓來完成。 而本創作之目的、功效係由以下之技術所達成： 其係包括馬達底座、橢圓形定子、支撐預壓機構及對 象物；其中，令支撐預壓機構定位於馬達底座上，並在支 撐預壓機構上設立橢圓形定子，該橢圓形定子由至少一個 壓電致動元件與一個橢圓形彈性體所構成，談壓電致動元 件設於橢圓形彈性體内部，且在該橢圓形彈性體的外周對 應欲驅動對象物的端面處設有一突出的作用塊；據此，去 對橢圓形定子之壓電致動元件施以高頻之正弦波電壓 時，便可在橢圓形彈性體之作用塊處產生橢圓形之運動軌 跡，再藉由支撐預壓機構的彈性施力作用，將橢圓形定子 推向對象物施加正向力，便可利用作用塊磨擦對象物而推 動對象物進行直線或旋轉運動。 另外，為令對象物可進行正反向的直線或旋轉運動，In order to enable the action point on the elastic body (14) to generate a sufficient deformation of the elliptical shape, it is generally required to design the shape of the motor stator, so that the frequency of the left and right deformation vibration of the stator can be the same as the frequency of the up and down deformation. In this way, the positive waste cosine wave voltage of the same frequency can be applied to the piezoelectric actuator elements (10), (10), so that the elastic body (14) produces an elliptical deformation trace. However, to obtain the stator structure with the same frequency of the left and right deformation vibrations and the up and down deformation vibrations, although it is easy to design, it is not easy to make in the actual production, because as long as there is a point size error, the gap will be large. . Therefore, if a single-sinusoidal (four) piezoelectric actuator is used to cause the motor stator to produce an ellipse 1U彡(4) trace, the accuracy requirements for ultrasonic fabrication can be solved, and the design of the drive circuit does not need to be generated simultaneously. The relationship between the sine wave and the cosine wave voltage is simplified. (4) [New content of the power supply] Today's creator is ## in the above-mentioned existing ultrasonic motor in the actual: the missing point of the use of 'corrected and improved, while the second = God and reason, and by professional The knowledge and experience are assisted by ^ 6 M286995 magnetic wave, no noise, and because of its high torsion and (four) speed characteristics, it can be used without the need for a supersonic motor. That is, the purpose of this creation is mainly to enable the motor stator to generate an elliptical motion trace driven by a sine wave voltage, and in order to enable the motor to advance the linear motion of the forward and reverse directions, the elliptical motion on the stator is positive. The reverse rotation must be able to be done simply by changing the phase of the sine wave or by switching the input voltage of the piezoelectric actuator. The purpose and function of the creation are achieved by the following technologies: the motor base, the elliptical stator, the supporting pre-compression mechanism and the object; wherein the supporting pre-compression mechanism is positioned on the motor base and supported in the pre-loading An elliptical stator is formed on the pressing mechanism, the elliptical stator being composed of at least one piezoelectric actuating element and an elliptical elastic body, wherein the piezoelectric actuating element is disposed inside the elliptical elastic body, and the elliptical elastic body is The outer periphery is provided with a protruding action block corresponding to the end face of the object to be driven; accordingly, when a high-frequency sinusoidal voltage is applied to the piezoelectric actuator of the elliptical stator, the role of the elliptical elastic body can be An elliptical motion trajectory is generated at the block, and by applying an elastic force to the preloading mechanism, the elliptical stator is pushed toward the object to apply a positive force, and the object can be rubbed by the action block to push the object to a straight line or Rotating motion. In addition, in order to make the object forward or reverse linear or rotary motion,
為令本創作所運用 之技術内容、創作目的及其達成之 7 M286995 功效有更兀整且清楚的揭露，茲於下詳細說明之，並請一 併參閱所揭之圖式及圖號： 首先，請參閱第四、五圖所示，本創作之音波馬達係 包括： 馬達底座（2 )，其係作為支撐整個超音波馬達系統 的基座，於其上端面設有一凹陷區（21)，並在凹陷區（21) 的二側外圍各固定一第一滑執（22)，可供與組設在支撐預 壓機構（4)之支撐座（41)底面二側之第二滑執（42)對應嵌 • 合； 一橢圓形定子（3)，其由至少一個壓電致動元件 — (31)、一橢圓形彈性體（32)及一固定柱（33)所組成，於本 實施例中係採用二個壓電致動元件（31)，該二壓電致動元 件（31)係設立在橢圓形彈性體（32)内部，並在二壓電致動 凡件（31)之間設立固定柱（33)，該固定柱（33)並與支撐預 壓機構（4)之支撐座（41)固接，再於該橢圓形彈性體（32) 的外周對應預驅動對象物（5)的端面處設有一突出的作用 ， 塊（321); —支撐預壓機構（4)，其具有一支撐座（41)，該支撐 座（41)的内部有一容室（411)，可供容置橢圓形定子（3)， 並在該容室（411)的上、下端面周緣處設立一缺槽（412)， 該缺槽（412)恰可供橢圓形定子（3)之固定柱（33)的上、下 端對應嵌入容置定位，再於支撐座（41)底面二側各固一第 一滑軌（42) ’供與馬達底座（2)之二第一滑執（22)彼此對 應嵌合’再於支撐座（41)上遠離驅動對象物（5)的端面設 有二導引桿（43)，且二導引桿（43)在分別套設彈性件（44) 後共同穿過一彈簧擋板（45)的穿孔（451)，該彈簣擋板（45) 8 M286995 為一固定在馬達底座（2)上之限位支架（46)所古p 該限位支架⑽具有-往前㈣敎之螺桿（術牙），、; 過彈簣擋板的中間處，且以螺帽（462) 牙 支撐座（41)受彈性件（44)的彈性頂推而且 該 可藉此調整預壓力值； ~借一預Μ力，並 -對象物⑸’似立在橢圓形定子（3) 的對應侧，該對象物（5)隨著該超音波馬 2 321) 模式，而可設計成如第四、五、十五圖 人’、、乍動 或如第十六圖所示之轉子組(5”）;當謗;::d) 組（5，）時’係於馬達底座（2)上固κ )為，月0 ⑸，），並於滑台固定座（51，）的=滑台固定座 匕:而在滑台固定座⑸’）的 組立： 千台（52 )，該滑台平台（52,）的麻邱古π σ ⑽，）’供與凸執（511，）對應嵌合，另在 —滑台槽 對應橢圓形定子（3)的端面處設有耐磨材 σ〔52 ) 其與橢圓形定子（3)_磨耗現象；μ =少 轉子組（5，，）時，係將其轉子（5 ”々m5)為一 上，並在轉子⑸”）的外周 其與橢圓形定子（3)間的磨耗現象。 成〉 又，本創作主要的設計目的在於謓厭 一 能夠因為正弦波電壓所造成之周祕 擠壓橢圓形彈性體（32)產生變形，並 動進而 ⑽上之作卿⑴嶋生足⑹】、= = = =透過支撐預壓機構⑷之正向力的=== 塊（321)上的橢圓形變形運動轉換為滑台組= 9 M286995 ^ 組（5”）上之滑台平台（52’ ）或轉子（5Γ )的直線或旋轉 運動。 如第六、十二圖所示為施加電壓於橢圓形定子（3)， 使作用塊（321)形成橢圓形變形運動的兩種方法。其中一 種是同時驅動兩個壓電致動元件（31)的型式，而另一種是 在同一運動方向只驅動單一壓電致動元件（31)的型式。請 參閱第六圖，其係為同時驅動兩個壓電致動元件（31)的型 式，此型驅動方式是利用輸入具有90度相位差的正弦波 B 電壓於兩個各別的壓電致動元件（31)，用以激發橢圓形彈 性體（32)上的作用塊（321)產生一個橢圓形運動執跡，當 要改變橢圓形運動執跡的旋轉方向時，只要將這二個驅動 電源互換或是改變其相位差即可。如此一來便可以領先90 度相位差與落後90度相位差的控制方式操控對象物（5)中 之滑台組（5’ ）之滑台平台（52’ ）的移動方向或轉子組 (5”）之轉子（5Γ )的轉動方向。 以下再對同時驅動兩個壓電致動元件（31)之型式的 p 作動原理詳細說明之。 雙相信號驅動型馬達定子是使用兩個壓電致動元件 (31)同時當成定子的振動激發源，並且藉由輸入兩個具有 90度相位差的正弦波電壓〔¥!與V2〕激發二壓電致動元件 (31)變形運動，透過橢圓形彈性體（32)與壓電致動元件 (31)之間的幾何形狀關係，使得作用塊（321)處會形成一 個週期性運動的橢圓形運動執跡。第七、八圖為此型驅動 方式下橢圓形定子（3)的驅動電壓與變形運動對照圖，其 中，兩個壓電致動元件（31)各自所受的電壓波形乂！與V2 皆為相同頻率之正弦波電壓，但Vi比V2電壓領先1/4週 10 M286995 ί⑶VG度1目位，。為了方便對照驅動電壓與橢圓形定 子（3)、史形運動之間的關係，將第七圖 個週期時間做8等份切割，得到a、B、c二/ f :- 等時間點，而施加於壓電致動元件（31)上的電壓在每一、 =均重覆—次纽H各時間點上電壓波形的變化。“ 圖所示為對應於a、b、c、d、e、f、g、h__· 波形’擔圓形定子（3)所呈現的變形情形。當 第七圖中的A時間點位置時，奋造. 田” 1在 第八圖中之A圖所示-般V邊之?雷圓1定子⑶呈現 短，左邊壓電致動元件(31)盔動作，H兀件(31)縮 1作:塊_左上動作。當輸入第七圖中㈣點電(壓) 時，會使第八圖中的B圖上的左邊壓電致動元件 長’右邊壓電致動元件⑻縮短，所以作用塊（321)往左 動作。當輸人如第七圖中的C點電壓時，會使第八圖中的 C圖上的左邊壓電致動元件（31)伸長，右邊壓電致動元件 (31)無動作，所以作用塊（321)往左下動作。當輸入如第 七圖中的D點電壓時，會使第八圖中的D圖上的左、右邊 壓電致動元件（31)同時縮短，所以作用塊（321)往不動 作。當輸入如第七圖中的E點電壓時，會使第八圖中的e 圖上的右邊壓電致動元件（31)伸長，左邊壓電致動元件 (31)無動作，所以作用塊（321)往右下動作。當輸入如第 七圖中的F點電壓時，會使第八圖中的F圖上的左邊壓電 致動元件（31)縮短，右邊壓電致動元件（31)伸長，所以作 用塊（321)往右動作。當輸入如第七圖中的G點電壓時， 會使第八圖中的G圖上的左邊壓電致動元件（31)縮短，右 邊壓電致動元件（31)無法動作，所以作用塊（321)往右上 11 M286995 中的H點電壓時’會使第八圖中的 用塊二元件⑼同時縮短，所以作 彈性體（32U Μ 過一個正弦週期後，橢圓形 動轨跡。 塊(321)即構成-個完整的擴圓形運 形運二(=: = =道’橢圓形定子⑶在進行變 在進行左右位/二(）_圓形彈性體（32)實際上是 透過橢圓形彈性體(；32) 、（座（33)為定點， 個直交__22的左右位移與上下料變形的兩 形運動=#成_形定子⑶作料⑶υ之橢圓 振動二圖中為橢圓形定子⑶的兩個直交 切向振動模態，而第；：：：之左右位移振動模態稱為 稱為法向振動模㈣ ⑶υ上的運動方向來^要疋取㈣形定子⑶作用塊 為了使驅動壓電致動元件（ :個電壓週期内’同時激發橢圓形定子⑶ ;=二？完成一個週期振動運動，則該擴圓： 而經刀4與法向振動模態。 寬_固定時，其切向二：定:= =長、短轴比值(a/b)變化之曲線。由第十一圖員= =切向振動模態的自然頻率會隨a/b比值的增加而快速 上升，而法向振動模態的自然頻率則會隨之減少，並且在 12 M286995 其a/b比值約為L 6 _ ’切向振動模態與法向 自然頻率為最接近。 動松悲的 第十三、十四圖所示為在同—運動方向只驅 壓致動元件（31)的型式。此型驅動方式只需在每 驅動:個壓電致動元件⑻，即可激發擔圓形彈^ = 在特定驅動頻率下，於橢圓形彈性 — 產生-個橢圓形運動執跡1要改==:塊⑽) 轉方向時’只要將驅動的正弦波電壓在兩個壓 的不同，而改變滑台組(5,）的移動开;運向 轉動方向。 卿方向或轉子組（5”）的 第十三圖所示為當輸入一個 子⑶右邊的麗電致動元件⑶圓形定 元件(31)產生週期性的伸張與收縮Υ同時激發;= = (32)上的作用塊（321)產生法向與切向位 广 _形彈性體⑽上的作用塊（321)會因此呈現傾二， ===，藉由摩擦力的作用即可轉換橢圓形定； ==成為滑台組(5,）的移動運動或轉子組(5，，） 的動。第十四圖所示為驅動左邊的壓電致動元件 (一^作時’會使橢圓形定子⑶上的作用塊（321)產生另 :=1角度之振動運動’如此一來便可使滑台組 子ml於、且5 )朝反方向移動或轉動。另外橢圓形定 驅動頻皁=Γ21)除了會構成對角線運動外，在特定的 使橢圓形定子（3)作用塊（321)構成一個 橢圓形的運動轨跡。 鬲達疋子驅動方式的優點為一次只要驅動一個壓 13 M286995 電致動it件（31)即可達到讓馬達產生運動的目的 ^上得到相對的簡化。對於僅需單—方向運動的應用而 S，此型驅動方式有其獨特優勢。 ^ ^者，可藉由調整螺帽（462)在螺桿（461)上的位置調 即該彈性件（44)施加於橢圓形定子（3)上之預壓力。 另外，該支撐預壓機構（4)之支撐座（41)遠離驅動對 象物（5)的端面亦可採直接設置彈性頂推件之方式，且此 方式同樣可令支撐座（41)在受彈性頂推件的彈性頂推下 I 而具備一預壓力。 綜上所述，本創作實施例確能達到所預期之使用功 效，又其所揭露之具體構造，不僅未曾見於同類產品中， 亦未曾公開於申請前，誠已完全符合專利法之規定與要 求，爰依法提出新型專利之申請，懇請惠予審查，並賜准 專利，則實感德便。In order to make the technical content, creative purpose and the achievement of the 7 M286995 function of this creation more detailed and clear, please elaborate below, and please refer to the drawings and drawings: Please refer to the fourth and fifth figures. The sonic motor of the present invention comprises: a motor base (2) as a base supporting the entire ultrasonic motor system, and a recessed area (21) on the upper end surface thereof. And a first sliding handle (22) is fixed on each of the two sides of the recessed area (21), and is provided with a second sliding handle disposed on two sides of the bottom surface of the supporting base (41) supporting the pre-pressing mechanism (4) ( 42) corresponding embedding; an elliptical stator (3) consisting of at least one piezoelectric actuating element - (31), an elliptical elastomer (32) and a fixed post (33), in this embodiment In the example, two piezoelectric actuating elements (31) are used, which are set inside the elliptical elastomer (32) and actuate the two piezoelectric actuators (31). A fixing post (33) is set up, and the fixing post (33) is fixed to the supporting seat (41) supporting the pre-pressing mechanism (4), and then The outer circumference of the circular elastic body (32) is provided with a protruding function corresponding to the end surface of the pre-driven object (5), the block (321); the supporting pre-compression mechanism (4) having a support base (41), The inside of the support base (41) has a chamber (411) for accommodating the elliptical stator (3), and a notch (412) is formed at the periphery of the upper and lower end faces of the chamber (411). The groove (412) is suitable for the upper and lower ends of the fixed column (33) of the elliptical stator (3) to be correspondingly embedded and placed, and then the first slide rail (42) is fixed on both sides of the bottom surface of the support base (41). The first sliding handles (22) for the motor base (2) are correspondingly fitted to each other. Further, two guiding rods (43) are disposed on the end surface of the supporting base (41) away from the driving object (5), and The guiding rods (43) pass through the perforations (451) of a spring baffle (45) after the elastic members (44) are respectively sleeved, and the elastic baffle (45) 8 M286995 is fixed to the motor base (2) The upper limit bracket (46) is the ancient p. The limit bracket (10) has a screw (tooth) that is forwardly (four), and is in the middle of the baffle, and is supported by a nut (462) Seat (41) Elastic pushing of the elastic member (44) and thereby adjusting the pre-pressure value; ~ by a pre-twisting force, and - the object (5) 'like to stand on the corresponding side of the elliptical stator (3), the object (5 With the ultrasonic horse 2 321) mode, it can be designed as a fourth, fifth, fifteen figure ',, or a rotor group (5") as shown in the sixteenth figure; ::d) When group (5,) is attached to the motor base (2), it is 0 (5), and is on the slide mount (51,) = slide mount: The assembly of the slide holder (5)'): Thousands (52), the platform (52,) of the Maqiu π σ (10),) 'for the convex (511,) corresponding to the fitting, and the other - slip The trough corresponds to the end face of the elliptical stator (3) with wear-resistant material σ [52] and the elliptical stator (3)_ wear phenomenon; μ = less rotor set (5,,), the rotor is 5 々m5) is a wear phenomenon between the outer circumference of the rotor (5) and the elliptical stator (3). In addition, the main purpose of this creation is to be disgusted by the sinusoidal voltage caused by the extrusion of the elliptical elastomer (32) to produce deformation, and then (10) on the Qing (1) axillary foot (6) , = = = = through the positive force of the supporting preloading mechanism (4) === The elliptical deformation motion on the block (321) is converted into a sliding table group = 9 M286995 ^ The sliding platform on the group (5") (52 ' ) or the linear or rotational motion of the rotor (5 Γ ). As shown in the sixth and twelfth figures, there are two methods of applying a voltage to the elliptical stator (3) to form an action of the elliptical deformation of the action block (321). One is a type that simultaneously drives two piezoelectric actuation elements (31), and the other is a type that drives only a single piezoelectric actuation element (31) in the same direction of motion. See Figure 6 for simultaneous actuation A version of two piezoelectric actuating elements (31) driven by inputting a sine wave B voltage having a phase difference of 90 degrees to two respective piezoelectric actuating elements (31) for exciting an elliptical shape The action block (321) on the elastomer (32) produces an elliptical motion trace When changing the direction of rotation of the elliptical motion, simply swap the two drive powers or change the phase difference. This way, you can control the phase difference of 90 degrees and the phase difference of 90 degrees. The direction of movement of the table platform (52') of the table group (5') in the object (5) or the direction of rotation of the rotor (5") of the rotor group (5"). The following is a detailed description of the p actuation principle for simultaneously driving the two piezoelectric actuator elements (31). The two-phase signal-driven motor stator uses two piezoelectric actuator elements (31) as a vibration excitation source of the stator at the same time, and is excited by inputting two sine wave voltages [¥! and V2] having a phase difference of 90 degrees. The deformation movement of the piezoelectric actuator (31), through the geometric relationship between the elliptical elastomer (32) and the piezoelectric actuator (31), causes a periodic movement of the ellipse at the action block (321) Shape movements are obscured. The seventh and eighth figures are a comparison diagram of the driving voltage and the deformation motion of the elliptical stator (3) in this type of driving mode, wherein the voltage waveforms of the two piezoelectric actuators (31) are each received! Both sine wave voltage and V2 are the same frequency, but Vi is 1/4 week ahead of V2 voltage. 10 M286995 ί(3) VG degree 1 position. In order to facilitate the comparison between the driving voltage and the elliptical stator (3) and the history movement, the seventh cycle time is cut into 8 equal parts to obtain a, B, c 2 / f : - time points, and The voltage applied to the piezoelectric actuator element (31) changes at each voltage point at each time interval. “The figure shows the deformation situation corresponding to the a, b, c, d, e, f, g, h__· waveform's circular stator (3). When the A time point in the seventh figure, Strive to create. Tian" 1 in the eighth picture of Figure A - the V side? Lei Yuan 1 stator (3) is short, left piezoelectric actuator (31) helmet action, H element (31) contraction 1 Work: block _ left upper action. When inputting (4) point electric (pressure) in the seventh figure, the left piezoelectric actuator element on the B picture in the eighth figure is shortened, and the right piezoelectric actuator element (8) is shortened, so the action block (321) is left. action. When the input voltage of point C in the seventh figure is made, the left piezoelectric actuator element (31) on the C picture in the eighth figure is elongated, and the right piezoelectric actuator element (31) is inactive, so Block (321) moves to the lower left. When the voltage at point D in Fig. 7 is input, the left and right piezoelectric actuating elements (31) on the D picture in the eighth figure are simultaneously shortened, so that the action block (321) does not operate. When the voltage at point E in the seventh figure is input, the right piezoelectric actuator element (31) on the e-graph in the eighth figure is elongated, and the left piezoelectric actuator element (31) is inactive, so the action block (321) Move to the lower right. When the voltage at point F as in the seventh figure is input, the left piezoelectric actuator element (31) on the F diagram in the eighth diagram is shortened, and the right piezoelectric actuator element (31) is elongated, so the action block ( 321) Move to the right. When the voltage at point G in Fig. 7 is input, the left piezoelectric actuator element (31) on the G map in the eighth figure is shortened, and the right piezoelectric actuator element (31) is inoperable, so the action block (321) When the voltage at point H in the upper right corner of M286995 'will make the block two components (9) in the eighth figure shorten at the same time, so as an elastic body (32U Μ after a sinusoidal cycle, the elliptical trajectory. 321) that constitutes a complete expansion of the circular shape of the second (=: = = road 'elliptical stator (3) in the change in the left and right / two () _ circular elastic body (32) is actually through the ellipse Shaped elastomer (;32), (seat (33) is a fixed point, the left and right displacement of the orthogonal __22 and the two-shaped motion of the deformation of the upper and lower materials = #成_ stator (3) material (3) 椭圆 elliptical vibration in the figure is elliptical stator (3) Two orthogonal tangential vibration modes, and the left-right displacement vibration mode of the first :::: is called the normal vibration mode (4) (3) The direction of motion on the 来 is to draw the (four)-shaped stator (3) action block in order to Driving the piezoelectric actuator (in a voltage cycle 'simultaneous excitation of the elliptical stator (3); = two? complete one Period vibrating motion, then the rounding: and the knife 4 and the normal vibration mode. When the width _ is fixed, the tangential direction is two: fixed: = = long and short axis ratio (a / b) change curve. Eleven Figure = = The natural frequency of the tangential vibration mode rises rapidly with the increase of the a/b ratio, while the natural frequency of the normal vibration mode decreases, and its a/b ratio at 12 M286995 The tangential vibration mode is approximately the closest to the normal natural frequency. The thirteenth and fourteenth diagrams of the dynamic turbulence show the type of the actuation element (31) that is only driven in the same direction of motion. This type of driving method only needs to drive each piezoelectric actuator (8) to activate the circular elastic ^ ^ at a specific driving frequency, in the elliptical elasticity - to produce - an elliptical motion track 1 to be changed ==: block (10)) When turning direction, 'as long as the driving sine wave voltage is different between the two pressures, change the movement of the slide table (5,); turn to the direction of rotation. Qing direction or rotor group (5" Figure 13 shows the periodic extension and contraction of the circular actuator (31) when the input of a sub (3) to the right of the electrification element (3). Excitation; = = (32) The action block (321) produces a normal and tangential position. The action block (321) on the elastic body (10) will thus exhibit a dip, ===, by friction The action can be converted into an elliptical shape; == becomes the moving motion of the sliding table group (5,) or the movement of the rotor group (5,,). The fourteenth figure shows the piezoelectric actuating element on the left side of the drive (a ^ At the time of 'making the action block (321) on the elliptical stator (3) generate another: =1 angular vibration motion 'so that the slide table group ml and 5) can be moved or rotated in the opposite direction. The elliptical fixed drive frequency soap = Γ 21), in addition to the diagonal movement, the elliptical stator (3) acting block (321) constitutes an elliptical motion trajectory. The advantage of the Tweezers drive mode is that it can be relatively simplified by simply driving a pressure of 13 M286995 to actuate the piece (31). For applications that require only single-direction motion, this type of drive has its unique advantages. ^ ^, the preload of the elastic member (44) applied to the elliptical stator (3) can be adjusted by adjusting the position of the nut (462) on the screw (461). In addition, the supporting seat (41) of the supporting pre-compression mechanism (4) can be directly disposed with the elastic pushing member away from the end surface of the driving object (5), and the supporting seat (41) can also be received by the supporting seat (41). The elastic pusher elastically pushes down I and has a pre-pressure. In summary, the present embodiment can achieve the expected use efficiency, and the specific structure disclosed is not only found in similar products, nor has it been disclosed before the application, and has fully complied with the requirements and requirements of the Patent Law.爰Proposing an application for a new type of patent in accordance with the law, and pleading for a review and granting a patent, it is really sensible.
14 M286995 【圖式簡單說明】 第一圖：目前現有之超音波馬達定子結構示意圖 第二圖.第一圖之超音波馬達在施以交流電壓時於壓 電致動元件上產生之週期性變形情形 第二圖.第一圖之超音波馬達在施以交流電壓時於馬 達定子上產生之週期性變形情形 第四圖：本創作之超音波馬達定子結構立體分解圖 齡 f五圖：本創作之超音波馬達定子結構立體組合圖 第六圖：本創作之雙相信號驅動型之橢圓形定子結構 不意圖 第七圖：本創作之輸入至壓電致動元件之雙相信號示 意圖 第八圖··本創作之雙相信號驅動型之橢圓形定子結構 動作原理示意圖 第九圖·本創作之橢圓形定子結構切向振動模態示意 | 圖 第十圖··本創作之橢圓形定子結構法向振動模態示意 圖 第十一圖：本創作之橢圓形定子結構振動模態之自然 頻率隨橢圓形彈性體之長短軸變化之曲線 圖 十囷·本創作之單相#號驅動型之橢圓形定子結 構示意圖 第十一圖·本創作之單相信號驅動型之橢圓形定子結 15 M286995 構動作原理示意圖（一） 第十四圖：本創作之單相信號驅動型之橢圓形定子結 構動作原理示意圖（二） 第十五圖··本創作之線性超音波馬達之實施例圖 第十六圖：本創作之旋轉式超音波馬達之實施例圖 【主要元件符號說明】14 M286995 [Simple description of the diagram] The first picture: the current schematic diagram of the existing supersonic motor stator structure. The first figure of the ultrasonic motor generates periodic deformation on the piezoelectric actuator when AC voltage is applied. Case 2: The periodic deformation of the ultrasonic motor generated on the motor stator when the AC voltage is applied in the first figure. The fourth picture: the three-dimensional exploded view of the stator structure of the ultrasonic motor of the present invention. The sixth embodiment of the three-phase signal-driven elliptical stator structure of the present invention is not intended to be the seventh picture: the second phase diagram of the bi-phase signal input to the piezoelectric actuator ······························································································ Schematic diagram of the vibration mode diagram: Figure 11: The natural frequency of the vibration mode of the elliptical stator structure of this creation varies with the long and short axis of the elliptical elastomer. Schematic diagram of the elliptical stator structure of the single phase # drive type of this creation. Eleventh figure · Single-phase signal-driven elliptical stator joint of the creation 15 M286995 Schematic diagram of the structure of the action (1) Figure 14: The creation Schematic diagram of the operation principle of the elliptical stator structure of the single-phase signal-driven type (2) The fifteenth figure · The embodiment of the linear ultrasonic motor of the present invention is shown in the sixteenth figure: the embodiment of the rotary ultrasonic motor of the present invention [Main component symbol description]
(11) 結構體 (12) 壓電致動元件 (13) 壓電致動元件 (14) 彈性體 (15) 對象物 (2) 馬達底座 (21) 凹陷區 (22) 第一滑軌 (3) 橢圓形定子 (31) 壓電致動元件 (32) 橢圓形彈性體 (321) 作用塊 (33) 固定柱 (4) 支撐預壓機構 (41) 支撐座 (411) 容室 (412) 缺槽 (42) 第二滑軌 (43) 導引桿 (431) 螺紋 (44) 彈性件 (45) 彈簧擋板 (451) 穿孔 (46) 限位支架 (461) 螺桿 (462) 螺帽 (5) 對象物 (5，） 滑台組 (51，） 滑台固定座 (511，） 凸軌 (52，） 滑台平台 (52Γ ) 凹槽 (53，） 财磨材 (5，，） 轉子組 (5Γ ) 轉子 (52，，） 耐磨材 16(11) Structure (12) Piezoelectric actuating element (13) Piezoelectric actuating element (14) Elastomer (15) Object (2) Motor base (21) Recessed area (22) First slide (3) Elliptical Stator (31) Piezoelectric Actuator (32) Elliptical Elastomer (321) Acting Block (33) Fixing Post (4) Support Preloading Mechanism (41) Support Seat (411) Housing (412) Missing Slot (42) Second slide rail (43) Guide rod (431) Thread (44) Elastic member (45) Spring baffle (451) Perforation (46) Limit bracket (461) Screw (462) Nut (5 ) Object (5,) Slide table (51,) Slide mount (511,) Bullet (52,) Slide platform (52Γ) Groove (53,) Solid material (5,,) Rotor set (5Γ) Rotor (52,,) wear-resistant material 16