Classifications

• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
  • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
  • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
  • H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
  • H02N2/163—Motors with ring stator
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
  • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
  • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
  • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
  • G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
  • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
  • H02P6/14—Electronic commutators
  • H02P6/16—Circuit arrangements for detecting position

Definitions

• the present invention relates to an ultrasonic motor provided with a magnetic encoder device capable of detecting the rotational state of the rotor.
• Ultrasonic motors use almost any conventional motor, such as office equipment, household equipment, factory equipment, audio-visual equipment, cameras, and automotive electronics. It is possible to respond in the field of (1), and the demands for advanced control technology and small, lightweight, and thin structures are increasing.
• FIG. 3 shows the configuration of a conventional ultrasonic motor equipped with a magnetic encoder device.
• 103 is a disk-shaped rotation having a central axis of 10 la.
• a ring-shaped liner that converts the vibrations of the body 1 'and the stay into rotational force. It is a disk-shaped rotor composed of a ring material 102.
• Reference numeral 107 denotes a disk-shaped elastic body 104 having a 20-ring comb-shaped protruding portion 104 a on the upper surface and two disk-shaped piezoelectric bodies 105, 1.
• This is a stay that is constructed by layering 06 in the thickness direction and joining it to the elastic body 104.
• Reference numeral 108 denotes a disk-shaped fixed base that supports the rotor 103 and the stay 107, which is mounted on the mounting base 109.
• 11 1 is a spring
• 11 is a nut
• a ring provided on the upper surface of the lining material 102 and the elastic body 104.
• the structure is designed so that the protruding projections 104a contact each other with an appropriate load and are pressed.
• 1 16 is a permanent magnet mounted on the outer periphery of the rotating body 101 at three locations
• 117 is a mounting base that faces the permanent magnet 111. It is a magnetic sensitive element such as a hall element or a magnetoresistive element provided in the device. :.
• the two piezoelectric members 105 and 106 joined to the elastic member 104 mechanically shifted 90 ° from each other have a time difference of 90 from each other.
• the two piezoelectric bodies 105 and 106 When an AC voltage with a phase shift is applied, the two piezoelectric bodies 105 and 106 generate standing wave vibrations, and a wave line that combines the two standing waves.
• the vibration of the elastic body 104 becomes a traveling wave that advances with time. Therefore, the rotor 103, which is in pressure contact with the protrusion 104a of the elastic body 104, makes contact only at the top of the wave, and is in the opposite direction to the traveling direction of the traveling wave. It is moved in the direction, and the rotation occurs.
• the permanent magnet 111 mounted on the outer periphery of the rotor 101 also rotates, and the magnetic flux to the magnetic sensing element 111 changes intermittently. Then, this is detected by the magnetically sensitive element 117, and the processing is performed by the control circuit unit.
• the ni ac voltage applied to the piezoelectric bodies 105 and 106 is cut off in a circuit manner, and the elastic body 104 is cut off.
• the traveling material is no longer generated, and the lining material 102 and the ring-shaped projections 104a come into contact over the entire surface, A large frictional force is generated and the rotor 103 stops instantaneously.
• the motor is not affected by the magnetic flux for driving.
• the encoder section was installed outside in the direction of the motor's output shaft, so the overall thickness of the drive unit including the motor section and the encoder section was increased. It was difficult to reduce the size, and the use was limited. Disclosure of invention
• the main purpose of the present invention is to improve the accuracy of position control and speed control of the ultrasonic motor and to reduce the thickness in the axial direction,
• An object of the present invention is to provide a small, light, and thin ultrasonic motor with a magnetic encoder device.
• An object of the present invention is to provide a stay in which a piezoelectric body is joined to an elastic body, and a lining material for converting the vibration of the stator into a rotating force on a rotating body.
• the magnetic poles are alternately and continuously magnetized, with the first track and at least one magnetic pole at one location.
• a second track, which is magnetized, is provided via a non-magnetized portion
• -A magnetic encoder device comprising a magnetically sensitive element for detecting the rotational position and speed of the rotor, facing the second track.
• the first and second tracks are provided along the outer peripheral surface of the surface of the rolling element having a wall surface protruding in a direction perpendicular to the magnetic element, and the magnetic element is formed of the magnetically sensitive element. It is equipped with a coder device.
• the magnetically sensitive element detects changes in the first track and the second track magnetic flux generated by the rotation of the rotor, and detects the position control circuit section and the speed control circuit section.
• the accuracy of the position and speed control of the ultrasonic motor can be improved by the command signal output from the angle control circuit.
• the structure of the ultrasonic motor is small, lightweight, and thin.
• a speed control circuit for inputting a signal from the magnetically sensitive element to detect the rotation speed of the rotating body, and a signal for inputting the signal from the magnetically sensitive element to the rotating body.
• a position control circuit that detects the rotational position of the motor, and a drive circuit that receives signals from the speed control circuit and the position control circuit, and controls power supply to the piezoelectric body based on the signals. It has the following.
• FIG. 1 (a) is a plan view of an ultrasonic motor with a magnetic encoder device according to an embodiment of the present invention
• FIG. 1 (b) is a sectional view of the configuration of the ultrasonic motor
• Fig. 2 (a) is a perspective view of the rotor and the magnetically sensitive element of the ultrasonic motor
• Fig. 2 (b) is a schematic circuit diagram of a drive circuit of the ultrasonic motor
• 2 (c) is a partial output signal diagram from the magnetically sensitive element of the ultrasonic motor
• FIG. 3 (a) is a plane view of a conventional ultrasonic motor with a magnetic encoder device
• Fig. 3 (b) is a sectional view of the structure. • Best mode for carrying out the invention
• FIG. 1 is a cross-sectional view showing the configuration of an ultrasonic motor according to an embodiment of the present invention
• FIG. 2 is a perspective view showing the rotor and a magnetically sensitive element. It is.
• reference numeral 3 denotes a disk-shaped rotating body 1 having a central axis 1a and a wall protruding in the direction perpendicular to the radial direction on the outer periphery and vibration of the stator.
• This is a disk-shaped rotor composed of a ring-shaped lining material 2 that converts torque into rotational force.
• Numeral 7 shows a disc-shaped elastic body 4 having a ring-shaped comb-shaped projection 4a on the upper surface and two disc-shaped piezoelectric bodies 5, 6 superimposed in the thickness direction.
• This is a stator that is configured by joining to FIG.
• Reference numeral 8 denotes a disk-shaped fixed base that supports the rotor 3 and the stay 7 and is installed on the mounting base 9.
• Numeral 10 denotes a bearing provided at the center of the stator 7 so that the shaft 1a of the rotating body 1 fits into the bearing.
• 11 1 is a spring
• 15 12 is a nut, which is a ring-shaped projection provided on the upper surface of the lining material 2 and the elastic body 4. 4a is designed to be tightened so that it contacts and presses with an appropriate load.
• Reference numeral 15 denotes a magnetically responsive element mounting base which is set on the mounting base 9 with an appropriate gap from the outer periphery of the rotor.
• reference numeral 2013 denotes a first track 13b formed by changing the magnetic poles alternately and continuously at the outer peripheral portion of the wall surface of the rotor, and magnetizing the rotor.
• a non-magnetized portion 13a in which a second track 13c formed by magnetizing magnetic poles different from each other at one location in a concave groove shape is integrated. It is a resin-formed magnet formed in the above manner.
• Reference numeral 14 denotes a frequency power generation unit mounted on the magnetically sensitive element mounting base 15 for detecting a change in magnetic flux in the 251st track 13b. • (FG section) An index section sensor 14b for detecting a change in magnetic flux in the sensor 14a and the second track 13c, and each sensor. It is a magnetically sensitive element consisting of a human output lead wire 14c that inputs and outputs the circuit.
• the signals from the magnetically sensitive element 14 are input to the position control circuit 16 and the speed control circuit 17.
• the signals of the position control circuit 16 and the speed control circuit 17 are input to the drive circuit 18.
• the driving circuit 18 supplies electric power to the piezoelectric bodies 5 and 6 of the ultrasonic motor 19.
• a control signal is output to the drive circuit 18 and the power supply to the piezoelectric bodies 5 and 6 is controlled based on the control signal to obtain a desired position for driving the ultrasonic motor 19.
• the speed is controlled.
• the basic output shown in Fig. 2c is obtained from the FG section sensor 14a.
• Constant phase difference between waveform signal A and basic output waveform signal A (Usually 90 °) is output as the output waveform signal B.
• the index section sensor 14b outputs an output signal of one wavelength due to one valley and valley for one rotation of the rotor 3.
• a rotating body having a center axis and a wall protruding in a direction perpendicular to the radial direction on the outer peripheral portion and a ring-shaped rolling material are provided.
• the first track which is magnetized by alternately and continuously changing the magnetic poles on the outer periphery of the wall of the ⁇ -ta that is composed of
• a second track is formed by integrally forming a non-magnetized portion with a handle, and the magnetic track is provided to face the first and second tracks.
• the first track in which the magnetic poles are alternately and continuously magnetized on the outer peripheral portion of the rotating body, and at least one magnetic pole is attached to one location.
• the second track which is magnetized, is set up with a non-magnetized part and the magnetically sensitive element installed opposite to the first and second tracks.

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• Engineering & Computer Science (AREA)
• Human Computer Interaction (AREA)
• Manufacturing & Machinery (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Power Engineering (AREA)
• General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)

Priority Applications (1)

Applications Claiming Priority (2)

Publications (1)

Family

ID=13158579

Family Applications (1)

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Cited By (3)

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Citations (3)

Family Cites Families (4)

• 1988
  • 1988-03-15 JP JP63060997A patent/JPH01234071A/ja active Pending
• 1989
  • 1989-03-14 WO PCT/JP1989/000273 patent/WO1989008945A1/ja active Application Filing
  • 1989-03-14 DE DE19893990206 patent/DE3990206T1/de not_active Withdrawn
  • 1989-03-14 DE DE19893990206 patent/DE3990206C2/de not_active Expired - Lifetime

Patent Citations (3)

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