WO1991011850A1 - Ultrasonic motor with two rotors - Google Patents

Ultrasonic motor with two rotors Download PDF

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Publication number
WO1991011850A1
WO1991011850A1 PCT/EP1991/000133 EP9100133W WO9111850A1 WO 1991011850 A1 WO1991011850 A1 WO 1991011850A1 EP 9100133 W EP9100133 W EP 9100133W WO 9111850 A1 WO9111850 A1 WO 9111850A1
Authority
WO
WIPO (PCT)
Prior art keywords
stator
ultrasonic
ultrasonic motor
contact
motor according
Prior art date
Application number
PCT/EP1991/000133
Other languages
German (de)
French (fr)
Inventor
Peter Hagedorn
Jörg WALLASCHEK
Original Assignee
Licentia Patent-Verwaltungs-Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Licentia Patent-Verwaltungs-Gmbh filed Critical Licentia Patent-Verwaltungs-Gmbh
Priority to CA002049990A priority Critical patent/CA2049990A1/en
Priority to JP50261191A priority patent/JPH05501496A/en
Publication of WO1991011850A1 publication Critical patent/WO1991011850A1/en

Links

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

Definitions

  • the present invention relates to an ultrasonic motor in which a drive torque is generated using ultrasonic oscillators, e.g. Electro or magneto-striction elements is produced.
  • ultrasonic oscillators e.g. Electro or magneto-striction elements is produced.
  • Such an ultrasonic motor e.g. is known from US Pat. No. 4,562,374, consists of a rotor and a st gate made of elastic material, in which mechanical waves are excited by a piezoelectric ceramic.
  • the rotor and stator are in axial pressure contact, the contact surface being provided with a suitable friction lining .
  • the advantages of such motors include the possibility of generating high torques at user-friendly low speeds without gears, their small size with low weight and high energy density as well as a high holding torque in a passive state.
  • the drive of a generic motor takes place through d generation by traveling waves in the stator with the rotor. Since the surface elements of the stator in question move approximately on elliptical orbits, the friction between the stator and rotor surfaces in the contact zone between the two surfaces creates tangentia forces which lead to the formation of a movement of the rotor, starting torque, idling speed, efficiency and life
  • the duration of the motor largely depends on the contact and pressure conditions between the stator and the rotor. So z. an increased axial force between rotor and stator for greater driving force and greater torque. However, it is Increase by reaching the yield point of the usual friction material set a barrier. Similarly, enlarging the contact area by using a vibration stator with a larger diameter leads to a larger torque, but at the same time reduces the resonance frequency of the stator into the listening area.
  • the object of the present invention is to improve the state of the art and, in particular, to provide an ultrasound motor with better contact properties between the gate and rotor, higher torque and greater synchronism.
  • this object is achieved by the features of claim 1.
  • the stator excites traveling waves, for example through piezoelectric ceramic components.
  • the two rotors on the top and bottom of the stator are in contact with it under pressure.
  • the contact area between the stator and the rotor is increased without the above-mentioned disadvantage of lowering the resonance frequency.
  • Another advantage of the motor according to the invention consists in an increased synchronization and better heat dissipation and distribution through the use of two moving parts.
  • the invention also enables the motor to be operated with a lower axial pressure between the stator and the rotor. More advantageous Embodiments of the invention can be found in subclaims 2 to 6.
  • FIG. 1 shows a schematic cross-sectional illustration of a known ultrasound motor
  • FIG. 1 a shows the stator configuration in a known ultrasonic motor
  • FIG. 2 shows a schematic cross-sectional illustration of an ultrasound motor according to the invention
  • Figure 3 is a schematic cross-sectional view of another embodiment of the invention.
  • the known rotary ultrasonic motor shown in FIGS. 1 and 1a consists of a stator 1 and a rotor 2.
  • the stator 1 contains, as ultrasound oscillators, piezoceramic elements 3 arranged in a ring, which are provided with electrodes and are glued to the actual vibrating body.
  • the stator and rotor are in contact with one another under axial pressure; the contact surface is provided with a thin coating of suitable plastic, the electrodes are used to excite the piezoceramic with high-frequency AC voltage so that mechanical traveling waves are generated in the stator.
  • a metal ring or a circular metal disc is used as the actual vibrating body.
  • FIG. 2 shows a schematic representation of a rotary ultrasonic motor according to the invention.
  • the circular disc-shaped stator 4 is in contact with each other on opposite surface areas 4a and 4b under axial pressure two rotors 5a and 5b seated on a common shaft. Traveling waves are generated in the stator by the ultrasound elements 6a and 6b, which lead to friction to tangential forces and to the formation of a rotary movement and a torque on the rotors 5a and 5b.
  • the oppositely directed axial pressure of the rotors on the stator 4 is symbolized in FIG. 2 by the spring elements 7a and 7b.
  • ultrasonic elements are only arranged on one surface of the stator.
  • the oscillators can be attached anywhere, but not on the central plane of the stator, whereby the central plane is understood to mean the plane z, which bisects the stator plate at every point.
  • the central plane is understood to mean the plane z, which bisects the stator plate at every point.
  • the ultrasonic oscillators a the stator surfaces, their arrangement is also possible in the stator.
  • FIG. 3 shows an embodiment of the invention, in which the excitation of the traveling waves takes place through the oscillators 8 embedded in the stator body.

Abstract

An ultrasonic motor, composed of a stator (4) made of an elastic material has one or several ultrasonic oscillators (6a, 6b) that excite travelling waves in a stator and a movable part (5a) which is urged into contact with a surface area of the stator. A second movable part (5b) is urged into contact with a second surface area of the stator in which the travelling waves are excited.

Description

Ultraschallmotor mit zwei RotorenUltrasonic motor with two rotors
Beschreibungdescription
Die vorliegende Erfindung betrifft einen Ultraschallmoto bei dem ein Antriebsmoment mit Hilfe von Ultraschalloszi11 toren, z.B. Elektro- oder Magneto-Striktionselementen erzeu wird.The present invention relates to an ultrasonic motor in which a drive torque is generated using ultrasonic oscillators, e.g. Electro or magneto-striction elements is produced.
Ein solcher Ultraschallmotor, wie er z.B. aus dem US Pate 4,562,374 bekannt ist, besteht aus einem Rotor und einem St tor aus elastischem Material, wobei in letzterem durch ei piezoelektrische Keramik mechanische Wellen angeregt werde Rotor und Stator stehen unter axialem Druck in Kontakt, wob die Kontaktfläche mit einem geeigneten Reibbelag verseh ist. Vorteile solcher Motoren sind u.a. die Möglichkeit, oh Getriebe hohe Drehmomente bei anwenderfreundlichen niedrig Drehzahlen zu erzeugen, ihr kleines Bauvolumen mit gering Gewicht und hoher Energiedichte sowie ein hohes Haltemome in passivem Zustand.Such an ultrasonic motor, e.g. is known from US Pat. No. 4,562,374, consists of a rotor and a st gate made of elastic material, in which mechanical waves are excited by a piezoelectric ceramic. The rotor and stator are in axial pressure contact, the contact surface being provided with a suitable friction lining . The advantages of such motors include the possibility of generating high torques at user-friendly low speeds without gears, their small size with low weight and high energy density as well as a high holding torque in a passive state.
Der Antrieb bei einem gattungsgemäßen Motor erfolgt durch d Erzeugung durch Wanderwellen im Stator mit dem Rotor. Da si dabei die betreffenden Oberflächenelemente des Stators näh rungsweise auf elliptischen Bahnen bewegen, entstehen au grund der Reibung zwischen Stator- und Rotoroberfläche in d Kontaktzone zwischen den beiden Oberflächen tangentia Kräfte, die zur Ausbildung einer Bewegung des Rotors führe Anlaufdrehmoment, Leerlaufdrehzahl, Wirkungsgrad und Leben dauer des Motors hängen dabei wesentlich von den Kontakt- u Druckbedingungen zwischen Stator und Rotor ab. So führt z. eine erhöhte Axialkraft zwischen Rotor und Stator zu größer Antriebskraft und größerem Drehmoment. Allerdings ist dies Erhöhung durch das Erreichen der Fließgrenze des üblichen Reibmaterials eine Schranke gesetzt. Ähnlich führt zwar eine Vergrößerung der Kontaktfläche durch Verwendung eines Schwingstators mit größerem Durchmesser zu einem größeren Drehmoment, reduziert aber gleichzeitig die Resonanzfrequenz des Stators bis in den Hörbereich hinein.The drive of a generic motor takes place through d generation by traveling waves in the stator with the rotor. Since the surface elements of the stator in question move approximately on elliptical orbits, the friction between the stator and rotor surfaces in the contact zone between the two surfaces creates tangentia forces which lead to the formation of a movement of the rotor, starting torque, idling speed, efficiency and life The duration of the motor largely depends on the contact and pressure conditions between the stator and the rotor. So z. an increased axial force between rotor and stator for greater driving force and greater torque. However, it is Increase by reaching the yield point of the usual friction material set a barrier. Similarly, enlarging the contact area by using a vibration stator with a larger diameter leads to a larger torque, but at the same time reduces the resonance frequency of the stator into the listening area.
Bisherige Versuche, die Kontakt- und Druckbedingungen bei gattungsgemäßen Ultraschallmotoren zu verbessern sind voi— nehm!ich auf eine optimale Gestaltung der Statoroberfläche (OS 36 26 389) und die Entwicklung von besonders angepaßten Reibmaterialien für Stator und Rotor (EP-A 222394) gerichtet gewesen.Attempts to date to improve the contact and pressure conditions in generic ultrasonic motors have been directed towards an optimal design of the stator surface (OS 36 26 389) and the development of specially adapted friction materials for the stator and rotor (EP-A 222394) .
Aufgabe der vorliegenden Erfindung ist die Verbesserung de Standes der Technik und insbesondere die Angabe eines Ultra schallmotors mit besseren Kontakteigenschaften zwischen Sta tor und Rotor, höherem Drehmoment und größerer Gleichlauf güte.The object of the present invention is to improve the state of the art and, in particular, to provide an ultrasound motor with better contact properties between the gate and rotor, higher torque and greater synchronism.
Erfindungsgemäß wird diese Aufgabe durch die Merkmale de Anspruchs 1 gelöst. In einem Ultraschall otor, der einen Sta tor und zwei Rotoren aufweist, werden vom Stator Wanderwelle angeregt, z.B. durch piezoelektrische Keramikbausteine. Di beiden Rotoren stehen jeweils an der Obei—, bzw. Unterseit des Stators mit diesem unter Druck in Kontakt. Durch diese Aufbau des Motors wird die Kontaktfläche zwischen Stator un Rotor vergrößert, ohne daß es zu dem oben erwähnten Nachtei einer Senkung der Resonanzfrequenz kommt. Weitere Vorteil des erfindungsgemäßen Motors bestehen in einer erhöhte Gleichlaufgute und besseren Wärmeabfuhr- und Verteilung durc die Verwendung von zwei bewegten Teilen. Weiter ermöglich die Erfindung auch den Betrieb des Motors mit geringere Axialdruck zwischen Stator und Rotor. Weitere vorteilhaft Ausführungsformen der Erfindung sind den Unteransprüche 2 bis 6 zu entnehmen.According to the invention, this object is achieved by the features of claim 1. In an ultrasonic otor, which has a stator and two rotors, the stator excites traveling waves, for example through piezoelectric ceramic components. The two rotors on the top and bottom of the stator are in contact with it under pressure. With this construction of the motor, the contact area between the stator and the rotor is increased without the above-mentioned disadvantage of lowering the resonance frequency. Another advantage of the motor according to the invention consists in an increased synchronization and better heat dissipation and distribution through the use of two moving parts. The invention also enables the motor to be operated with a lower axial pressure between the stator and the rotor. More advantageous Embodiments of the invention can be found in subclaims 2 to 6.
Im folgenden wird der erfindungsgemäße Ultraschallmotor anhand von Zeichnungen näher erläutert. Im einzelnen zeigtThe ultrasonic motor according to the invention is explained in more detail below with reference to drawings. In detail shows
Figur 1 eine schematische Querschnittsdarstellung eines bekannten Ultraschallmotors,FIG. 1 shows a schematic cross-sectional illustration of a known ultrasound motor,
Figur 1a eine Darstellung der Statorkonfiguration bei einem bekannten Ultraschallmotor,FIG. 1 a shows the stator configuration in a known ultrasonic motor,
Figur 2 eine schematische Querschnittsdarstellung eines erfindungsgemäßen Ultraschallmotors,FIG. 2 shows a schematic cross-sectional illustration of an ultrasound motor according to the invention,
Figur 3 eine schematische Querschnittdarstellung einer weiteren Ausführungsform der Erfindung.Figure 3 is a schematic cross-sectional view of another embodiment of the invention.
Der in Figur 1 und 1a dargestellte bekannte Rotations-Ultra¬ schallmotor besteht aus einem Stator 1 und einem Rotor 2. Der Stator 1 enthält als Ultraschalloszillatoren kreisringförmig angeordnete Piezokeramikelemente 3, die mit Elektroden verse¬ hen und mit dem eigentlichen Schwingkörper verklebt sind. Stator und Rotor stehen unter axialem Druck in Kontakt mit¬ einander; die Kontaktfläche ist mit einem dünnen Belag aus geeignetem Kunststoff versehen, über die Elektroden wird die Piezokeramik mit hochfrequenter WechselSpannung so angeregt, daß im Stator mechanische Wanderwellen erzeugt werden. Als eigentlicher Schwingkörper wird ein Metallring oder eine kreisförmige MetallScheibe verwendet.The known rotary ultrasonic motor shown in FIGS. 1 and 1a consists of a stator 1 and a rotor 2. The stator 1 contains, as ultrasound oscillators, piezoceramic elements 3 arranged in a ring, which are provided with electrodes and are glued to the actual vibrating body. The stator and rotor are in contact with one another under axial pressure; the contact surface is provided with a thin coating of suitable plastic, the electrodes are used to excite the piezoceramic with high-frequency AC voltage so that mechanical traveling waves are generated in the stator. A metal ring or a circular metal disc is used as the actual vibrating body.
Figur 2 zeigt eine schematische Darstellung eines erfindungs¬ gemäßen Rotations-Ultraschallmotors. Dabei steht der kreis¬ scheibenförmige Stator 4 an jeweils gegenüberliegenden Ober¬ flächenbereichen 4a und 4b unter axialem Druck in Kontakt mit zwei auf einer gemeinsamen Welle sitzenden Rotoren 5a und 5b. Im Stator werden durch die Ultraschallelemente 6a bzw. 6b jeweils Wanderwellen erzeugt, die über Reibung zu tangen- tialen Kräften und zur Ausbildung einer Drehbewegung und eines Drehmoments an den Rotoren 5a und 5b führen. Der entge¬ gengesetzt gerichtete axiale Druck der Rotoren auf den Stator 4 ist in Figur 2 durch die Federelementen 7a bzw. 7b symboli¬ siert. Bei einer weiteren Ausführungsform des Motors sind Ultraschallelemente nur auf einer Oberfläche des Stators angeordnet.Figure 2 shows a schematic representation of a rotary ultrasonic motor according to the invention. The circular disc-shaped stator 4 is in contact with each other on opposite surface areas 4a and 4b under axial pressure two rotors 5a and 5b seated on a common shaft. Traveling waves are generated in the stator by the ultrasound elements 6a and 6b, which lead to friction to tangential forces and to the formation of a rotary movement and a torque on the rotors 5a and 5b. The oppositely directed axial pressure of the rotors on the stator 4 is symbolized in FIG. 2 by the spring elements 7a and 7b. In a further embodiment of the motor, ultrasonic elements are only arranged on one surface of the stator.
Es ist möglich, die Anregung in einem beliebigen Bereich der Oberfläche des Stators vorzunehmen. Die Oszillatoren können prinzipiell überall angebracht werden, jedoch nicht an de Mittelebene des Stators, wobei unter Mittelebene die Ebene z verstehen ist, die die Statorplatte an jeder Stelle halbiert. Alternativ zu der Anordnung der Ultraschalloszillatoren a den Statoroberflächen ist ihre Anordnung auch im Stator mög lich. Figur 3 zeigt eine Ausführungsform der Erfindung, be der die Anregung der Wanderwellen durch die in den Statorkör per eingelagerten Oszillatoren 8 erfolgt.It is possible to excite in any area of the stator surface. In principle, the oscillators can be attached anywhere, but not on the central plane of the stator, whereby the central plane is understood to mean the plane z, which bisects the stator plate at every point. As an alternative to the arrangement of the ultrasonic oscillators a the stator surfaces, their arrangement is also possible in the stator. FIG. 3 shows an embodiment of the invention, in which the excitation of the traveling waves takes place through the oscillators 8 embedded in the stator body.
Obwohl die bisher beschriebenen Ausführungsformen des Motor sämtlich kreisförmige Rotoren aufweisen, ist zu betonen, da sich die Erfindung auch auf Linear-Ultraschallmotore bezieht. Although the previously described embodiments of the motor all have circular rotors, it should be emphasized that the invention also relates to linear ultrasound motors.

Claims

Ultraschallmotor mit zwei RotorenPatentansprüche Ultrasonic motor with two rotors
1. Ultraschallmotor, bestehend aus einem Stator aus eine elastischem Material, der einen oder mehrere Ultra schal loszillatoren zur Anregung von Wanderwellen in einem Stator aufweist und einem bewegbaren Teil, de unter Druck in Kontakt mit einem Oberflächenbereich de Stators steht, dadurch gekennzeichnet, daß ein zweite bewegbarer Teil vorgesehen ist, der mit einem zweite Oberflächenbereich des Stators, in dem Wanderwelle angeregt werden, unter Druck in Kontakt steht.1. Ultrasonic motor, consisting of a stator made of an elastic material, which has one or more ultra scarf loszillatoren for excitation of traveling waves in a stator and a movable part, which is under pressure in contact with a surface area of the stator, characterized in that a second movable part is provided which is in contact with a second surface area of the stator in which traveling waves are excited.
2. Ultraschallmotor nach Anspruch 1, dadurch gekennzeich net, daß der zweite mit dem ersten bewegbaren Teil fes verbunden ist.2. Ultrasonic motor according to claim 1, characterized in that the second is fixedly connected to the first movable part.
3. Ultraschallmotor nach Anspruch 1 oder 2, dadurc gekennzeichnet, daß der Stator kreisscheibenförmig aus gebildet ist, und daß das erste und zweite bewegte Ele ment mit dem Stator auf jeweils gegenüberliegenden Obei flächenseiten des Stators in Kontakt steht.3. Ultrasonic motor according to claim 1 or 2, dadurc characterized in that the stator is formed from a circular disc, and that the first and second moving ele element is in contact with the stator on opposite Obei surface sides of the stator.
4. Ultraschallmotor nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß die Ultraschalloszi llatore kreisringförmig am Stator angeordnet sind.4. Ultrasonic motor according to one of claims 1 to 3, characterized in that the Ultrasonic Oszi llatore are arranged in a ring on the stator.
5. Ultraschallmotor nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß die Ultraschalloszi llatore nur an einer Oberflächenseite angeordnet sind. Ultraschall otor nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß die Ultraschalloszillatoren auf zwei gegenüberliegenden Oberflächenseiten des Sta¬ tors angeordnet sind.5. Ultrasonic motor according to one of claims 1 to 4, characterized in that the Ultrasonic Oszi llatore are arranged only on one surface side. Ultrasonic otor according to one of claims 1 to 4, characterized in that the ultrasonic oscillators are arranged on two opposite surface sides of the stator.
Ultraschallmotor nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß die Ultraschalloszillatoren kreisförmig und innerhalb des Stators angeordnet sind. Ultrasonic motor according to one of claims 1 to 6, characterized in that the ultrasonic oscillators are arranged in a circle and within the stator.
PCT/EP1991/000133 1990-01-26 1991-01-24 Ultrasonic motor with two rotors WO1991011850A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CA002049990A CA2049990A1 (en) 1990-01-26 1991-01-24 Ultrasound motor having two rotors
JP50261191A JPH05501496A (en) 1991-01-24 1991-01-24 Ultrasonic motor with two rotors

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19904002254 DE4002254A1 (en) 1990-01-26 1990-01-26 ULTRASONIC MOTOR WITH TWO ROTORS
DEP4002254.4 1990-01-26

Publications (1)

Publication Number Publication Date
WO1991011850A1 true WO1991011850A1 (en) 1991-08-08

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AU (1) AU7154191A (en)
CA (1) CA2049990A1 (en)
DE (1) DE4002254A1 (en)
WO (1) WO1991011850A1 (en)

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WO1995005682A1 (en) * 1993-08-18 1995-02-23 Figest B.V. Piezoelectric motor with progressive wave

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Publication number Priority date Publication date Assignee Title
FR2690018A1 (en) * 1991-10-10 1993-10-15 Mecanique Appliquee Lab Piezoelectric modular motor with stator having two active faces - has both faces excited by transducers having two active faces insulated by coaxial element
WO1995005682A1 (en) * 1993-08-18 1995-02-23 Figest B.V. Piezoelectric motor with progressive wave
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US5648696A (en) * 1993-08-18 1997-07-15 Figest B.V. Piezoelectric motor with progressive wave

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EP0465616A1 (en) 1992-01-15
AU7154191A (en) 1991-08-21
CA2049990A1 (en) 1991-07-27
DE4002254A1 (en) 1991-08-14

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