CN100581041C - Spherical multi-freedom altrasonic electric machine of single vibrator longtitude bend sandwich changer type - Google Patents
Spherical multi-freedom altrasonic electric machine of single vibrator longtitude bend sandwich changer type Download PDFInfo
- Publication number
- CN100581041C CN100581041C CN200710072167A CN200710072167A CN100581041C CN 100581041 C CN100581041 C CN 100581041C CN 200710072167 A CN200710072167 A CN 200710072167A CN 200710072167 A CN200710072167 A CN 200710072167A CN 100581041 C CN100581041 C CN 100581041C
- Authority
- CN
- China
- Prior art keywords
- piezoelectric ceramic
- ceramic piece
- curved
- flange
- vertical angle
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
This invention relates to a supersonic motor, in which, a flange is set on a screw post, compressional vibration piezoelectric ceramic plate sets, bent vibration piezoelectric ceramic plate sets, pole copper plates and a cover are mounted on the post and fixed to become one unit with a cross orthogonal luff rod by the post, the polarization directions of two adjacent bent vibration piezoelectric ceramic sets are opposite and those of the two adjacent compressional piezoelectric ceramic sets are opposite, a drive foot is placed at the center of the luff rod and fixed on it and a rotor ball sits on the drive foot and the fixed component fastened to the flange.
Description
Technical field
The present invention relates to a kind of ultrasound electric machine, belong to the piezoelectric ultrasonic motor technical field.
Background technology
Piezoelectric ultrasonic motor since self have simple in structure flexibly, forms of motion is various, volume is little, in light weight, advantages such as response speed fast, no electromagnetic interference, has been widely used in technical fields such as photoelectron, Aero-Space, biology and genetic engineering, robot and household electrical appliance at present.The ultrasound electric machine of practical application at present mostly can only moving linearly or the motion of rotation one degree of freedom, and in fields such as the spherical joint of comprehensive bionic movement, high-performance machine people's flexible joint and robot eyeballs, requiring has the motor of multifreedom motion to drive.The spherical multi-freedom ultrasound electric machine of development adopts many oscillators drive forms more both at home and abroad at present, promptly when the motor body configuration designs, adopted a plurality of discrete drive vibrator that spherical mover is driven, an oscillator is subjected to excitation can provide certain fixed-direction to drive, and a plurality of oscillator work in combination realize the multifreedom motion of spherical spinner.There is following problem in this type of motor: one, each drive vibrator consistency of performance problem because that each oscillator be difficult to guarantee in processes such as processing, stickup and assembling is in full accord, make its vibration characteristics and and rotor between frictional behavior there are differences; Two, disturb and the obstruction problem between each oscillator, when the motion of specific implementation single-degree-of-freedom direction, except that the sub-drive vibrator of this degree of freedom can produce actuating force, many frictions couple drive point of all the other each sub-drive vibrator and mover ball plays inhibition to the realization of this degree of freedom motion, therefore can seriously reduce mechanical output characteristic index and efficient; Three, each oscillator is inconsistent to the inhibition of mover ball, and when same oscillator changed in the rotor motion direction, it hinders influence was not constant yet, therefore is difficult to guarantee each consistency and stability to driveability, the poor controllability of motor.
A kind of " cylinder-spheroid Three Degree Of Freedom ultrasound electric machine ", adopt the simple oscialltor form, being screw rod clips together the formation motor stator to metallic elastic body and three groups of piezo ceramic elements and electrode slice, and this motor exists that the configuration 3 d scale is unbalance, driving moment is little, has limited its application scenario; The spherical ultrasound electric machine of another kind of plank frame adopts the metal of single oscillator and the drive body configuration that the piezoelectric ceramic composite sheet constitutes, though configuration is simple, is subjected to the restriction of energy density and physical dimension, can not realize powerful at a high speed the driving.
Summary of the invention
The purpose of this invention is to provide the vertical angle coupling heart energy converter type spherical multi-freedom ultrasound electric machine of a kind of simple oscialltor, it can solve cylinder-spheroid Three Degree Of Freedom ultrasound electric machine and have that the configuration 3 d scale is unbalance, driving moment is little, applications is limited and the spherical ultrasound electric machine of plank frame can not be realized the problem of powerful driving at a high speed.
The present invention is made up of the vertical angle coupling heart transducer of simple oscialltor, fixation kit and mover ball; The vertical angle coupling heart transducer of described simple oscialltor is made up of cross quadrature luffing bar, longitudinal vibration piezoelectric ceramic piece group, flange, electrode copper sheet, the curved piezoelectric ceramic piece group of shaking, end cap, double-screw bolt and driving foot; Be respectively equipped with a double-screw bolt on the vertical axis of described cross quadrature luffing bar, described double-screw bolt is provided with flange, flange is positioned at the nodal section position of the vertical angle coupling heart transducer extensional vibration of simple oscialltor, on the double-screw bolt between the large end face of flange and cross quadrature luffing bar longitudinal vibration piezoelectric ceramic piece group is housed, the curved piezoelectric ceramic piece group of shaking is housed on the double-screw bolt between flange and the end cap, the described curved piezoelectric ceramic piece group of shaking is made up of two curved piezoelectric ceramic pieces that shake, described two curved piezoelectric ceramic pieces that shake are positioned at curved vibration shape antinode place, described longitudinal vibration piezoelectric ceramic piece group is made up of two longitudinal vibration piezoelectric ceramic pieces, between the two longitudinal vibration piezoelectric ceramic pieces of longitudinal vibration piezoelectric ceramic piece group, two of the curved piezoelectric ceramic piece group of shaking is bent to shake between the piezoelectric ceramic piece and bend to shake and the electrode copper sheet is housed, the large end face of cross quadrature luffing bar between piezoelectric ceramic piece group and the flange respectively, longitudinal vibration piezoelectric ceramic piece group, flange, the electrode copper sheet, curved piezoelectric ceramic piece group and the end cap of shaking is tightened to one by double-screw bolt 7; The every curved piezoelectric ceramic piece symmetry of shaking is cut into curved piezoelectric ceramic piece and the curved piezoelectric ceramic piece that shakes of second sheet of shaking of first sheet, the polarised direction of first sheet of the every curved piezoelectric ceramic piece that shakes curved shake piezoelectric ceramic piece and the curved piezoelectric ceramic piece that shakes of second sheet is opposite, the polarised direction of two curved piezoelectric ceramic pieces that shake of first sheet is opposite, and the polarised direction of two curved piezoelectric ceramic pieces that shake of second sheet is opposite; The polarised direction of two longitudinal vibration piezoelectric ceramic pieces is opposite, the polarised direction of adjacent two curved piezoelectric ceramic piece groups of shaking is opposite, the polarised direction of adjacent two longitudinal vibration piezoelectric ceramic piece groups is opposite, drive foot and be positioned at the center of cross quadrature luffing bar and affixed with the small end face of cross quadrature luffing bar, the upper surface that drives foot is processed with ball-and-socket, described mover ball seat is also spacing by fixation kit on ball-and-socket and fixation kit, and described fixation kit and flange are affixed.
The present invention has following beneficial effect: the present invention adopts the vertical angle coupling heart transducer of simple oscialltor as driver, the extensional vibration that utilizes the piezoelectric ceramic piece group swashs in the vertical angle coupling heart transducer of simple oscialltor and extensional vibration and flexural vibrations, by encouraging each potsherd group various combination to carry out work, produce three kinds of elliptical vibration tracks at the surperficial particle that drives the football nest, particle vibrates the motion that elliptical orbit can be realized positive and negative both direction by every kind, realizes three degree of freedom rotation rotation by the mover ball that drive motors drives.By adjusting the overall dimension of cross quadrature luffing bar, be easy to realize the degeneracy of vertical curved frequency, cross quadrature luffing bar also can reduce the loss of vibrational energy in end cap, assembles vibrational energy, thereby has improved amplitude and the vibration velocity that drives the foot position greatly.Therefore, the present invention has the configuration 3 d scale and coordinates, and is simple in structure, compact, and the efficient height at a high speed, output changes apart from big, but stable performance, is easy to control the advantage of producing in serial form.
Description of drawings
Fig. 1 is an overall structure outline drawing of the present invention, Fig. 2 is the structure chart that top pearl frame 14 and advance ball 17 are assembled together, Fig. 3 is the activation configuration outline drawing, Fig. 4 is the polarised direction schematic diagram of longitudinal vibration piezoelectric ceramic piece 30 and the curved piezoelectric ceramic piece 31 that shakes, Fig. 5 is the top plan view of the vertical angle coupling heart transducer of simple oscialltor, Fig. 6 is the front view of Fig. 3, and Fig. 7 is the left view of Fig. 3.
Embodiment
Embodiment one: in conjunction with Fig. 1～Fig. 7 present embodiment is described, present embodiment is made up of the vertical angle coupling heart transducer of simple oscialltor, fixation kit and mover ball 13; The vertical angle coupling heart transducer of described simple oscialltor is made up of cross quadrature luffing bar 1, longitudinal vibration piezoelectric ceramic piece group 2, flange 3, electrode copper sheet 4, the curved piezoelectric ceramic piece group 5 of shaking, end cap 6, double-screw bolt 7 and driving foot 8; Be respectively equipped with a double-screw bolt 7 on the vertical axis of described cross quadrature luffing bar 1, described double-screw bolt 7 is provided with flange 3, flange 3 is positioned at the nodal section position of the vertical angle coupling heart transducer extensional vibration of simple oscialltor, on the double-screw bolt 7 between the large end face of flange 3 and cross quadrature luffing bar 1 longitudinal vibration piezoelectric ceramic piece group 2 is housed, the curved piezoelectric ceramic piece group 5 of shaking is housed on the double-screw bolt 7 between flange 3 and the end cap 6, the described curved piezoelectric ceramic piece group 5 of shaking is made up of two curved piezoelectric ceramic pieces 31 that shake, described two curved piezoelectric ceramic pieces 31 that shake are positioned at curved vibration shape antinode place, described longitudinal vibration piezoelectric ceramic piece group 2 is made up of two longitudinal vibration piezoelectric ceramic pieces 30, between the two longitudinal vibration piezoelectric ceramic pieces 30 of longitudinal vibration piezoelectric ceramic piece group 2, two of the curved piezoelectric ceramic piece group 5 of shaking is bent to shake between the piezoelectric ceramic piece 31 and bend to shake and between piezoelectric ceramic piece group 5 and the flange 3 electrode copper sheet 4 is housed respectively, the large end face of cross quadrature luffing bar 1, longitudinal vibration piezoelectric ceramic piece group 2, flange 3, electrode copper sheet 4, curved piezoelectric ceramic piece group 5 and the end cap 6 of shaking is tightened to one by double-screw bolt 7; Every curved piezoelectric ceramic piece 31 symmetries of shaking are cut into curved piezoelectric ceramic piece 32 and the curved piezoelectric ceramic piece 33 that shakes of second sheet of shaking of first sheet, the polarised direction of first sheet of the every curved piezoelectric ceramic piece 31 that shakes curved shake piezoelectric ceramic piece 32 and the curved piezoelectric ceramic piece 33 that shakes of second sheet is opposite, the polarised direction of two curved piezoelectric ceramic pieces 32 that shake of first sheet is opposite, and the polarised direction of two curved piezoelectric ceramic pieces 33 that shake of second sheet is opposite; The polarised direction of two longitudinal vibration piezoelectric ceramic pieces 30 is opposite; The polarised direction of adjacent two curved piezoelectric ceramic piece groups 5 of shaking is opposite, the polarised direction of adjacent two longitudinal vibration piezoelectric ceramic piece groups 2 is opposite, all piezoelectric ceramic pieces of longitudinal vibration piezoelectric ceramic piece group 2 and the curved piezoelectric ceramic piece group 5 of shaking are polarised direction all along the thickness direction polarization with "+", "-" expression electricdomain; Drive foot 8 and be positioned at the center of cross quadrature luffing bar 1 and affixed with the small end face of cross quadrature luffing bar 1, the upper surface that drives foot 8 is processed with ball-and-socket 9, the radius of ball-and-socket 9 is identical with the radius of mover ball 13,13 in described mover ball is also spacing by fixation kit on ball-and-socket 9 and fixation kit, and described fixation kit and flange 3 are affixed.Driving ball-and-socket 9 of processing on the foot 8, can increase moving rotor and contact area between straight, improving the output of globular motor and change distance.
Embodiment two: in conjunction with Fig. 1～Fig. 3 and Fig. 5 present embodiment is described, the fixation kit of present embodiment is made up of top pearl frame 14, preload piece 15, preloading spring 16, advance ball 17, pre-locking bracket 18, base 19, driver fixed mount 20; In the annular groove of described top pearl frame 14 advance ball 17 is housed, top pearl frame 14 is contained on the described mover ball 13, top pearl frame 14 is connected with the upper end of pre-locking bracket 18 by preload piece 15, preloading spring 16, the lower end of pre-locking bracket 18 is fixed on the base 19, described driver fixed mount 20 is fixed on the base 19, driver fixed mount 20 and described flange 3 are affixed, and the vertical angle coupling heart transducer of described simple oscialltor is contained on the base 19.So be provided with, adopt top pearl frame 14 assembling advance balls 17 structures, mover ball 13 is played position-limiting action, by pretension bolt, preloading spring 16 and pre-locking bracket 18 conveniently adjusted pretightning forces.Other composition and annexation are identical with embodiment one.
Embodiment three: in conjunction with Fig. 1 and Fig. 3 present embodiment is described, the difference of present embodiment and embodiment two is: the fixation kit of present embodiment also increases flexible cushion rubber 22; Described flexible rubber ring 22 is arranged between driver fixed mount 20 and the flange 3.So be provided with, can reduce influence the vertical angle coupling heart transducer natural mode of vibration of simple oscialltor.
Embodiment four: in conjunction with Fig. 3 present embodiment is described, the difference of present embodiment and embodiment two is: the fixation kit of present embodiment also increases wearing layer 10; Described wearing layer 10 is arranged on the inwall of ball-and-socket 9.So be provided with, can prevent to drive foot 8 wearing and tearing, prolong the useful life of motor.
Embodiment five: in conjunction with Fig. 5 present embodiment is described, the cross quadrature luffing bar 1 of present embodiment is made up of four luffing bars 34 of quadrature in same plane; The longitudinal cross-section of described luffing bar 34 is a rectangle, and the length L of luffing bar 34 is 1/4 or 1/2 longitudinal vibration wavelength.So be provided with, luffing bar 34 can reduce the loss of vibrational energy on luffing bar 34 large end faces, plays the effect of assembling vibrational energy, improves the amplitude and the vibration velocity that drive foot 8 positions, and the performance of ultrasound electric machine is increased substantially.Other composition and annexation are identical with embodiment one.
Embodiment six: in conjunction with Fig. 5 present embodiment is described, the double-screw bolt 7 of present embodiment and flange 3 are formed by a block of metal material cutting processing.So be provided with, but weight reduction reduces energy loss.Other composition and annexation are identical with embodiment one.
Embodiment seven: in conjunction with Fig. 5 present embodiment is described, the cross quadrature luffing bar of present embodiment 1 with drive foot 8 and form by a block of metal material cutting processing.So be provided with, but weight reduction reduces energy loss.Other composition and annexation are identical with embodiment one.
Operation principle: in conjunction with Fig. 1, accompanying drawing 6 and Fig. 7 explanation, apply the resonance frequency alternating voltage between electrode A and electrode B, when a pair of curved piezoelectric ceramic piece that shakes of upside expanded, a pair of curved piezoelectric ceramic piece that shakes of downside shrank, and vice versa, excites flexural vibrations.Machine operation drives foot and is positioned at curved vibration shape antinode place in that odd number is curved when shaking state, and the curved direction of shaking that drives sufficient drive end is a Z-direction; Between electrode A and electrode C, apply the resonance frequency alternating voltage, the longitudinal vibration piezoelectric ceramic piece of every pair of reverse polarization expands synchronously or shrinks, excite extensional vibration, Y-axis is different to the polarised direction of the adjacent direction of two groups of longitudinal vibration piezoelectric ceramic pieces, when one group of longitudinal vibration piezoelectric ceramic piece expands, another group longitudinal vibration piezoelectric ceramic piece synchronous drives and drives foot along Y direction extensional vibration, and drives the longitudinal vibration speed maximum that foot is arranged in cross quadrature luffing bar.To vertical curved two-way simultaneously the excitation phase difference be+90 ° resonance frequency alternating voltage, the vertical curved vibration of the vertical angle coupling heart transducer of simple oscialltor will make the driving end face that the drives foot elliptical orbit that superposes out, driving the mover ball rotates around X-axis, adjusting two-way driving voltage phase difference is-90 °, can realize the counter motion of mover ball, in like manner, electrode B, electrode D applies the resonance frequency alternating voltage and encourages between electrode A, the mover ball will rotate along Y direction, the curved piezoelectric ceramic piece that shakes is not encouraged, only to electrode C, electrode D and between electrode A, apply phase difference and encourage for+90 ° resonance frequency alternating voltage, four tunnel longitudinal vibrations will be at the elliptical orbit on the driving end face that drives foot superposes out X-Y plane, drive the mover ball and rotate along the Z axle, adjusting two-way driving voltage phase difference is-90 °, the reverse rotation of mover ball.
Claims (7)
1, the vertical angle coupling heart energy converter type spherical multi-freedom ultrasound electric machine of a kind of simple oscialltor, it is made up of the vertical angle coupling heart transducer of simple oscialltor, fixation kit and mover ball (13); It is characterized in that the vertical angle coupling heart transducer of described simple oscialltor is by cross quadrature luffing bar (1), longitudinal vibration piezoelectric ceramic piece group (2), flange (3), electrode copper sheet (4), the curved piezoelectric ceramic piece group (5) of shaking, end cap (6), double-screw bolt (7) with drive enough (8) and form; Be respectively equipped with a double-screw bolt (7) on the vertical axis of described cross quadrature luffing bar (1), described double-screw bolt (7) is provided with flange (3), flange (3) is positioned at the nodal section position of the vertical angle coupling heart transducer extensional vibration of simple oscialltor, on the double-screw bolt (7) between the large end face of flange (3) and cross quadrature luffing bar (1) longitudinal vibration piezoelectric ceramic piece group (2) is housed, the curved piezoelectric ceramic piece group (5) of shaking is housed on the double-screw bolt (7) between flange (3) and the end cap (6), the described curved piezoelectric ceramic piece group (5) of shaking is made up of two curved piezoelectric ceramic pieces (31) that shake, described two curved piezoelectric ceramic pieces (31) that shake are positioned at curved vibration shape antinode place, described longitudinal vibration piezoelectric ceramic piece group (2) is made up of two longitudinal vibration piezoelectric ceramic pieces (30), between the two longitudinal vibration piezoelectric ceramic pieces (30) of longitudinal vibration piezoelectric ceramic piece group (2), two of the curved piezoelectric ceramic piece group (5) of shaking is bent to shake between the piezoelectric ceramic piece (31) and bend to shake and between piezoelectric ceramic piece group (5) and the flange (3) electrode copper sheet (4) is housed respectively, the large end face of cross quadrature luffing bar (1), longitudinal vibration piezoelectric ceramic piece group (2), flange (3), electrode copper sheet (4), curved piezoelectric ceramic piece group (5) and the end cap (6) of shaking is tightened to one by double-screw bolt (7); Every curved piezoelectric ceramic piece (31) symmetry of shaking is cut into curved piezoelectric ceramic piece (32) and the curved piezoelectric ceramic piece (33) that shakes of second sheet of shaking of first sheet, the polarised direction of first sheet of the every curved piezoelectric ceramic piece (31) that shakes curved shake piezoelectric ceramic piece (32) and the curved piezoelectric ceramic piece (33) that shakes of second sheet is opposite, the polarised direction of two curved piezoelectric ceramic pieces (32) that shake of first sheet is opposite, and the polarised direction of two curved piezoelectric ceramic pieces (33) that shake of second sheet is opposite; The polarised direction of two longitudinal vibration piezoelectric ceramic pieces (30) is opposite, the polarised direction of adjacent two curved piezoelectric ceramic piece groups (5) of shaking is opposite, the polarised direction of adjacent two longitudinal vibration piezoelectric ceramic piece groups (2) is opposite, drive foot (8) and be positioned at the center of cross quadrature luffing bar (1) and affixed with the small end face of cross quadrature luffing bar (1), the upper surface that drives foot (8) is processed with ball-and-socket (9), described mover ball (13) seat is also spacing by fixation kit on ball-and-socket (9) and fixation kit, and described fixation kit and flange (3) are affixed.
2, the vertical angle coupling heart energy converter type spherical multi-freedom ultrasound electric machine of simple oscialltor according to claim 1 is characterized in that described fixation kit comprises top pearl frame (14), preload piece (15), preloading spring (16), advance ball (17), pre-locking bracket (18), base (19), driver fixed mount (20); Advance ball (17) is housed in the annular groove of described top pearl frame (14), top pearl frame (14) is contained on the described mover ball (13), top pearl frame (14) is connected with the upper end of pre-locking bracket (18) by preload piece (15), preloading spring (16), the lower end of pre-locking bracket (18) is fixed on the base (19), described driver fixed mount (20) is fixed on the base (19), driver fixed mount (20) is affixed with described flange (3), and the vertical angle coupling heart transducer of described simple oscialltor is contained on the base (19).
3, the vertical angle coupling heart energy converter type spherical multi-freedom ultrasound electric machine of simple oscialltor according to claim 2 is characterized in that described fixation kit also comprises flexible rubber ring (22); Described flexible rubber ring (22) is arranged between driver fixed mount (20) and the flange (3).
4, the vertical angle coupling heart energy converter type spherical multi-freedom ultrasound electric machine of simple oscialltor according to claim 2 is characterized in that described fixation kit also comprises wearing layer (10); Described wearing layer (10) is arranged on the inwall of ball-and-socket (9).
5, the vertical angle coupling heart energy converter type spherical multi-freedom ultrasound electric machine of simple oscialltor according to claim 1 is characterized in that described cross quadrature luffing bar (1) is made up of four luffing bars (34) of quadrature in same plane; The longitudinal cross-section of described luffing bar (34) is a rectangle, and the length L of luffing bar (34) is 1/4 or 1/2 longitudinal vibration wavelength.
6, the vertical angle coupling heart energy converter type spherical multi-freedom ultrasound electric machine of simple oscialltor according to claim 1 is characterized in that described double-screw bolt (7) and flange (3) are formed by a block of metal material cutting processing.
7, the vertical angle coupling heart energy converter type spherical multi-freedom ultrasound electric machine of simple oscialltor according to claim 1 is characterized in that described cross quadrature luffing bar (1) and driving foot (8) are formed by a block of metal material cutting processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710072167A CN100581041C (en) | 2007-04-30 | 2007-04-30 | Spherical multi-freedom altrasonic electric machine of single vibrator longtitude bend sandwich changer type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710072167A CN100581041C (en) | 2007-04-30 | 2007-04-30 | Spherical multi-freedom altrasonic electric machine of single vibrator longtitude bend sandwich changer type |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101090243A CN101090243A (en) | 2007-12-19 |
| CN100581041C true CN100581041C (en) | 2010-01-13 |
Family
ID=38943444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200710072167A Expired - Fee Related CN100581041C (en) | 2007-04-30 | 2007-04-30 | Spherical multi-freedom altrasonic electric machine of single vibrator longtitude bend sandwich changer type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100581041C (en) |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101262187B (en) * | 2008-04-29 | 2010-09-08 | 哈尔滨工业大学 | Bending vibration sandwich energy converter cylinder stator and ultrasonic electromotor using this stator |
| CN101388623B (en) * | 2008-07-07 | 2010-08-04 | 哈尔滨工业大学 | Longitudinal-shaking sandwich energy converter type cylinder shape dual rotor ultrasonic motor |
| CN101388620B (en) * | 2008-07-07 | 2010-11-17 | 哈尔滨工业大学 | Sandwich type cylinder stator and ultrasonic motor using the same |
| CN103753603B (en) * | 2014-01-29 | 2016-06-22 | 哈尔滨工业大学 | Adopt the single-degree-of-freedom rotating mechanical arm that piezoelectric ultrasonic vibrator drives |
| CN104506079B (en) * | 2014-12-12 | 2017-02-01 | 上海大学 | cross multi-degree-of-freedom ultrasonic motor |
| CN105587625A (en) * | 2015-05-08 | 2016-05-18 | 长春工业大学 | Surface mount sandwich type longitudinal bending complex excitation active water spraying propulsion device and driving method thereof |
| CN105689248B (en) * | 2016-03-22 | 2018-06-26 | 许龙 | The orthogonal tubular energy converter of composite drive piezoelectricity of cross |
| CN106217851A (en) * | 2016-07-11 | 2016-12-14 | 杨林 | Novel ultrasonic welder |
| CN106493648A (en) * | 2016-12-13 | 2017-03-15 | 华侨大学 | A kind of radial ultrasonic vibration auxiliary cup emery wheel and its using method |
| CN108400722B (en) * | 2018-04-18 | 2019-11-08 | 哈尔滨工业大学 | A kind of two-freedom Piexoelectric actuator and its motivational techniques |
| CN109514591B (en) * | 2018-11-29 | 2024-05-24 | 南京航空航天大学 | Sandwich type piezoelectric manipulator based on spherical joint and control method thereof |
| CN109967466B (en) * | 2019-04-09 | 2021-08-17 | 哈尔滨工业大学 | Inner cylindrical surface robot adopting piezoelectric vibrator and excitation method thereof |
| CN109889087B (en) * | 2019-04-09 | 2020-01-24 | 哈尔滨工业大学 | Four-degree-of-freedom piezoelectric objective table and excitation method thereof |
| CN110492786B (en) * | 2019-08-12 | 2021-05-14 | 东南大学 | Three-degree-of-freedom force interaction device based on multi-mode conversion type ultrasonic motor |
| CN111181439B (en) * | 2020-02-24 | 2024-05-28 | 南京航空航天大学 | Patch type rotary dual-drive piezoelectric actuator and working method thereof |
| CN111649860B (en) * | 2020-07-08 | 2021-08-31 | 中国工程物理研究院总体工程研究所 | Portable bolt installation pretightning force test sleeve |
| CN112217416A (en) * | 2020-09-30 | 2021-01-12 | 天津大学 | Two-degree-of-freedom piezoelectric ultrasonic motor driven high-precision micro-assembly robot |
| CN113224972B (en) * | 2021-04-28 | 2022-06-17 | 南京航空航天大学 | Single-stator three-degree-of-freedom spherical ultrasonic motor and excitation method thereof |
| CN113916411B (en) * | 2021-09-18 | 2022-05-27 | 哈尔滨工业大学 | Pre-tightening force measurement method based on global linearization Koopman state observer |
| CN115459626B (en) * | 2022-08-26 | 2024-05-28 | 南京航空航天大学 | Patch frame type stator multi-degree-of-freedom ultrasonic motor and excitation method thereof |
| CN115566931B (en) * | 2022-12-06 | 2023-02-03 | 吉林大学 | Two rotational degree of freedom executor based on piezoelectric wafer drive |
-
2007
- 2007-04-30 CN CN200710072167A patent/CN100581041C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101090243A (en) | 2007-12-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100581041C (en) | Spherical multi-freedom altrasonic electric machine of single vibrator longtitude bend sandwich changer type | |
| CN100581042C (en) | Plane multi-freedom altrasonic electric machine of single vibrator longtitude bend sandwich changer type | |
| CN101626203B (en) | Vibrator of beam type linear ultrasonic motor using bending vibration modes | |
| CN102361413A (en) | Composite flexural vibration sandwich type double-foot linear ultrasonic motor vibrator | |
| CN106602927B (en) | A kind of resonance square-wave synchronous clamper piezoelectric linear motor | |
| Wang et al. | A compact cantilever-type ultrasonic motor with nanometer resolution: Design and performance evaluation | |
| CN102739106A (en) | Bent vibration composite single-driving foot linear ultrasonic driver | |
| CN102361414A (en) | Buckling composite modal sandwich type double-foot rotating ultrasonic motor vibrator with elastic supports | |
| CN102497130A (en) | Linear ultrasonic motor | |
| CN101202519B (en) | Ultrasound electric machine with two degrees of freedom | |
| CN102355160A (en) | Longitudinal and bending composite mode sandwich two-foot ultrasonic linear motor oscillator with elastic support | |
| CN101651431B (en) | Cantilever longitudinal-bending composite transducer type cylindrical traveling-wave ultrasonic motor vibrator | |
| CN101630925B (en) | Square rotary ultrasonic motor oscillator | |
| CN101626207B (en) | Vibrator of beam type rotary ultrasonic motor using bending vibration modes | |
| CN110299866A (en) | The accurate piezoelectric straight line mobile platform and operation mode of frame structure driving | |
| CN101626204B (en) | U-type double-pin linear ultrasonic motor vibrator | |
| CN108111056A (en) | Rotary ultrasonic motor and operation mode based on the driving of four tuning-fork type piezoelectric vibrators | |
| CN210629372U (en) | Piezoelectric planar motor based on stator drive of frame plate structure | |
| CN202997967U (en) | Fan-shaped linear ultrasonic electromotor based on continuous amplitude-change pole principle | |
| CN101626205B (en) | Rectangular four-pin linear ultrasonic motor vibrator | |
| CN101651429B (en) | Ring type traveling wave ultrasonic motor vibrator of cantilever longitudinal-bending composite transducer | |
| CN113511315B (en) | Ray type underwater piezoelectric robot | |
| JPH08242592A (en) | Ultrasonic actuator | |
| CN101651428B (en) | Ring type standing-wave ultrasonic motor vibrator of cantilever bending vibration transducer | |
| CN104022678A (en) | Partitioning stimulation type oscillator for three-degree-of-freedom ultrasonic motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100113 Termination date: 20100430 |