CN101001054A - Double-cylinder vibrator linear ultrasonic motor - Google Patents
Double-cylinder vibrator linear ultrasonic motor Download PDFInfo
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- CN101001054A CN101001054A CN 200610132315 CN200610132315A CN101001054A CN 101001054 A CN101001054 A CN 101001054A CN 200610132315 CN200610132315 CN 200610132315 CN 200610132315 A CN200610132315 A CN 200610132315A CN 101001054 A CN101001054 A CN 101001054A
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Abstract
This invention provides a double-cylinder vibrator line supersonic motor including a frame, a drive vibrator, a runner and a locking unit locking the frame, the drive vibrator, the runner and adjusting the locking ability, in which, the drive vibrator includes piezoelectric elements and a metal elastic body in the shape of Y, the bottom is connected with the runner, piezoelectric elements are put on the two branches of the top, said piezoelectric element is a thin piezoelectric ceramic plate, the runner is a slide block with guiding convexes at the side corresponding to the line guiding slot set at the bottom of the frame.
Description
Technical field
The invention belongs to the ultrasound electric machine technical field, particularly relate to a kind of linear ultrasonic motor.
Background technology
At present, traditional linear electromagnetic machine is widely used in every field, but there is following problem in it: air gap is bigger, and edge effect is arranged, and transmission stiffness is little, is unsuitable for the big impact or the occasion of dynamic load, uses the rare-earth permanent magnet cost higher; This does not have the function of holding position motor when halted state; Volume is big, is unsuitable for miniaturization; Produce magnetic field,, and electromagnetic noise etc. is arranged surrounding environment electromagnetic interference not.In robot and automation process equipment, the shortcoming of traditional electrical magneto is particularly outstanding, and is little as power/weight ratio, and transmission accuracy is not high, low-response etc.Press for a reaction rapid sensitive, high thrust, high accuracy, can avoid the novel linear motor of above-mentioned shortcoming.
Ultrasound electric machine is owing to have excellent properties such as power density is big, no electromagnetic interference, low-speed big, operation noiseless, nothing input self-locking, have broad application prospects in the motion of non-continuous movement, machine tool feed, servo-drive control field, or littler size range in might substitute traditional electromagnetic machine.
Ultrasound electric machine is to utilize the inverse piezoelectric effect of piezoelectric element to make elastomer (stator) produce microcosmic mechanical oscillation (vibration frequency is more than 20kHz) in supersonic range, amplify and the friction coupling by resonance, the folk prescription of macroscopic view that the microscopic vibration of stator is converted to rotor (or mover) is to a kind of New-type electric machine that rotates (or rectilinear motion) motion.It has compared diverse principle and structure with traditional electromagnetic machine, has the unexistent advantage of electromagnetic machine, therefore, has caused people's extensive concern.Though some linear type ultrasound motor has obtained application, as X-Y recorder, card drive unit, semiconductor machining, total sees, linear type ultrasound motor still is in conceptual phase at present.The external principle prototype of having developed multiple linear ultrasonic motor, the domestic research that then lays particular emphasis on the little actuator of high-resolution is very few to the research of the big stroke linear ultrasonic motor of high thrust.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of high thrust is provided, is easy to design and processing, high-precision transducing type double-cylinder vibrator linear ultrasonic motor.
In order to realize the foregoing invention purpose, the technical scheme of employing is as follows:
Double-cylinder vibrator linear ultrasonic motor, comprise frame, drive vibrator, mover, and be used to lock frame, drive vibrator, mover, and the locking mechanism of scalable coupling mechanism force, described drive vibrator comprises piezoelectric element and metallic elastic body, described metallic elastic body is " Y " shape, its lower end contacts with mover, be placed with piezoelectric element respectively in two branches of its upper end, described piezoelectric element adopts thin piezoelectric ceramic piece, described mover is the slide block that the side is provided with guide protrusions, and the set straight-line guidance groove in its guide protrusions and frame bottom is corresponding.
The present invention all is provided with piezoelectric ceramic piece by two openends on the metallic elastic body that is " Y " shape, under the inversion electrical effect effect of piezoelectric ceramic piece, the vibration deformation at two ends combines, the motion of the branch drives mover of the bottom of drive metallic elastic body, described mover is corresponding owing to being provided with straight-line guidance groove set bottom frame, so its motion is rectilinear motion, ultrasound electric machine of the present invention also is a linear ultrasonic motor.
In the technique scheme, described drive vibrator is provided with guide flange, and the set gathering sill in two side plates middle parts of described guide flange and frame is corresponding.Pass through guide flange, with the set gathering sill of frame biside plate, make things convenient for the assembling and the location of drive vibrator and frame on the one hand, only need in frame biside plate intermediary outside, guide flange is inserted in gathering sill, then can push in again, also make drive vibrator on the other hand when doing vibration deformation, but the direction of motion of fixed drive oscillator.
Piezoelectric element of the present invention adopts four thin piezoelectric ceramic pieces, and each thin piezoelectric ceramic piece is all along the thickness direction polarization, and per two thin piezoelectric ceramic piece polarity are opposite fits in the branch of the upper end that is positioned over " Y " shape metallic elastic body mutually.
The both sides of described each thin piezoelectric ceramic piece are provided with the foil as terminals.
Drive vibrator of the present invention also includes rear end cap and stud, each branch and the rear end cap of two branches in upper end of described " Y " shape metallic elastic body are equipped with the screw that matches with stud, make stud can fasten the upper end branch and the rear end cap of metallic elastic body, owing to will make piezoelectric ceramic piece and be between the upper end branch and rear end cap of metallic elastic body as the sheet metal of terminals, it must pass stud, so described thin piezoelectric ceramic piece and foil also are provided with the through hole that diameter is not less than the diameter of stud in the center, described thin piezoelectric ceramic piece and foil pass stud respectively and are fixed between the branch and rear end cap of metallic elastic body upper end.
In order to make the motion that can better drive mover, described metallic elastic body is tabular, described rear end cap can adopt tabular, also can adopt cylindrical, rear end cap adopts when cylindrical, and described thin piezoelectric ceramic piece is for thin circular, and described guide flange is provided with two boss, wherein a boss is positioned over the gathering sill in the frame, and another boss is connected with locking mechanism.
Locking mechanism of the present invention comprises the frame upper cover plate that is positioned at frame upper end, is positioned at the preloading spring on another boss of guide flange, and passes the frame upper cover plate and push down the pretension bolt of preloading spring.
Operation principle of the present invention is as follows:
Double-cylinder vibrator linear ultrasonic motor adopts two identical in structure langevin transducers, drive the vibration deformation of metallic elastic body, when two langevin transducers feed the in-phase voltage pumping signal, two oscillators stretch simultaneously or compress, particle at " Y " of metallic elastic body shape lower end convex teeth portion is done the double vibrations that stretches or compress along symmetry axis, and this symmetrical longitudinal extension vibration pattern is called extensional vibration mode.Because double wedge is realized the coupling of vibration and also can be formed flexible vibration, when two langevin transducers feed the out-of-phase voltage pumping signal, then an oscillator stretches, another oscillator compression simultaneously, particle in the double wedge end departs from symmetry axis and does flexible vibration, this asymmetrical extensional vibration (flexible vibration) pattern can be considered flexural vibration mode, the mode of oscillation that is metallic elastic body of the present invention is simultaneously in conjunction with extensional vibration and flexural vibrations, double wedge has been realized high thrust, the motion of high-precision driving mover under the mode of oscillation of combination.
Compared with prior art, the present invention has following characteristics:
1, drive vibrator of the present invention has adopted twin columns body Langevin transducer type structure, be easy to inspire the complex vibration mode of the extensional vibration (symmetry is with asymmetric) of each cylinder in the twin columns body by the driving voltage signal of importing certain phase difference, can increase thrust effectively, raise the efficiency;
2, motor stator structure of the present invention adopts the twin columns body structure, is easy to processing, and piezoelectric ceramic is fastening by bolt, double wedge, locknut (rear end cap), and certain preload pressure is arranged;
3, piezoelectric ceramic piece of the present invention and metallic elastic body do not need bondingly, only get final product with bolted, and processing simply is easy to suitability for industrialized production, and cost is low;
4, motor of the present invention has two kinds of mode of oscillations, and two kinds of mode resonance frequencies are tuning can be regulated by changing rear end cap length, for the design and the debugging of this type motor brought very big convenience;
5, from the piezoelectric ceramic piece polarization mode that motor adopted, the piezoelectric ceramic piece of this type motor only needs polarization vertically, does not need subregion in the face, simplifies the processing technology of piezoelectric ceramic piece greatly.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a drive vibrator structural representation of the present invention, and wherein a is a front view, and b is a left view, and c is a vertical view;
Fig. 3 is a stud structural representation of the present invention;
Fig. 4 is metallic elastic body of the present invention (double wedge) structural representation;
Fig. 5 is a rear end cap structural representation of the present invention;
Fig. 6 is an operation principle schematic diagram of the present invention.
Embodiment
The present invention is described further below in conjunction with accompanying drawing.
Structural representation of the present invention mainly is made up of pretension screw 1, frame upper cover plate 2, preloading spring 3, binding post and hub 4, stator (being drive vibrator) 5, mover 6, frame plate 7 seven big parts as shown in Figure 1.Pretension screw 1, frame upper cover plate 2, preloading spring 3 and frame plate 7 have constituted the pretightning force applying mechanism of motor, by the feeding depth of change pretension screw 1 and the strain of preloading spring 3, thereby give the certain pretightning force of motor stator.Mover 6 is the line slide rail that a single face has gathering sill, and its end face is fixed in frame plate 7 bottoms; The frame plate biside plate is provided with gathering sill, and the guide flange of stator 5 can be placed in the frame along gathering sill, thus fixed stator moving along the slide rail direction.Mover 6 upper surfaces and stator 5 terminal double wedges are given certain pretightning force by preloading spring 3 and pretension screw 1 and are compressed and contact.
Totally 4 1. 2. 3. 4. for described piezoelectric ceramic piece 54, be circular, the wafer polarization mode is along thickness direction and polarizes, wherein 1. and 2., 3. and sandwich the red copper thin slice 4. as ultrasonic action signal terminal 55, wherein 1. and 2. for connecing Vsin ω t pumping signal terminal, 3. for connecing Vcos ω t pumping signal terminal, all the other are earth terminal and 4..
The structural representation of described rear end cap 51 as shown in Figure 5.
When stator 5 is installed, earlier the end of double wedge 56 with bolt shaft 52 spun, the other end from bolt shaft 52 is inserted in piezoelectric ceramic piece 54, binding post 55 and flange 53 respectively again, and with the spin other end of bolt shaft 52 of rear end cap 51, rear end cap 51 also compresses piezoelectric ceramic piece 54, binding post 55 and flange 53 simultaneously.Processing for convenience and installation, double wedge 56 is made tabular, and rear end cap 51 has then adopted cylindrical; Flange 53 is provided with two boss, can be positioned in the frame 7 along the gathering sill of frame plate, thus fixing whole motor stator 5.
During whole machine installation of the present invention, earlier mover 6 is installed on the bottom of frame plate, the gathering sill that will connect again on the flange one boss alignment machine frame plate 7 of stator 5 of the sub-lead-out wire of ultrasonic action signal terminal is packed into, the upper end of another boss of flange of stator 5 refills preloading spring 3, cover frame upper cover plate 2, add certain pretightning force pretension bolt 1 of screwing on, can external pumping signal source preparation start working.
The operation principle of double-cylinder vibrator linear ultrasonic motor of the present invention is as follows:
This linear ultrasonic motor has adopted the extensional vibration single order pattern of langevin transducer, and two langevin transducer structures are identical, links to each other by double wedge 56.When two langevin transducers fed the in-phase voltage pumping signal, two oscillators stretched simultaneously or compress, and did the double vibrations that stretches or compress at the particle of double wedge 56 ends along symmetry axis, and this symmetrical longitudinal extension vibration pattern is called extensional vibration mode.Because double wedge 56 realizes that the coupling of vibration also can form flexible vibration, when two langevin transducers feed the out-of-phase voltage pumping signal, then an oscillator stretches, another oscillator compression simultaneously, particle in double wedge 56 ends departs from symmetry axis and does flexible vibration, and this asymmetrical extensional vibration (flexible vibration) pattern can be considered flexural vibration mode.Calculate and design through various piece size finite element simulation, make the resonance frequency convergence unanimity of above-mentioned two kinds of mode of oscillations this two kinds of mode so that can use same frequency to swash to stator 5.
Operation principle of the present invention as shown in Figure 6, the course of work is as follows: the exciting oscillator produces vertically, crooked two compound vibrations, and the vibration processes of one-period is (1) → (2) → (3) → (4) → (1):
(1), two oscillators stretch simultaneously, double wedge 56 reaches the pitch amplitude position, double wedge 56 is crossed pretightning forces and mover 6 is adjacent to simultaneously;
(2), the left end oscillator stretches, the compression of right-hand member oscillator, double wedge 56 reaches the flexural vibrations amplitude position, double wedge is crossed pretightning force and mover 6 and is adjacent to and produces to the right actuating force, orders about mover 6 by rubbing action and moves right effect;
(3), two oscillators compress simultaneously, double wedge 56 reaches the pitch amplitude position, double wedge 56 is thrown off with mover 6 simultaneously, mover 6 continues to move right by its inertia;
(4), left end oscillator compression, the right-hand member oscillator stretches, double wedge 56 reaches the flexural vibrations amplitude position because double wedge 56 is thrown off with mover 6, mover 6 continues to move right by its inertia;
So go round and begin again, state (4) is got back to state (1), the motion that enters next cycle again.This linear ultrasonic motor comes to this and utilized flexural vibrations to produce high thrust under resonance condition, utilizes extensional vibration and pretightning force to produce and control frictional force and comes work.
Linear ultrasonic motor operation and maintenance of the present invention is all very convenient, after the motor Installation and Debugging well, connect the ultrasonic signal excitation power supply by binding post, this power supply adopts the integrated circuit of PWM Driving technique and driving power MOSFET, voltage phase difference, amplitude, frequency can be regulated simultaneously, thereby realize very easily and satisfied the requirement of motor hi-Fix.
Claims (7)
1, a kind of double-cylinder vibrator linear ultrasonic motor, comprise frame, drive vibrator, mover, and be used to lock frame, drive vibrator, mover, and the locking mechanism of scalable coupling mechanism force, described drive vibrator comprises piezoelectric element and metallic elastic body, it is characterized in that described metallic elastic body is " Y " shape, its lower end contacts with mover, be placed with piezoelectric element respectively in two branches of its upper end, described piezoelectric element adopts thin piezoelectric ceramic piece, described mover is the slide block that the side is provided with guide protrusions, and the set straight-line guidance groove in its guide protrusions and frame bottom is corresponding.
2, linear ultrasonic motor according to claim 1 is characterized in that described drive vibrator is provided with guide flange, and the set gathering sill in two side plates middle parts of described guide flange and frame is corresponding.
3, linear ultrasonic motor according to claim 1 and 2, it is characterized in that described piezoelectric element adopts four thin piezoelectric ceramic pieces, each thin piezoelectric ceramic piece is all along thickness direction polarization, and per two thin piezoelectric ceramic piece polarity are opposite fits in the branch of the upper end that is positioned over " Y " shape metallic elastic body mutually.
4, linear ultrasonic motor according to claim 3, the both sides that it is characterized in that described each thin piezoelectric ceramic piece are provided with the foil as terminals.
5, linear ultrasonic motor according to claim 4, it is characterized in that described drive vibrator also includes rear end cap and stud, two branches in the upper end of described metallic elastic body and rear end cap are equipped with the screw that matches with stud, described thin piezoelectric ceramic piece and foil also are provided with the through hole that diameter is not less than the diameter of stud in the center, described thin piezoelectric ceramic piece and foil pass stud respectively and be fixed between the branch and rear end cap of metallic elastic body upper end.
6, linear ultrasonic motor according to claim 5, it is characterized in that described elastic sheet metal is tabular, described rear end cap then adopts cylindrical, described thin piezoelectric ceramic piece is for thin circular, described guide flange is provided with two boss, wherein a boss is positioned over the gathering sill in the frame, and another boss is connected with locking mechanism.
7, linear ultrasonic motor according to claim 6, it is characterized in that described locking mechanism comprises the frame upper cover plate that is positioned at the frame upper end, be positioned at the preloading spring on another boss of guide flange, and pass the frame upper cover plate and push down the pretension bolt of preloading spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2006101323157A CN101001054B (en) | 2006-12-26 | 2006-12-26 | Double-cylinder vibrator linear ultrasonic motor |
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| CN2006101323157A CN101001054B (en) | 2006-12-26 | 2006-12-26 | Double-cylinder vibrator linear ultrasonic motor |
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| CN101001054A true CN101001054A (en) | 2007-07-18 |
| CN101001054B CN101001054B (en) | 2011-06-22 |
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| CN2006101323157A Expired - Fee Related CN101001054B (en) | 2006-12-26 | 2006-12-26 | Double-cylinder vibrator linear ultrasonic motor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102075111A (en) * | 2010-11-27 | 2011-05-25 | 上海大学 | Two-stroke compact type piezoelectric linear motor |
| CN101272108B (en) * | 2008-05-05 | 2011-08-17 | 华南农业大学 | In-plane composite mode straight line ultrasound electric motor of square vibrator |
| CN102158120A (en) * | 2011-03-23 | 2011-08-17 | 刘勤 | Radial and axial multi-vibrator ultrasonic linear motor and operating method thereof |
| CN101272107B (en) * | 2008-05-05 | 2011-08-17 | 华南农业大学 | In-plane buckling composite mode thin type straight line ultrasound electric motor |
| CN104588305A (en) * | 2015-01-19 | 2015-05-06 | 中北大学 | Power ultrasonic transducer device with dynamic matching of electric impedance |
| CN105846713A (en) * | 2016-06-12 | 2016-08-10 | 吉林大学 | Tandem piezoelectric directional driver |
| CN113916411A (en) * | 2021-09-18 | 2022-01-11 | 哈尔滨工业大学 | Pre-tightening force measurement method based on global linearization Koopman state observer |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1111939C (en) * | 1998-05-07 | 2003-06-18 | 南京航空航天大学 | Linear ultrasonic motor and its driving oscillator |
| CN2697945Y (en) * | 2003-08-07 | 2005-05-04 | 华南农业大学 | Straight line piezoelectric micromotor with large thrust column shape oscillator |
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2006
- 2006-12-26 CN CN2006101323157A patent/CN101001054B/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101272108B (en) * | 2008-05-05 | 2011-08-17 | 华南农业大学 | In-plane composite mode straight line ultrasound electric motor of square vibrator |
| CN101272107B (en) * | 2008-05-05 | 2011-08-17 | 华南农业大学 | In-plane buckling composite mode thin type straight line ultrasound electric motor |
| CN102075111A (en) * | 2010-11-27 | 2011-05-25 | 上海大学 | Two-stroke compact type piezoelectric linear motor |
| CN102075111B (en) * | 2010-11-27 | 2013-09-04 | 上海大学 | Two-stroke compact type piezoelectric linear motor |
| CN102158120A (en) * | 2011-03-23 | 2011-08-17 | 刘勤 | Radial and axial multi-vibrator ultrasonic linear motor and operating method thereof |
| CN102158120B (en) * | 2011-03-23 | 2013-12-25 | 刘勤 | Radial and axial multi-vibrator ultrasonic linear motor and operating method thereof |
| CN104588305A (en) * | 2015-01-19 | 2015-05-06 | 中北大学 | Power ultrasonic transducer device with dynamic matching of electric impedance |
| CN104588305B (en) * | 2015-01-19 | 2017-01-11 | 中北大学 | Power ultrasonic transducer device with dynamic matching of electric impedance |
| CN105846713A (en) * | 2016-06-12 | 2016-08-10 | 吉林大学 | Tandem piezoelectric directional driver |
| CN105846713B (en) * | 2016-06-12 | 2017-07-28 | 吉林大学 | A kind of tandem piezoelectricity directional driver |
| CN113916411A (en) * | 2021-09-18 | 2022-01-11 | 哈尔滨工业大学 | Pre-tightening force measurement method based on global linearization Koopman state observer |
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| CN101001054B (en) | 2011-06-22 |
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