CN104506075A - Constant precompression ultrasonic motor capable of bearing axial force - Google Patents
Constant precompression ultrasonic motor capable of bearing axial force Download PDFInfo
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- CN104506075A CN104506075A CN201410547323.2A CN201410547323A CN104506075A CN 104506075 A CN104506075 A CN 104506075A CN 201410547323 A CN201410547323 A CN 201410547323A CN 104506075 A CN104506075 A CN 104506075A
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Abstract
The invention provides a constant precompression ultrasonic motor capable of bearing axial forces. Double-bearing two-end clamping support and a belleville spring rotor are used as axial clamped supporting methods of the motor. The structure makes the motor be capable of transmitting axial forces from the external to a motor housing, and the axial forces do not apply on the rotor, so as to eliminate influence of the axial forces on precompression of the rotor. The motor uses a belleville spring as the motor rotor, by using the characteristic that the belleville spring has zero rigidity and the characteristics that the motor moves through micro displacement and friction forces, influence of motor shafting dimension chain error caused by wearing on motor precompression is eliminated, and influence of the axial forces on the precompression is solved. The wearing of the motor is caused by component dimension loss in a manufacturing process, motor assembling, and motor operation.
Description
Technical field
The present invention relates to a kind of electronics, especially a kind of hollow ultrasonic motor driven with piezoelectric ceramic distortion, the ultrasound electric machine that specifically a kind of precompression bearing axial force is constant.
Background technology
Ultrasound electric machine (Ultrasonic Motor) is a kind of new ideas power set that recent two decades grows up.Its essence relies on the inverse piezoelectric effect of piezoelectric ceramic to be elastomeric mechanical energy by electric energy conversion, stator is made to produce the micro breadth oscillation (micron order) of high frequency, the micro breadth oscillation of stator is converted to revolution or the rectilinear motion of rotor by the contact between recycling stator and rotor and rubbing action, thus output mechanical energy is to drive loaded work piece.This New-type electric machine frequency of utilization is higher than 20kHz(and ultrasonic frequency range) AC power drive, therefore be referred to as ultrasound electric machine.The general electromagnetic machine of ultrasound electric machine ratio has the advantage of many uniquenesses:
(1) moment of torsion/weight ratio is large;
(2) low-speed big, without the need to gear reduction, can realize Direct driver load;
(3) response fast (Millisecond), controllability is good;
(4) variable velocity, can stepping, and kinematic accuracy is high;
(5) self-locking during power-off, self-locking moment is large;
(6) insensitive to magnetic field, also do not produce magnetic field;
(7) speed and Position Control performance good, precision is high.
Ultrasound electric machine structure rotor traditional is at present fixed on axle.One end of axle is by the precompression arrived to clamped bearing, and the other end of axle is in travelling structure (as shown in Figure 6).This kind of electric machine structure can cause motor cannot bear from the extra axial force (due to travelling end) in outside.What simultaneously traditional ultrasound electric machine rotor adopted is flex rotor (Fig. 6 rotor structure).The stress of this kind of flex rotor and the relation of distortion are as shown in Figure 7.The feature of this stress and distortion makes motor precompression unstable, when motor shaft is subject to the impact of external force, composition graphs 7, can find out that the elastic force of flex rotor can change in real time, this can make the precompression of motor bigger than normal or less than normal, is unfavorable for the stable performance of motor.
Summary of the invention
Technical problem to be solved:
The object of the invention is for existing ultrasonic electric arbor because one end is clamped, one end is travelling causes motor to bear axial force, and due to shortcomings such as dimension chain error cause motor performance unstable, design the ultrasound electric machine that a kind of precompression bearing axial force is constant.
Technical scheme:
In order to realize above function, the invention provides the ultrasound electric machine that a kind of precompression bearing axial force is constant, comprise shell 1, clutch shaft bearing 2, second bearing 8, stator 5, stator seat 7, axle 9, rotor 3, described clutch shaft bearing 2 is arranged in shell 1, and the center of clutch shaft bearing 2 is by an axle 9; Described rotor 3, stator 5, second bearing 8 are sleeved on axle 9 successively, and rotor 3 is fixed on axle 9, and described stator 5 and the second bearing 8 are arranged on stator seat 7; The bottom surface of described stator 5 is provided with piezoelectric ceramic piece 6, the radially symmetrical inner bottom surface radial extremity being pasted on stator 5 of described piezoelectric ceramic piece 6;
It is characterized in that: on described axle 9, be provided with fixed part, this fixed part is arranged between clutch shaft bearing 2 and the second bearing 8, is fixed on by axle 9 on clutch shaft bearing 2 and the second bearing 8; Outer rim and the stator seat 7 of described stator 5 fit, on the shell 1 making axial force be directly delivered to motor and stator seat 7.
Preferred as one, described rotor 3 is disc spring rotor, and described disc spring rotor 3 conical surface is installed downwards;
Described fixed part is a boss, the top of the upper surface of boss and the lower surface laminating disc spring rotor 3 of clutch shaft bearing 2; Fit the second bearing 8 in the lower surface of boss.
Preferred as one, described rotor 3 is disc spring rotor, and described disc spring rotor 3 conical surface is installed downwards;
Described fixed part is upper and lower two boss, wherein, and the top of the upper surface of convex platform and the lower surface laminating disc spring rotor 3 of clutch shaft bearing 2; Fit the second bearing 8 in the lower surface of lower convex platform.
Further, described axle 9 is also set with friction plate 4, described friction plate 4 is arranged between stator 5 and rotor 3; The top of described disc spring rotor 3 is fixed, and bottom is squeezed, and makes it highly diminish, and is operated in the critical value of zero stiffness.
Further, described clutch shaft bearing 2 and the second bearing 8 are deep groove ball bearing.
Beneficial effect:
The present invention proposes a kind of ultrasound electric machine bearing axial force, the clamped mode of axis of this kind of motor adopts duplex bearing two ends clamped to top; This motor have employed disk spring as rotor simultaneously.It has following advantage:
1. this ultrasound electric machine makes motor adopt the mode of fixed part at two bearing parts, axle is fixed on bearing, no longer produce upper and lower displacement, thus on the shell that the axial force from outside is directly delivered to motor and stator seat, instead of act on rotor, thus eliminate the impact of axial force on precompression on rotor; Make motor can bear larger axial force and ensure that precompression is constant in F value.
2. this motor have employed disk spring as rotor simultaneously, utilizes disk spring to have the characteristic of zero stiffness, and ensure that butterfly spring real work length is L, the now distortion of disk spring within the scope of σ, its elastic force is all constant in F value.Namely can eliminate add accessory size in man-hour, motor assembling owing to manufacturing, motor runs the wearing and tearing etc. caused and causes motor shaft system dimension chain error, on the impact of motor precompression generation, solves again the impact of axial force on precompression.Ensure that the precompression of every platform motor in batch assembling is all constant in F value.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described:
Fig. 1 is the structural representation inventing a kind of embodiment;
Fig. 2 is the structural representation inventing a kind of embodiment;
Fig. 3 is the structural representation inventing a kind of embodiment;
Fig. 4 is dish-shaped rotor deformation schematic diagram;
Fig. 5 is the curve chart of butterfly rotor deformation and elastic force;
Fig. 6 is the structural representation of conventional ultrasound motor;
Fig. 7 is the curve chart of flex rotor distortion and the elastic force used in conventional ultrasound motor;
In figure: 1-shell, 2-clutch shaft bearing, 3-dish rotor, 4-friction plate, 5-stator, 6-piezoelectric ceramic piece, 7-stator seat, 8-second bearing, 9-axle.
Embodiment
The invention provides the ultrasound electric machine that a kind of precompression bearing axial force is constant, for making object of the present invention, clearly, clearly, and the present invention is described in more detail with reference to accompanying drawing examples for technical scheme and effect.Should be appreciated that concrete enforcement described herein is only in order to explain the present invention, is not intended to limit the present invention.
Embodiment 1
Bear the ultrasound electric machine that the precompression of axial force is constant, comprise shell 1, clutch shaft bearing 2, second bearing 8, stator 5, stator seat 7, axle 9, rotor 3, described clutch shaft bearing 2 is arranged in shell 1, and the center of clutch shaft bearing 2 is by an axle 9; Described rotor 3, stator 5, second bearing 8 are sleeved on axle 9 successively, and rotor 3 is fixed on axle 9, and described stator 5 and the second bearing 8 are arranged on stator seat 7; The bottom surface of described stator 5 is provided with piezoelectric ceramic piece 6, the radially symmetrical inner bottom surface radial extremity being pasted on stator 5 of described piezoelectric ceramic piece 6;
It is characterized in that: on described axle 9, be provided with fixed part, this fixed part is arranged between clutch shaft bearing 2 and the second bearing 8, is fixed on by axle 9 on clutch shaft bearing 2 and the second bearing 8; Outer rim and the stator seat 7 of described stator 5 fit, on the shell 1 making axial force be directly delivered to motor and stator seat 7.
As shown in Figure 1 and Figure 2, described rotor 3 is disc spring rotor, and described disc spring rotor 3 conical surface is installed downwards;
In the present embodiment, described fixed part is a boss, the top of the upper surface of boss and the lower surface laminating disc spring rotor 3 of clutch shaft bearing 2; Fit the second bearing 8 in the lower surface of boss.
Further, described axle 9 is also set with friction plate 4, described friction plate 4 is arranged between stator 5 and rotor 3; The top of described disc spring rotor 3 is fixed, and bottom is squeezed, and makes it highly diminish, and is operated in the critical value of zero stiffness.
Further, described clutch shaft bearing 2 and the second bearing 8 are deep groove ball bearing.
Embodiment 2
Bear the ultrasound electric machine that the precompression of axial force is constant, comprise shell 1, clutch shaft bearing 2, second bearing 8, stator 5, stator seat 7, axle 9, rotor 3, described clutch shaft bearing 2 is arranged in shell 1, and the center of clutch shaft bearing 2 is by an axle 9; Described rotor 3, stator 5, second bearing 8 are sleeved on axle 9 successively, and rotor 3 is fixed on axle 9, and described stator 5 and the second bearing 8 are arranged on stator seat 7; The bottom surface of described stator 5 is provided with piezoelectric ceramic piece 6, the radially symmetrical inner bottom surface radial extremity being pasted on stator 5 of described piezoelectric ceramic piece 6;
It is characterized in that: on described axle 9, be provided with fixed part, this fixed part is arranged between clutch shaft bearing 2 and the second bearing 8, is fixed on by axle 9 on clutch shaft bearing 2 and the second bearing 8; Outer rim and the stator seat 7 of described stator 5 fit, on the shell 1 making axial force be directly delivered to motor and stator seat 7.
As shown in Figure 3, described rotor 3 is disc spring rotor, and described disc spring rotor 3 conical surface is installed downwards;
In the present embodiment, described fixed part is upper and lower two boss, wherein, and the top of the upper surface of convex platform and the lower surface laminating disc spring rotor 3 of clutch shaft bearing 2; Fit the second bearing 8 in the lower surface of lower convex platform.
Further, described axle 9 is also set with friction plate 4, described friction plate 4 is arranged between stator 5 and rotor 3; The top of described disc spring rotor 3 is fixed, and bottom is squeezed, and makes it highly diminish, and is operated in the critical value of zero stiffness.
Further, described clutch shaft bearing 2 and the second bearing 8 are deep groove ball bearing.
This ultrasound electric machine makes motor adopt the mode of fixed part at two bearing parts, axle is fixed on bearing, no longer produce upper and lower displacement, thus on the shell that the axial force from outside is directly delivered to motor and stator seat, instead of act on rotor, thus eliminate the impact of axial force on precompression on rotor; Make motor can bear larger axial force and ensure that precompression is constant in F value.
Further, because what existing motor adopted is flex rotor, its deformation can change along with the change of stress, the feature of this stress and distortion makes motor precompression unstable, when motor shaft is subject to the impact of external force, composition graphs 7, can find out that the elastic force of flex rotor can change in real time, be unfavorable for the stable performance of motor.In the present invention, substituted by conventional flex rotor disc spring rotor, disc spring rotor deforms within the scope of σ, and its pressure all remains on F ox.This feature of disc spring rotor ensure that the part axial size equal error of motor can not have influence on motor precompression.Because, workpiece in an assembling process, always have some errors, in the present invention, ensure that outer rim and the stator seat 7 of stator 5 fit, the upper surface of fixed part and the laminating on clutch shaft bearing and disc spring rotor top, the lower surface of fixed part and the second bearing the compactness at this three place of laminating, be certain to good another of existence two place laminating situation and locate the situation of slightly some pines; At this, this characteristic of disc spring rotor 3 eliminates error when workpiece assembles, and the scale error that motor is produced in the course of processing can not have influence on motor precompression, thus ensures that motor output characteristic is stablized.
Be understandable that, for those of ordinary skills, can be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, and all these change or replace the protection range that all should belong to the claim appended by the present invention.
Claims (5)
1. the ultrasound electric machine that the precompression that can bear axial force is constant, comprise shell (1), clutch shaft bearing (2), the second bearing (8), stator (5), stator seat (7), axle (9), rotor (3), described clutch shaft bearing (2) is arranged in shell (1), and the center of clutch shaft bearing (2) is by an axle (9); Described rotor (3), stator (5), the second bearing (8) are sleeved on axle (9) successively, and rotor (3) is fixed on axle (9), and described stator (5) and the second bearing (8) are arranged on stator seat (7); The bottom surface of described stator (5) is provided with piezoelectric ceramic piece (6), and described piezoelectric ceramic piece (6) radially symmetry is pasted on the inner bottom surface radial extremity of stator (5);
It is characterized in that: on described axle (9), be provided with fixed part, this fixed part is arranged between clutch shaft bearing (2) and the second bearing (8), axle (9) is fixed on clutch shaft bearing (2) with on the second bearing (8); Outer rim and the stator seat (7) of described stator (5) fit, on the shell (1) making axial force be directly delivered to motor and stator seat (7).
2. the ultrasound electric machine that a kind of precompression bearing axial force according to claim 1 is constant, it is characterized in that: described rotor (3) is disc spring rotor, described disc spring rotor (3) conical surface is installed downwards;
Described fixed part is a boss, the top of lower surface laminating disc spring rotor (3) of the upper surface of boss and clutch shaft bearing (2); Fit the second bearing (8) in the lower surface of boss.
3. the ultrasound electric machine that a kind of precompression bearing axial force according to claim 1 is constant, it is characterized in that: described rotor (3) is disc spring rotor, described disc spring rotor (3) conical surface is installed downwards;
Described fixed part is upper and lower two boss, wherein, and the top of lower surface laminating disc spring rotor (3) of the upper surface of convex platform and clutch shaft bearing (2); Fit the second bearing (8) in the lower surface of lower convex platform.
4. a kind of according to Claims 2 or 3 bears the constant ultrasound electric machine of the precompression of axial force, and it is characterized in that: on described axle (9), be also set with friction plate (4), described friction plate (4) is arranged between stator (5) and rotor (3); The top of described disc spring rotor (3) is fixed, and bottom is squeezed, and makes it highly diminish, and is operated in the critical value of zero stiffness.
5. the ultrasound electric machine that the precompression of any one the born axial force according to claims 1 to 3 is constant, is characterized in that: described clutch shaft bearing (2) and the second bearing (8) are deep groove ball bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410547323.2A CN104506075A (en) | 2014-10-16 | 2014-10-16 | Constant precompression ultrasonic motor capable of bearing axial force |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410547323.2A CN104506075A (en) | 2014-10-16 | 2014-10-16 | Constant precompression ultrasonic motor capable of bearing axial force |
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| CN104506075A true CN104506075A (en) | 2015-04-08 |
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| CN201410547323.2A Pending CN104506075A (en) | 2014-10-16 | 2014-10-16 | Constant precompression ultrasonic motor capable of bearing axial force |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105207520A (en) * | 2015-09-21 | 2015-12-30 | 哈尔滨工业大学 | Rotating type traveling wave ultrasonic motor and stator and rotor pre-tightening method thereof |
| CN105577027A (en) * | 2016-03-11 | 2016-05-11 | 西安创联超声技术有限责任公司 | Hollow shaftless high overload rotary travelling wave ultrasonic motor |
| CN105897039A (en) * | 2016-06-27 | 2016-08-24 | 哈尔滨工业大学 | Angular contact ball bearing supported ultrasonic motor, and stator and rotor pre-tightening method |
| CN106451895A (en) * | 2016-11-30 | 2017-02-22 | 桂林智神信息技术有限公司 | Damping type motor |
| CN108199616A (en) * | 2018-03-27 | 2018-06-22 | 南京航空航天大学 | A kind of quasi- zero stiffness composite rotors ultrasound electric machine |
| CN110071657A (en) * | 2019-05-30 | 2019-07-30 | 扬州大学 | A kind of travelling-wave type piezoelectric motor conical surface rotor |
| CN110165933A (en) * | 2019-05-30 | 2019-08-23 | 扬州大学 | A kind of mechanical finger joint piezoelectric motor support and mechanical finger joint |
| CN110697030A (en) * | 2019-09-29 | 2020-01-17 | 北京空间技术研制试验中心 | Directly link steering wheel axial force canceling mechanism |
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| CN202721621U (en) * | 2011-10-19 | 2013-02-06 | 南京航空航天大学 | Hollow ultrasonic motor with integration of rotor and rotating shaft |
| CN103078554A (en) * | 2012-12-31 | 2013-05-01 | 张南峰 | Method and devices for regulating compression force between stator and rotor of piezoelectric motor |
| CN203872083U (en) * | 2014-05-22 | 2014-10-08 | 北京航天控制仪器研究所 | Hollow ultrasonic motor for limiting stator and rotor contact pre-pressure |
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Patent Citations (7)
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| JPH02303377A (en) * | 1989-05-18 | 1990-12-17 | Aisin Seiki Co Ltd | Ultrasonic motor |
| JPH06327272A (en) * | 1993-05-12 | 1994-11-25 | Canon Inc | Ultrasonic motor and its assembly |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105207520A (en) * | 2015-09-21 | 2015-12-30 | 哈尔滨工业大学 | Rotating type traveling wave ultrasonic motor and stator and rotor pre-tightening method thereof |
| CN105577027A (en) * | 2016-03-11 | 2016-05-11 | 西安创联超声技术有限责任公司 | Hollow shaftless high overload rotary travelling wave ultrasonic motor |
| CN105897039A (en) * | 2016-06-27 | 2016-08-24 | 哈尔滨工业大学 | Angular contact ball bearing supported ultrasonic motor, and stator and rotor pre-tightening method |
| CN105897039B (en) * | 2016-06-27 | 2017-10-03 | 哈尔滨工业大学 | The ultrasound electric machine and stator and rotor pre-tension method of a kind of angular contact ball bearing support |
| CN106451895A (en) * | 2016-11-30 | 2017-02-22 | 桂林智神信息技术有限公司 | Damping type motor |
| CN108199616A (en) * | 2018-03-27 | 2018-06-22 | 南京航空航天大学 | A kind of quasi- zero stiffness composite rotors ultrasound electric machine |
| CN108199616B (en) * | 2018-03-27 | 2023-09-12 | 南京航空航天大学 | Quasi-zero stiffness composite rotor ultrasonic motor |
| CN110071657A (en) * | 2019-05-30 | 2019-07-30 | 扬州大学 | A kind of travelling-wave type piezoelectric motor conical surface rotor |
| CN110165933A (en) * | 2019-05-30 | 2019-08-23 | 扬州大学 | A kind of mechanical finger joint piezoelectric motor support and mechanical finger joint |
| CN110697030A (en) * | 2019-09-29 | 2020-01-17 | 北京空间技术研制试验中心 | Directly link steering wheel axial force canceling mechanism |
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Effective date of abandoning: 20171013 |