CN105048862A - Inertial linear ultrasonic motor based on bending vibration of rectangular plate - Google Patents
Inertial linear ultrasonic motor based on bending vibration of rectangular plate Download PDFInfo
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- CN105048862A CN105048862A CN201510462073.7A CN201510462073A CN105048862A CN 105048862 A CN105048862 A CN 105048862A CN 201510462073 A CN201510462073 A CN 201510462073A CN 105048862 A CN105048862 A CN 105048862A
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Abstract
The invention discloses an inertial linear ultrasonic motor based on bending vibration of a rectangular plate, and belongs to the technical field of inertial linear ultrasonic motors. The motor comprises a stator, a bottom plate and a mover, wherein the stator comprises two rectangular flange-type vibrators and a drive rod; the two rectangular flange-type vibrators are symmetrical in structure; the drive rod is arranged on the symmetry axis of the stator; each flange-type vibrator comprises a front-end block, piezoelectric ceramic plates, a clamping part and a rear-end block, which are fixed through bolts; through holes which are articulated with the bottom plate through threads are formed in the clamping part; the piezoelectric ceramic plates are arranged at the wave crests of bending vibration; the two flange-type vibrators are connected with the drive rod through the front-end blocks; and the mover sleeves the drive rod. By the first-order bending vibration effect of a matrix vibrator and the vibration effect of the piezoelectric ceramic along the thickness direction, the motor structure is simplified; installation and adjustment are facilitated; the bending vibration is in a low-order mode, so that the vibration frequency is low; the included energy is high; increase of a vibration amplitude of the drive rod is facilitated; the utilization rate of vibration energy is improved; and a relatively good vibration effect is obtained.
Description
Technical field
The invention discloses the inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration, belong to the technical field of inertia linear type ultrasound motor.
Background technology
Linear ultrasonic motor is the novel electrical micro-machine of one developing rapidly and apply the eighties in 20th century, it utilizes the inverse piezoelectric effect of piezoelectric element and elastomeric ultrasonic vibration, and by the rubbing action between stator and mover, elastomeric micro breadth oscillation is converted to macroscopical straight line (rotation) motion of mover, directly promote load.It has compact conformation, low-speed big, response is fast, positioning precision is high and the advantage such as Electro Magnetic Compatibility.Have a wide range of applications in Aero-Space, weaponry and precision actuation field.
The research and development of current domestic linear ultrasonic motor is very fast, and the colleges and universities such as Tsing-Hua University, Nanjing Aero-Space University, Harbin Institute of Technology successively expand research to linear ultrasonic motor.Online at Chinese patent, from 2004, disclose application number was successively that 200510046044.9 are called the patent of " annular standing wave linear ultrasonic motor ", application number is 200610132316.1 patents being called " prism longitudinal bend composite vibrator linear supersonic motor ".In recent years, Nanjing Aero-Space University has succeeded in developing the column structure dual-wheel foot driving linear ultrasonic motor of application number involved by the patent of 200710020963.8 and electric excitation method thereof, the K shape linear ultrasonic motor etc. based on Continuous Drive rod principle of application number involved by the patent of 200810124426.2.Above-mentioned linear ultrasonic motor employs two mode of oscillations of stator structure, and form elliptic motion at driving foot place, this motor has larger thrust and movement velocity, but two mode require to have identical vibration modal frequency, and the design of model frequency consistency to motor is had higher requirement.Inertia linear ultrasonic motor is a class linear ultrasonic motor, and it uses a mode of stator structure, by controlling motor signal of telecommunication input form, and utilizes the inertial drive mover of mover to move.Because inertia linear ultrasonic motor uses a mode of stator, therefore there is more simple structure, so this motor is more conducive to the miniaturization of electric machine structure.
The domestic research for inertia-type ultrasound electric machine is considerably less, application number is 200710020966.1 and is called that " square-wave driving inertia linear piezoelectric motor " belongs to a kind of piezoelectric motor of inertia-type, this motor stator is primarily of stator axis and composite piezoelectric transducing device composition, and mover is the ring of the jagged and annular groove of a band.The driving mainly deformation based amplification principle of this motor, after composite piezoelectric transducing device adds square wave excitation signal, inspire stacked piezoelectric ceramic stack dilatation, thus causing the stator axis vibration that in axial direction shuttle speed is different, this patent is by piezoelectric stack and utilizes displacement amplifying mechanism to amplify amplitude.Because this motor does not use the mode of oscillation of structure, vibration frequency lower than supersonic frequency, therefore can not be called ultrasound electric machine.Document [Hyun-PhillKo, SangsigKim, SergjusN.Borodinas.Anoveltinyultrasoniclinearmotorusingt heradialmodeofabimorph.SensorsandActuatorsA125 (2006) 477 – 481] the inertia linear ultrasonic motor reported employs the out-of-plane vibration of circular plate structure.
Summary of the invention
Technical problem to be solved by this invention is the deficiency for above-mentioned background technology, provide the inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration, utilize piezoelectric ceramic to excite the single order bending vibration of stator structure to increase its amplitude, low and individual event power supply can not the technical problem of drive motors with solving mover sport efficiency.
The present invention adopts following technical scheme for achieving the above object:
Based on the inertia linear type ultrasound motor of BENDING OF RECTANGULAR PLATE vibration, comprise: stator, base plate, mover, described stator comprises: two rectangular flanges literary composition oscillators of symmetrical configuration and the drive rod be positioned on stator symmetry axis, each flange literary composition oscillator comprises: the front-end block be bolted, piezoelectric ceramic piece, holder, back-end block, described holder has the through hole by screw thread and backplane link, described piezoelectric ceramic piece is placed in the crest place of flexural vibrations, two flange literary composition oscillators are connected with drive rod by its front-end block, and mover is enclosed within drive rod.
Further, in the described inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration, each flange literary composition oscillator comprises the piezoelectric ceramic piece group being positioned at holder both sides, wherein,
Each piezoelectric ceramic piece group: comprise two panels piezoelectric ceramic, the subregion that each piezoelectric ceramic piece has two polarised directions contrary and separate the isolated vias of two subregions, the polarised direction of piezoelectric ceramic piece near through hole one end deviates from mutually, and the polarised direction of piezoelectric ceramic piece away from through hole one end is contrary with the polarised direction near through hole one end.
Further, in the described inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration, the front-end block of two flange literary composition oscillators is linked by flexible hinge.
Further, in the described inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration, through hole is away from drive rod.
Further, in the described inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration, described mover is the elastic circular ring with opening, and the two ends of elastic circular ring have the screw passed for fastening bolt.
Further, in the described inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration, drive rod end has pin-and-hole.
The present invention adopts technique scheme, has following beneficial effect:
(1) effect that matrix oscillator first-order bending vibration and piezoelectric ceramic vibrate along the thickness direction is utilized, invent a kind of structure simple and be convenient to the inertia linear type ultrasound motor regulated is installed, flexural vibrations are that thus vibration frequency is low and the energy comprised is large for lower mode, be conducive to the vibration amplitude increasing drive rod, improve the utilance of vibrational energy, obtain better vibrating effect;
(2) present invention uses the flexural vibrations of rectangular configuration, the out-of-plane vibration of opposing circular plate structure, the flexural vibrations of rectangular configuration have high vibration efficiency, again because the present invention adopts two flange literary composition oscillator structure, increase thrust, therefore proposed inertia linear ultrasonic motor contributes to the power output and the speed that improve inertia linear ultrasonic motor;
(3) polarization mode of piezoelectric ceramic piece only needs single phase poaer supply excitation just can excite bending vibration, is conducive to loading and the adjustment of voltage;
(4) adopting bolt to fix so is just fixed on base plate to the firm way of contact by entirety, the flexibility link of link oscillator not only weakens this just to the firm way of contact but also the vibration superposing two oscillators, improve the vibration amplitude of drive rod, be conducive to the transmission of power;
(5) mover is limited on drive rod by the pin-and-hole on drive rod, prevents mover from the process of bidirectional-movement, departing from drive rod.
The aspect that the present invention adds and advantage will part provide in the following description, and these will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of inertia linear type ultrasound motor of the present invention;
Fig. 2 is the schematic diagram of piezoelectric ceramic polarised direction;
Fig. 3 is the part-structure schematic diagram of stator in Fig. 1;
Fig. 4 is holder structural representation;
Fig. 5 is Structure of mover schematic diagram;
Fig. 6 square wave driving power schematic diagram.
Number in the figure illustrates: 1, front-end block, 11, flexible hinge, 2, holder, 21, through hole, 3, back-end block, 4, piezoelectric ceramic piece, 5, base plate, 6, mover, 7, drive rod, 71, pin-and-hole.
Embodiment
Being described below in detail embodiments of the present invention, is exemplary below by the execution mode be described with reference to the drawings, and only for explaining the present invention, and can not be interpreted as limitation of the present invention.
Those skilled in the art will appreciate that unless otherwise defined, all terms used herein have (comprising technical term and scientific terminology) the identical meaning of the general understanding of the ordinary technical staff in the technical field of the invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
The inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration that the present invention proposes, not only can improve the sport efficiency of mover, and only needs individual event power supply just can drive, and this ultrasound electric machine has again structural design simple simultaneously, is convenient to install the feature regulated.As shown in Figure 1, the stator that this inertia linear type ultrasound motor comprises front-end block 1, holder 2, back-end block 3, piezoelectric ceramic piece 4 form, base plate 5 and mover 6.Motor have employed the first-order bending vibration of rectangle fins, make use of the d of piezoelectric ceramic piece
33(vibrating along the thickness direction) effect, such benefit is that the bending vibration of rectangular slab is compared with longitudinal vibration, and flexural vibrations are lower modes, vibration frequency is low, and the energy comprised is large, is conducive to the vibration amplitude increasing drive rod 7, improve the utilance of vibrational energy, obtain better vibrating effect.
Stator as shown in Fig. 1, Fig. 3, Fig. 4, two rectangular flanges literary composition oscillators comprising symmetrical configuration and the drive rod 7 be positioned on stator symmetry axis.Two oscillators are placed about the symmetry axis symmetry of stator and can be promoted drive rod 7 simultaneously and in the same way move on symmetry axis.Each flange literary composition oscillator comprises: the front-end block 1 be bolted, piezoelectric ceramic piece 4, holder 2, back-end block 3, holder 2 has the through hole 21 linked by screw thread and base plate 5, and piezoelectric ceramic piece 4 is placed in the crest place of flexural vibrations.Two flange literary composition oscillators are connected with drive rod 7 by its front-end block, and mover 6 is enclosed within drive rod 7.When machine operation, the displacement excitation of drive rod 7 is jointly provided by the bending vibration of stator the right and left, large when the vibration ratio of such drive rod 7 only has a bending vibration to provide power, and the output of power also can improve a lot; Have the flexible hinge 11 of an arc on the top of front-end block 1, the effect that two kinds are vibrated can effectively stack up by it simultaneously.There is a pin-and-hole 71 in the end of drive rod 7, in pin-and-hole, insert a pin mover 6 is limited on drive rod 7.Mover 6 is as shown in Figure 5 an elastic circular ring having opening, and the two ends of elastic circular ring have the screw passed for fastening bolt, and mover 6 only has one degree of freedom and can only seesaw along drive rod 7.Present invention employs bolt entirety to be fixed on base plate 5, this connected mode belongs to a kind of just to the firm way of contact, and flexible hinge 11 is a kind of flexible structures, just in time can weaken this situation, improves the vibration amplitude of drive rod 7, is conducive to the transmission of power.
This ultrasound electric machine has 8 pieces of piezoelectric ceramic pieces, has each two groups of the piezoelectric ceramic piece group that 2 piezoelectric ceramic pieces are formed on the both sides of holder 2.Piezoelectric ceramic piece adopts area polarizing, through hole on piezoelectric ceramic piece two subregions are separated and set bolt from this through hole through linking with front-end block 1, holder 2, back-end block 3, polarised direction near 2 piezoelectric ceramic pieces in through hole 21 one end deviates from mutually, polarised direction away from through hole 21 other end 2 piezoelectric ceramic is contrary with the polarised direction near through hole one end, and concrete polarised direction as shown in Figure 2.Between two pieces of piezoelectric ceramic pieces, there is one piece of copper sheet can be used for being energized.The benefit of such polarization is that only needing individual event power supply to encourage just can excite bending vibration, is also conducive to loading and the adjustment of voltage simultaneously.
Holder 2 there is a through hole 21, by bolt, through hole is fixed on base plate 5, through hole 21 is away from drive rod 7, because what this ultrasound electric machine utilized is the end of single order bending vibration, and the middle part of single order bending vibration can move up and down, so through hole 21 from drive rod 7 more away from, the Oscillation Amplitude of drive rod will be larger, drive effect will be better.
Back-end block 3 is a metal derby with through hole, and it and piezoelectric ceramic piece 4, holder 2 and front-end block 1 are bolted, and have copper sheet, pad and a spring shim at bolt place.Copper sheet act as earth connection, pad and spring shim mainly serve the effect of a pretension.
Drive principle composition graphs 6 of the present invention further illustrates: after piezoelectric ceramic piece leads to positive electricity, expand in contraction lower end, upper end, if pucker & bloat alternately occurs in the effect next cycle of alternating current.If when the operating at voltages shown in Fig. 6, move up reposefully certain distance under the effect of AB section mover 6 at stiction together with drive rod 7, when BC section declines fast when driving voltage, drive rod 7 moves down fast, because the inertia force of mover 6 overcomes force of sliding friction, move down but the segment distance that moves forward so mover does not follow drive rod 7.When AB section occurs again, mover 6 moves forward again a segment distance, so goes round and begins again, and progressively accumulates displacement, thus achieves mover along drive rod 7 continuous step motion upwards.In like manner, when adding reverse energization signal, mover 6 can realize along reverse the moving continuously of drive rod 7.Visible, within a period of motion, AB section is power drives mover 6 operating time, and BC section is mover 6 because inertia travels forward the stage, and within the whole period of motion, mover 6 all travels forward, so the utilance of this ultrasound electric machine energy is high, and driving effective.Square wave (or sawtooth waveforms) drives inertia-type ultrasound electric machine, and except having, volume is little, lightweight, precision and resolution is high, response is fast, the simple feature of drive circuit, two-way linear motion can be realized, thus very wide application can be obtained in the focusing system of accurate mechanical equipment and optical instrumentation.
In sum, the present invention has following beneficial effect:
(1) effect that matrix oscillator first-order bending vibration and piezoelectric ceramic vibrate along the thickness direction is utilized, invent a kind of structure simple and be convenient to the inertia linear type ultrasound motor regulated is installed, flexural vibrations are that thus vibration frequency is low and the energy comprised is large for lower mode, be conducive to the vibration amplitude increasing drive rod, improve the utilance of vibrational energy, obtain better vibrating effect;
(2) present invention uses the flexural vibrations of rectangular configuration, the out-of-plane vibration of opposing circular plate structure, the flexural vibrations of rectangular configuration have high vibration efficiency, again because the present invention adopts two flange literary composition oscillator structure, increase thrust, therefore proposed inertia linear ultrasonic motor contributes to the power output and the speed that improve inertia linear ultrasonic motor;
(3) polarization mode of piezoelectric ceramic piece only needs single phase poaer supply excitation just can excite bending vibration, is conducive to loading and the adjustment of voltage;
(4) adopting bolt to fix so is just fixed on base plate to the firm way of contact by entirety, the flexibility link of link oscillator not only weakens this just to the firm way of contact but also the vibration superposing two oscillators, improve the vibration amplitude of drive rod, be conducive to the transmission of power;
(5) mover is limited on drive rod by the pin-and-hole on drive rod, prevents mover from the process of bidirectional-movement, departing from drive rod.
Claims (6)
1., based on the inertia linear type ultrasound motor of BENDING OF RECTANGULAR PLATE vibration, comprising: stator, base plate (5), mover (6), is characterized in that,
Described stator comprises: two rectangular flanges literary composition oscillators of symmetrical configuration and the drive rod (7) be positioned on stator symmetry axis, each flange literary composition oscillator comprises: the front-end block (1) be bolted, piezoelectric ceramic piece (4), holder (2), back-end block (3), described holder (2) has the through hole (21) linked by screw thread and base plate (5), described piezoelectric ceramic piece (4) is placed in the crest place of flexural vibrations, two flange literary composition oscillators are connected with drive rod (7) by its front-end block, and mover (6) is enclosed within drive rod (7).
2. the inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration according to claim 1, is characterized in that, each flange literary composition oscillator comprises the piezoelectric ceramic piece group being positioned at holder (2) both sides, wherein,
Each piezoelectric ceramic piece group: comprise two panels piezoelectric ceramic, the subregion that each piezoelectric ceramic piece has two polarised directions contrary and separate the isolated vias of two subregions, the polarised direction of piezoelectric ceramic piece near through hole (21) one end deviates from mutually, and the polarised direction of piezoelectric ceramic piece away from through hole (21) one end is contrary with the polarised direction near through hole (21) one end.
3. the inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration according to claim 1, is characterized in that, the front-end block of two flange literary composition oscillators is by flexible hinge (11) link.
4. the inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration according to claim 1 or 2 or 3, it is characterized in that, described through hole (21) is away from drive rod (7).
5. the inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration according to claim 1 or 2 or 3, it is characterized in that, described mover (6) is the elastic circular ring with opening, and the two ends of elastic circular ring have the screw passed for fastening bolt.
6. the inertia linear type ultrasound motor based on BENDING OF RECTANGULAR PLATE vibration according to claim 1 or 2 or 3, it is characterized in that, described drive rod (7) end has pin-and-hole (71).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106208803A (en) * | 2016-07-25 | 2016-12-07 | 南京航空航天大学 | Utilize rectangular block shape linear ultrasonic motor and electric excitation method thereof thereof that single mode drives |
| CN112542959A (en) * | 2020-11-25 | 2021-03-23 | 上海工程技术大学 | Single-phase excitation bidirectional movement miniature ultrasonic motor and method |
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| CN106208803A (en) * | 2016-07-25 | 2016-12-07 | 南京航空航天大学 | Utilize rectangular block shape linear ultrasonic motor and electric excitation method thereof thereof that single mode drives |
| CN112542959A (en) * | 2020-11-25 | 2021-03-23 | 上海工程技术大学 | Single-phase excitation bidirectional movement miniature ultrasonic motor and method |
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