CN105048863A - Bending vibration mode-based linear ultrasonic motor and electric excitation method thereof - Google Patents
Bending vibration mode-based linear ultrasonic motor and electric excitation method thereof Download PDFInfo
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- CN105048863A CN105048863A CN201510462165.5A CN201510462165A CN105048863A CN 105048863 A CN105048863 A CN 105048863A CN 201510462165 A CN201510462165 A CN 201510462165A CN 105048863 A CN105048863 A CN 105048863A
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Abstract
The invention discloses a bending vibration mode-based linear ultrasonic motor and an electric excitation method thereof, and belongs to the technical field of ultrasonic motors. The motor comprises a bottom plate, a stator assembly with a symmetrical plate-type structure, two clamping parts, a pre-pressure applying device and a mover, wherein the stator assembly comprises two vibrators and drive feet; the drive feet are linked with the two vibrators; a first through hole, a second through hole and a third through hole are formed in each clamping part; the first through hole is used for being fixedly formed in the bottom plate; the second through hole is used for supporting the pre-pressure applying device; the third through hole is connected with the vibrators; the pre-pressure applying device comprises a screw rod, springs and nuts; the screw rod penetrates through the second through holes in the clamping parts; the springs sleeve two ends of the screw rod; the nuts sleeve two ends of the screw rod for compressing the springs; the clamping parts rotate under the elastic action of the springs; and the end surfaces of the drive feet contact and press the mover to provide pre-pressure for pushing the mover to move after the drive feet deform, so that the stability and the energy utilization rate of the motor and the output force of the whole motor are improved. The motor is driven to move in two directions by the electric excitation mode with one working frequency.
Description
Technical field
The invention discloses the linear ultrasonic motor based on bending vibration modes and electric excitation method thereof thereof, belong to the technical field of ultrasound electric machine.
Background technology
Ultrasound electric machine is the novel small and special electric machine of one developed rapidly the eighties in 20th century, utilizes the inverse piezoelectric effect of piezoelectric ceramic, excites elastomeric ultrasonic vibration by the signal of telecommunication, drives load by the rubbing action between stator and mover.Linear ultrasonic motor is the one of ultrasound electric machine, and elastomeric micro breadth oscillation is converted to the rectilinear motion of mover (guide rail) by it.It has, and total quality is little, inertia is little, response is fast, cut off self-lock, have the features such as larger thrust-weight ratio.Its structural design is flexible, is convenient to assembling, just has wide practical use in fields such as Aero-Space, national defence, precision actuation and location.
The structural design of linear ultrasonic motor is launched around two technical problems: one is determine optimum motor stator structure form, and two is seek suitable stator method of clamping.Existing research shows, optimum stator structure has simple version, and usually adopt bar structure and plate structure, it is pure that they have mode of oscillation, and do not have the advantage of interference modal, thus vibration efficiency is high.From the designing requirement of motor, the bidirectional-movement of motor be realized, the vibration of structure two mode must be utilized.The operation mode of usual employing has flexural vibrations and extensional vibration, or adopts the flexural vibrations of different directions.The invention that publication date is on July 23rd, 2014, publication number is CN103944445A proposes the patent of " clamping and positioning device of the linear ultrasonic motor that one end is hinged ", this patent adopts sandwich type structural form, and propose to adopt flexural vibrations drive motors to move to a direction, utilize extensional vibration drive motors to move to another direction, deficiency of this invention is difficult to regulate that these two frequencies are consistent and the driving effect of extensional vibration is poorer than flexural vibrations.
In order to overcome the problems referred to above, the patent that the invention that publication date is on July 14th, 2010, publication number is CN101777852A proposes " bimorph transducer bending mode linear ultrasonic motor and operation mode and electric excitation mode ", its feature is: whole motor structure is luffing rod-like structure, and the operation mode of utilization is two orthogonal flexural vibration modes.Because motor adopts similar shape, orthogonal mode of oscillation, therefore, the frequency of two mode of oscillations is identical, but this motor can only mounting clamp gripping member in one direction, therefore, and the asymmetric symmetry destroying again whole electric machine structure of holder.
The design of linear ultrasonic motor method of clamping is the important content of linear ultrasonic motor design, but does not come into one's own.The patent of invention that publication date is on June 9th, 2010, publication number is CN101728972A proposes " clamping and positioning device based on the K shape linear ultrasonic motor of continuous amplitude transformer principle ", this invention proposes and devises opening housing, and utilize spring and flexible hinge to apply precompression, by regulating the position adjustments precompression of opening housing, but, this method of clamping poor stability, the longitudinal rigidity of clamping and shear stiffness, in a magnitude, limit the raising of power output.In order to overcome this problem, publication number is that CN103944445A invention proposes the hinged clamping position mode in one end, this clamping position mode, make the structure of motor more stable, and there is no opening housing, the structure of motor is more simple, and the shear stiffness of this clamping is greater than normal stiffness out and away, and the thrust of motor is greatly enhanced.
The patent of " although the clamping and positioning device of the linear ultrasonic motor that one end is hinged ", there is high structural stability and large thrust, but, destroy the symmetry of structure based on the mode that one end is hinged, make the output characteristic of motor in two directions of motion different.
Summary of the invention
Technical problem to be solved by this invention is the deficiency for above-mentioned background technology, provide the linear ultrasonic motor based on bending vibration modes and electric excitation method thereof thereof, two vibrator line ultrasonic electromotors of disclosed pin-ended improve its stability, capacity usage ratio and complete machine power output, utilize oscillator bending vibration modes drive motors bidirectional-movement under a frequency, solve one end hinged motor symmetry difference and output characteristic is different, two kinds of mode drive motors are adopted to be difficult to regulate these two frequencies consistent and drive the discrepant technical problem of effect in different directions motion.
The present invention adopts following technical scheme for achieving the above object:
Based on the linear ultrasonic motor of bending vibration modes, comprising: the stator module of base plate, symmetrical platy structure, two holders, precompression bringing device, movers, wherein,
Described stator module comprises: the driving foot of two oscillators and link two oscillators;
Each holder have for being fixed on the first through hole on base plate, in order to the third through-hole supporting the second through hole of precompression bringing device, be connected with described oscillator;
Described precompression bringing device comprises: through each holder second through hole screw rod, be enclosed within screw rod two ends spring and be enclosed within the nut of screw rod two ends in order to Compress Spring;
Rotate under the elastic force effect that supporter produces at spring, drive sufficient end face contact with mover after deformation occurs for it and compress to provide the precompression promoting mover and move.
As the further prioritization scheme of the described linear ultrasonic motor based on bending vibration modes, each oscillator comprises: fastening bolt, 2n group piezoelectric ceramic piece, balancing weight, end cap, balancing weight, n group piezoelectric ceramic piece, supporter, n group piezoelectric ceramic piece, end cap are fixed together by inside lateral by described fastening bolt successively, and n is positive integer.
Further, described based in the linear ultrasonic motor of bending vibration modes, often organize piezoelectric ceramic piece polarization mode identical, often organize piezoelectric ceramic piece and comprise the inverted piezoelectric ceramic piece of the positive negative region of two panels.
As the further prioritization scheme of the described linear ultrasonic motor based on bending vibration modes, each oscillator also comprises and the flexible hinge driving foot to link, and drives foot to be inverted V-arrangement with the flexible hinge on two oscillators.
Further, based on the electric excitation method thereof of the linear ultrasonic motor of bending vibration modes, with sinusoidal signal excitation side oscillator, with cosine signal excitation opposite side oscillator, the symmetrical mode of bending vibration and antisymmetry mode in the face that the effect that piezoelectric ceramic piece vibrates along the thickness direction after being subject to electric excitation inspires described linear ultrasonic motor, drive foot difference in space phase to be pi/2 in symmetrical mode and antisymmetry mode, the elliptic motion driving sufficient end face to produce under bending vibration modes drives mover bidirectional-movement.
The present invention adopts technique scheme, has following beneficial effect:
(1) stator module of symmetrical platy structure and the mode of pin-ended achieve the symmetry of electric machine structure, two supporter initial and tail sections position whole motor and support, improve the stability of motor, supporter and base hinged, make that there is flexible driving foot by the spring in compression precompression bringing device and deformation occurs, produce stable, larger precompression between stator and mover, improve the power output of motor to greatest extent;
(2) utilize the stator with soft drive foot of bending vibration low frequency characteristics design, improve stator method of clamping and precompression applying mode further, improve the power output of the stability of motor, capacity usage ratio and complete machine;
(3) operating frequency of bending vibration is utilized, by the phase change mover direction of motion of input signal, reduce stimulating frequency, improve vibration efficiency, achieve the motion in different directions of a kind of operating frequency drive motors, only utilize bending vibration due to the present invention and adopt symmetrical structure, therefore motor is all identical in the motion state of both direction, the speed of service, avoids motor variant in the driving effect of both direction.
Accompanying drawing explanation
Fig. 1 is the structural representation of the two vibrator line ultrasonic electromotors based on bending vibration that the present invention relates to;
Fig. 2 is that in the present invention, stator structure and the signal of telecommunication load schematic diagram;
Fig. 3 is the structural representation of supporter in Fig. 1;
Fig. 4 is the schematic diagram of precompression bringing device in Fig. 1;
Fig. 5 is the schematic diagram of piezoelectric ceramic polarised direction;
Fig. 6 is the schematic diagram of ultrasound electric machine operation mode of the present invention, and wherein, Fig. 6 (a) is the symmetrical mode of stator, and Fig. 6 (b) is the antisymmetry mode of stator, drives foot to differ in space phase in the mode of oscillation of two shown in Fig. 6
.
Number in the figure title: 1, base plate, 2, stator module, 3, supporter, 4, precompression bringing device, 5, mover, 21, drive foot, 22, sufficient flexible hinge is driven, 23, fastening bolt, 24, piezoelectric ceramic piece, 25, balancing weight, 26, end cap, the 31, first through hole 32, second through hole, 33, third through-hole, 41, screw rod, 42, spring, 43, nut.
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.
As depicted in figs. 1 and 2, the two vibrator line ultrasonic electromotors based on bending vibration in present embodiment, comprising: base plate 1, stator module 2, mover 5 and clamp assemblies 3, precompression bringing device 4.Base plate 1 has screwed hole, for installing stator 2 assembly and mover 5; Stator module 2 is formed by driving foot 21 link by two oscillators, form axially symmetric structure, each oscillator comprises: end cap 26, piezoelectric ceramic piece 24, balancing weight 25, fastening bolt 23, piezoelectric ceramic piece (24) is 8n sheet altogether, be divided into 4n group, every two panels piezoelectric ceramic piece forms one group, to often organizing the excitation of middle power up signal.Every 2n group piezoelectric ceramic piece is arranged in the both sides of corresponding stator supporter (3), fastening bolt 23 screws in end cap 26 and has in d screwed hole, is connected as a single entity by each for stator parts.Foot 21 is driven to process by Linear cut mode is integrated with end cap.Stator module 2 entirety is fixed on base plate 1 by supporter 3 and precompression bringing device 4.In addition, each oscillator also comprises and the flexible hinge 22 driving foot 21 to link, the flexible hinge 22 on foot 21 and two oscillators is driven to be inverted V-arrangement, sufficient flexible hinge 22 place is driven to have circular hole, make end cap 26 form flexible hinge structure with driving foot 21 junctions, deformation occurs after pressurized provides precompression; Mover can be guide rail.
Supporter as shown in Figure 3, head end has the first through hole 31, tail end has the second through hole 32 supporting precompression bringing device, middle part has the third through-hole 33 be connected with oscillator, and supporter to be fixed on by the first through hole 31 and base plate 1 to make it can only can not translation around the screws at the first through hole 31 place by bolt.Clamp assemblies has 5 points (contact point of the two ends of two supporters and stator, mover) to constitute two larger delta-shaped regions, and stator structure has been hanged clamping wherein, and this arrangement enhances stator structure stability.
Precompression bringing device as shown in Figure 4, screw rod 41 runs through stator supporter second through hole 32 and horizontal positioned, spring 42 is inserted in from screw rod 41 both sides and contacts with stator supporter second through hole 32, nut 43 is inserted in from screw rod 41 both sides successively and contacts with spring 42, spiro rod length and regulating stretch is screwed in by nut 43, being rotated by supporter 3 makes driving foot 21 place that deformation occur, and drives foot 21 contact with mover 5 and compress, provides the precompression of motor.The pre-pressure loading of stator module 2 pairs of movers 5 can be realized by equalising torque.For comprising the stator module driving sufficient flexible hinge, end cap 26 forms flexible hinge structure with driving foot 21 junctions, precompression bringing device coordinates with soft drive foot provides precompression, the precompression efficiently solving two oscillator tabular motor applies problem, and can provide stable, comparatively large and the precompression of size can be specified, ensure that motor has larger power output.
As shown in Figure 5, piezoelectric ceramic piece divides positive and negative Liang Ge district to piezoelectric ceramic piece arrangement, unidirectional polarization.One group of potsherd on the left of supporter 3, upper end positive pole zone is relative, and negative regions, lower end is relative, and right side is identical with it.
Electric excitation mode as shown in Figure 2, often organizes power up signal in the middle of potsherd.Left side oscillator adds sinusoidal signal, and right side oscillator adds cosine signal to excite two operation modes of motor, utilizes piezoelectric ceramic piece 24
d 33 (piezoelectric ceramic through-thickness stretches) effect, the symmetrical mode of bending vibration and antisymmetry mode in the face inspiring this ultrasound electric machine entirety, the superposition of two mode makes to drive the upper each particle of foot to produce elliptic motion to promote the motion of mover continuous linear, realizes linear ultrasonic motor of the present invention motion; When pumping signal is contrary, mover counter motion can be realized.。Two oscillators apply the sinusoidal and cosine signal of telecommunication respectively obtain machine operation mode and be: when two oscillators do flexural vibrations in the same way, excite the symmetrical mode of motor, drive foot to produce vertical direction and move; When two oscillators do back-flexing vibration, excite the antisymmetry mode of motor, drive foot to produce horizontal motion.Two operation mode phase differences are
, make to drive foot to differ in space phase
, drive sufficient particle to do elliptic motion, and by mover and drive the frictional force between foot to promote mover and carry out straight line bidirectional-movement.
As shown in Figure 6, Fig. 6 (a) illustrates two operation modes of motor, and two oscillators of motor do flexural vibrations in the same way, is driving the motion of foot place synthesis vertical direction; Fig. 6 (b) illustrates, two oscillators of motor do reverse flexural vibrations, is driving the motion of foot place synthesis horizontal direction.Driving foot place is vertical, horizontal motion differs in space phase
, drive sufficient particle to do elliptic motion, and by mover and drive the frictional force between foot to promote mover and carry out straight line bidirectional-movement.Utilize the linear ultrasonic motor of the symmetrical stator structure of this simple energisation mode excitation tabular, whole motor is stable and thrust is large.
The present invention adopts technique scheme, has following beneficial effect:
(1) stator module of symmetrical platy structure and the mode of pin-ended achieve the symmetry of electric machine structure, two supporter initial and tail sections position whole motor and support, improve the stability of motor, supporter and base hinged, make that there is flexible driving foot by the spring in compression precompression bringing device and deformation occurs, produce stable, larger precompression between stator and mover, improve the power output of motor to greatest extent;
(2) utilize the stator with soft drive foot of bending vibration low frequency characteristics design, improve stator method of clamping and precompression applying mode further, improve the power output of the stability of motor, capacity usage ratio and complete machine;
(3) operating frequency of bending vibration is utilized, by the phase change mover direction of motion of input signal, reduce stimulating frequency, improve vibration efficiency, achieve the motion in different directions of a kind of operating frequency drive motors, only utilize bending vibration due to the present invention and adopt symmetrical structure, therefore motor is all identical in the motion state of both direction, the speed of service, avoids motor variant in the driving effect of both direction.
Claims (5)
1. based on the linear ultrasonic motor of bending vibration modes, it is characterized in that, comprising: the stator module (2) of base plate (1), symmetrical platy structure, two holders (3), precompression bringing device (4), mover (5), wherein,
Described stator module (2) comprising: driving foot (21) of two oscillators and link two oscillators;
Each holder (3) have for being fixed on the first through hole (31) on base plate (1), the second through hole (32) in order to support precompression bringing device (4), the third through-hole (33) that is connected with described oscillator;
Described precompression bringing device (4) comprising: through each holder second through hole (32) screw rod (41), be enclosed within screw rod (41) two ends spring (42) and be enclosed within the nut (43) of screw rod (41) two ends in order to Compress Spring;
Rotate under the elastic force effect that supporter (3) produces at spring, drive foot (21) end face contact with mover (5) after deformation occurs for it and compress to provide the precompression promoting mover (5) and move.
2. the linear ultrasonic motor based on bending vibration modes according to claim 1, it is characterized in that, each oscillator comprises: fastening bolt (23), 2n group piezoelectric ceramic piece (24), balancing weight (25), end cap (26), balancing weight (23), n group piezoelectric ceramic piece (24), supporter (3), n group piezoelectric ceramic piece (24), end cap (26) are fixed together by inside lateral by described fastening bolt (23) successively, and n is positive integer.
3. the linear ultrasonic motor based on bending vibration modes according to claim 2, is characterized in that, often organizes piezoelectric ceramic piece polarization mode identical, often organizes piezoelectric ceramic piece and comprises the inverted piezoelectric ceramic piece of the positive negative region of two panels.
4. the linear ultrasonic motor based on bending vibration modes according to claim 1, it is characterized in that, each oscillator also comprises and the flexible hinge (22) driving foot (21) to link, and drives foot (21) and the flexible hinge (22) on two oscillators in inverted V-arrangement.
5. in Claims 1-4 described in any one based on the electric excitation method thereof of the linear ultrasonic motor of bending vibration modes, it is characterized in that, with sinusoidal signal excitation side oscillator, with cosine signal excitation opposite side oscillator, the symmetrical mode of bending vibration and antisymmetry mode in the face that the effect that piezoelectric ceramic piece vibrates along the thickness direction after being subject to electric excitation inspires described linear ultrasonic motor, drive foot difference in space phase to be pi/2 in symmetrical mode and antisymmetry mode, the elliptic motion driving sufficient end face to produce under bending vibration modes drives mover bidirectional-movement.
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| CN105515439A (en) * | 2016-01-08 | 2016-04-20 | 苏州市职业大学 | Laminated piezoelectric ceramic linear ultrasonic motor |
| CN107070295A (en) * | 2017-04-14 | 2017-08-18 | 哈尔滨工业大学 | U-shaped accurate linear piezoelectric actuator and its motivational techniques |
| CN107096124A (en) * | 2017-04-28 | 2017-08-29 | 南京航空航天大学 | A kind of ultrasonic decoction of the intestines and stomach based on Piezoelectric Driving promotees to ooze device and its method of work |
| CN107707150A (en) * | 2017-11-09 | 2018-02-16 | 南京航空航天大学 | The ultrasound electric machine and method of work of screw thread pair driving based on bending vibration modes |
| CN108092549A (en) * | 2018-01-12 | 2018-05-29 | 长春工业大学 | Compact precision piezoelectricity stick-slip hoistable platform and its driving method |
| CN108199611A (en) * | 2018-02-26 | 2018-06-22 | 盐城工学院 | A kind of double-driving foot type linear piezoelectric motor and electric excitation method thereof |
| CN108199612A (en) * | 2018-02-26 | 2018-06-22 | 盐城工学院 | A kind of double-driving foot type linear piezoelectric motor and electric excitation method thereof |
| CN109314474A (en) * | 2016-06-13 | 2019-02-05 | 物理仪器(Pi)两合有限公司 | Supersonic motor |
| CN111726030A (en) * | 2020-05-25 | 2020-09-29 | 南京航空航天大学 | Linear ultrasonic motor and constant pre-pressure applying method thereof |
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| CN107096124A (en) * | 2017-04-28 | 2017-08-29 | 南京航空航天大学 | A kind of ultrasonic decoction of the intestines and stomach based on Piezoelectric Driving promotees to ooze device and its method of work |
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| CN108092549A (en) * | 2018-01-12 | 2018-05-29 | 长春工业大学 | Compact precision piezoelectricity stick-slip hoistable platform and its driving method |
| CN108092549B (en) * | 2018-01-12 | 2020-01-10 | 长春工业大学 | Compact precise piezoelectric stick-slip lifting platform and driving method thereof |
| CN108199611A (en) * | 2018-02-26 | 2018-06-22 | 盐城工学院 | A kind of double-driving foot type linear piezoelectric motor and electric excitation method thereof |
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| CN111726030A (en) * | 2020-05-25 | 2020-09-29 | 南京航空航天大学 | Linear ultrasonic motor and constant pre-pressure applying method thereof |
| CN111726030B (en) * | 2020-05-25 | 2021-05-25 | 南京航空航天大学 | Linear ultrasonic motor and constant pre-pressure applying method thereof |
| 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 |
| CN113938051A (en) * | 2021-09-29 | 2022-01-14 | 东北电力大学 | Two-parallel bending vibrator composite actuation stepping piezoelectric driver and working method thereof |
| CN113938051B (en) * | 2021-09-29 | 2023-09-29 | 东北电力大学 | Two-parallel bending vibrator compound actuation stepping piezoelectric driver and working method thereof |
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