CN107134946A - A kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth - Google Patents
A kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth Download PDFInfo
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- CN107134946A CN107134946A CN201710374265.1A CN201710374265A CN107134946A CN 107134946 A CN107134946 A CN 107134946A CN 201710374265 A CN201710374265 A CN 201710374265A CN 107134946 A CN107134946 A CN 107134946A
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 239000002783 friction material Substances 0.000 claims abstract description 13
- 210000000515 tooth Anatomy 0.000 claims abstract description 11
- 239000000919 ceramic Substances 0.000 claims abstract description 6
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 5
- QPLDLSVMHZLSFG-UHFFFAOYSA-N Copper oxide Chemical compound [Cu]=O QPLDLSVMHZLSFG-UHFFFAOYSA-N 0.000 claims description 4
- 239000003607 modifier Substances 0.000 claims description 4
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 4
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 4
- 239000000843 powder Substances 0.000 claims description 4
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 2
- 239000004642 Polyimide Substances 0.000 claims description 2
- 239000004917 carbon fiber Substances 0.000 claims description 2
- 229960004643 cupric oxide Drugs 0.000 claims description 2
- 229910002804 graphite Inorganic materials 0.000 claims description 2
- 239000010439 graphite Substances 0.000 claims description 2
- FSQQTNAZHBEJLS-UPHRSURJSA-N maleamic acid Chemical class NC(=O)\C=C/C(O)=O FSQQTNAZHBEJLS-UPHRSURJSA-N 0.000 claims description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 2
- CWQXQMHSOZUFJS-UHFFFAOYSA-N molybdenum disulfide Chemical compound S=[Mo]=S CWQXQMHSOZUFJS-UHFFFAOYSA-N 0.000 claims description 2
- 229910052982 molybdenum disulfide Inorganic materials 0.000 claims description 2
- 239000002113 nanodiamond Substances 0.000 claims description 2
- 229920001721 polyimide Polymers 0.000 claims description 2
- -1 polytetrafluoroethylene Polymers 0.000 claims description 2
- 229910052761 rare earth metal Inorganic materials 0.000 claims description 2
- 150000002910 rare earth metals Chemical class 0.000 claims description 2
- 239000000835 fiber Substances 0.000 claims 1
- 239000011521 glass Substances 0.000 claims 1
- 238000002604 ultrasonography Methods 0.000 abstract description 24
- 230000033228 biological regulation Effects 0.000 abstract description 14
- 230000009931 harmful effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000036316 preload Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010358 mechanical oscillation Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
- H02N2/163—Motors with ring stator
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
A kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth, it is related to a kind of ultrasound electric machine, the rotating speed continuously run with solving current ultrasound electric machine is difficult to be reduced to the ultralow range of speeds, and the problem of can not avoid the harmful effect brought by frequency modulation, phase modulation and amplitude modulation mode of speed regulation to stator vibrational state, it includes flexible shaft, top nut, lower nut, pedestal, shell, upper angular contact ball bearing, lower angular contact ball bearing, rotor and stator；Top nut and lower nut are screwed in the top and bottom of flexible shaft respectively, the end face of the stator is circumferentially machined with multiple stator tooths, space between two neighboring stator tooth is teeth groove, the upper surface of multiple stator tooths is linked as an annular surface, one layer of annular friction material with the curved face contact of stator tooth is equipped with the end face of the wheel rim of rotor, the other end of stator is equipped with ring-shaped piezo ceramic layer.The present invention is used for precision actuation.
Description
Technical field
The present invention relates to a kind of ultrasound electric machine, and in particular to a kind of ultralow rotating speed traveling-wave ultrasonic electricity with curved surface stator tooth
Machine, belongs to piezoelectric driving technology field.
Background technology
Ultrasound electric machine is the next-generation drive that a kind of inverse piezoelectric effect of utilization piezoelectric converts electrical energy into mechanical energy,
Its stator is generally made up of piezoelectric ceramics and metallic elastic body, is realized by the alternating voltage for applying supersonic frequency to piezoelectric ceramics
With the excitation of frequency mechanical oscillation in stator elastomeric, and then fortune of the particle formation with driving effect in stator driving region
Dynamic rail mark, is coupled by the friction of stator and rotor, realizes the output of rotor macroscopic motion.Due to the driving frequency of ultrasound electric machine
In supersonic frequency, its range of speeds is generally tens and goes to thousands of rpms, passes through frequency modulation, three kinds of modes of speed regulation of phase modulation and amplitude modulation
The rotating speed of ultrasound electric machine can only be reduced to several rpms, it is difficult to which satisfaction requires that below low speed 0.5r/min or lower drivings turn
The occasion of speed, therefore, developing ultralow rotating speed ultrasound electric machine has important application value.
Publication No. CN201742324U, publication date is on 02 09th, 2011, and patent name is " rotary type travelling wave ultrasonic
Motor " is without using curved surface toothing, it is difficult to suitable for Ultra-Low Speed operating mode.Publication No. CN202111634U, publication date is
On 01 11st, 2012, patent name was exporting for the patent of invention of " nut adjusts the rotary type travelling wave ultrasonic motor of precompression "
One section of screw thread is machined with axle, the rotor connected firmly in rotating shaft is tensed to the direction of stator by rotating pre-load nut, passed through
Direction displacement of the pre-load nut in the center line of rotating shaft along stator is controlled to control the precompression between stator and rotor, it is not
Foot part is that, not using curved surface toothing, rotating speed is difficult to be reduced to the ultralow range of speeds.Publication No. CN102904482A,
Publication date is on 01 30th, 2013, and patent name uses for the patent of invention of " a kind of ultralow method for controlling number of revolution of ultrasound electric machine "
Discontinuous excitation control ultrasound electric machine runs on ultralow rotating speed, and with good rotating speed control performance, it realizes ultralow rotating speed
Mode be that discontinuous is driven rather than Continuous Drive, it is impossible to avoid by frequency modulation, phase modulation and amplitude modulation mode of speed regulation to stator vibrate
The harmful effect that state is brought.
The content of the invention
The present invention provides a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth, to solve current ultrasound electric machine
The rotating speed continuously run is difficult to be reduced to the ultralow range of speeds, and can not avoid by frequency modulation, phase modulation and amplitude modulation mode of speed regulation pair
The problem of harmful effect that stator vibrational state is brought.
The present invention adopts the technical scheme that to solve the above problems：A kind of ultralow rotating speed traveling wave with curved surface stator tooth
Ultrasound electric machine, it include flexible shaft, top nut, lower nut, pedestal, shell, upper angular contact ball bearing, lower angular contact ball bearing,
Rotor and stator；
Shell and pedestal are detachably connected, and are provided with pedestal on angular contact ball bearing, shell and are provided with lower angular contact
Ball bearing, flexible shaft is arranged on upper angular contact ball bearing and lower angular contact ball bearing, upper angular contact ball bearing and lower angular contact
Rotor and stator are disposed between ball bearing, rotor is disposed adjacent with shell and on flexible shaft, stator is installed on base
On seat, flexible hinge structure is machined with the shaft part of the flexible shaft between rotor and stator；
Top nut and lower nut are screwed in the top and bottom of flexible shaft respectively, and the end face of the stator is circumferentially processed
It is teeth groove to have the space between multiple stator tooths, two neighboring stator tooth, and the upper surface of multiple stator tooths is linked as an annular song
Face, waveform in curved surface after annular surface expansion, the amplitude of curved surface waveform is 0.2-50 times of traveling-wave waveform amplitude, the wheel rim of rotor
End face on be equipped with one layer of annular friction material with the curved face contact of stator tooth, the other end of stator is equipped with annular pressure
Electroceramics layer.
The beneficial effects of the invention are as follows：The present invention adjusts the rotating speed of travelling wave supersonic motor using curved stator tooth,
The harmful effect brought by frequency modulation, phase modulation and amplitude modulation mode of speed regulation to stator vibrational state is avoided, is a kind of traveling-wave ultrasonic electricity
The new mode of speed regulation of machine, can break through the accommodation limit of existing ultrasound electric machine rotating speed, and turning for ultrasound electric machine can be greatly lowered
Speed, makes ultrasound electric machine have the performance of ultralow rotating speed operation, the rotating speed that ultrasound electric machine of the present invention is continuously run can be reduced to super
Below slow-speed of revolution 0.5r/min, can continuously run under ultralow rotating speed, it is adaptable to the occasion for needing Ultra-Low Speed to drive.Due to song
The stator tooth physical dimension of planar is small, will not have large effect to the stator vibration shape, while playing ultrasound electric machine high-frequency drive
Characteristic, it is ensured that the operation stability of ultrasound electric machine, really realize the ultralow rotating speed driveability of ultrasound electric machine.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is curved stator structure schematic diagram；
Fig. 3 is that stator expansion rear curved surface waveform is sinusoidal waveform partial schematic diagram in one embodiment；
Fig. 4 is that stator expansion rear curved surface waveform is cosine waveform and square wave combination diagram in another embodiment；
Fig. 5 is the superposition schematic diagram that stator expansion rear curved surface waveform is cosine waveform and square wave in another embodiment；
Fig. 6 is that the root portion of stator tooth in another embodiment is machined with the partial schematic diagram of micropore；
Fig. 7 is time three kinds of waveform state diagrams when being zero；
Fig. 8 is three kinds of waveform views under a quarter traveling wave cycle；
Fig. 9 is three kinds of waveform views under two/a line wave period；
Figure 10 is three kinds of waveform views under 3/4ths traveling wave cycles.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
With reference to Fig. 1-Fig. 6 explanations, a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth, it includes flexible shaft
1st, top nut 2, lower nut 6, pedestal 7, shell 10, upper angular contact ball bearing 4, lower angular contact ball bearing 11, rotor 5 and stator 9；
Shell 10 and pedestal 7 are detachably connected, and are provided with angular contact ball bearing 4, shell 10 and are provided with down on pedestal 7
Angular contact ball bearing 11, flexible shaft 1 is arranged on upper angular contact ball bearing 4 and lower angular contact ball bearing 11, upper angular contact ball axle
Hold and rotor 5 and stator 9 are disposed between 4 and lower angular contact ball bearing 11, rotor 5 is disposed adjacent with shell 10 and installed in soft
On property axle 1, stator 9 is installed on pedestal 7, and flexible hinge is machined with the shaft part of the flexible shaft 1 between rotor 5 and stator 9
Chain structure；
Top nut 2 and lower nut 6 are screwed in the top and bottom of flexible shaft 1 respectively, and the end face of the stator 9 is circumferentially
The space being machined between multiple stator tooth 9-1, two neighboring stator tooth 9-1 is teeth groove, and multiple stator tooth 9-1 upper surface connects
For an annular surface, waveform in curved surface after annular surface expansion, the amplitude of curved surface waveform is the 0.2-50 of traveling-wave waveform amplitude
Times, be equipped with one layer of annular friction material 8 with the curved face contact of stator tooth on the end face of the wheel rim of rotor 5, stator 9 it is another
End face is equipped with ring-shaped piezo ceramic layer 13.
The amplitude of traveling wave is in micron order, and the amplitude of the curved surface waveform of stator tooth is also in micron order, curved stator toothing
There will not be larger change to the vibration shape of stator, it is ensured that stator has good vibration characteristics.In addition, relative to conventional frequency modulation
Mode of speed regulation, the mode of speed regulation of this project does not influence the working frequency of stator, and stator can be made to be operated in optimal driving frequency
Under, realize the regulation of motor speed.The clearance of bearing is eliminated using angular contact bearing, the stable of ultrasound electric machine is improved
Property, enhance the load capacity of motor.Flexible hinge structure can produce certain deformation in the presence of moment of flexure, can transmit
Moment of torsion, exempts from assembling, no fretting wear.It is flexible in order to ensure upper angular contact ball bearing 4 and the firm stabilization of lower angular contact ball bearing 11
The top and bottom of axle 1 screw back-up ring 3 and lower back-up ring 12 respectively.
Illustrate referring to Fig. 2, single stator tooth 9-1 cross section is sector.It is arranged such, fan-shaped stator tooth ensure that with determining
The integrally-built matching of son, the width of stator tooth is close to identical, and adjacent sheaves width is close to identical.Realize motor speed in more preferable bottom
Regulation.
According to different slow-speed of revolution demands, friction circle is adjusted with being superimposed for traveling-wave waveform by various forms of curved surface waveforms
The size of face power output, and then the different rotating speed of ultrasound electric machine is obtained, the form of curved surface waveform has following 3 kinds：
Illustrate referring to Fig. 3, the curved surface waveform is sinusoidal waveform or cosine waveform.This form is adapted to the work of ultralow rotating speed
Condition.
Illustrate referring to Fig. 4, the curved surface waveform is sinusoidal waveform and square wave combination or the combination of cosine waveform and square wave.This
The form of kind is adapted to the slightly higher operating mode of rotating speed.
Illustrate referring to Fig. 5, the curved surface waveform is the superposition of cosine waveform and square wave.It is slightly higher that this form is adapted to rotating speed
Operating mode and the startability for contributing to improvement motor.
Illustrate referring to Fig. 6, in order to ensure row wave stability, stator tooth 9-1 root portion is machined with micropore 9-2, micropore
9-2 aperture is gradually reduced from the maximum amplitude of curved surface waveform to minimum amplitude direction.Stator root portion processing aperture is differed
Micropore, to adjust the position of stator neutral line, it is ensured that the traveling wave produced by piezoelectric ceramics inverse piezoelectric effect is not distorted.
Illustrate referring to Fig. 1, in order to improve the run stability of motor, flexible hinge structure mainly by flexible shaft 1 radially
The whole circle arc groove 1-1 of N bars of processing is constituted, wherein N >=1.Using flexible hinge structure, the adaptive of rotor and stator contact is realized
It should adjust, the size of flexible hinge is calculated by given working condition requirement, can avoid turning due to flexible shaft two ends fixing band
Contact of the son with stator is uneven, contact of the stator with rotor is carried out automatic adjusument according to contact situation, adds electricity
The run stability of machine.
Illustrate referring to Fig. 1, restart ability to improve motor, improve the operation instruction of motor, annular friction material 8 is adopted
Oil-containing friction material is used, the oil-containing friction material includes by weight percentage as follows：
Polymeric matrix：45%-80%；
Friction modifier：10%-30%；
Carbon micron tube：1%-30%；
Described polymeric matrix is polytetrafluoroethylene (PTFE) and polybenzoate, polyimides or double maleic amides groups of any one
Close；
Described friction modifier be copper powder, nickel powder, cupric oxide, molybdenum disulfide, graphite, nano-diamond powder, carbon fiber,
One or more of combinations in glass fibre and rare earth powder.
Carbon micron tube is that, containing oil carrier, can accurately control the oil content of friction material, and improves it containing oil-retaining power, no
The matrix material species of oil-containing material is limited, ultrasound electric machine friction material under suitable different operating modes can be prepared；The friction material
Material also makes the smooth running of ultrasound electric machine, output torque big, is prevented effectively from the bonding of the rotor after longer-term storage；Improve
The run stability of ultrasound electric machine, enhances the load capacity of motor.Coefficient of friction is 0.07-0.18, wear rate is 1.0 ×
10-8mm3/Nm-2×10-8mm3/Nm。
Working mechanism
So that the amplitude of the curved surface waveform of stator tooth is equal to traveling wave amplitude as an example, analytic surface stator tooth and rotor contact interface
Motion and stress in a cycle, as shown in Figure 7.W、W1And W2Respectively the actual waveform of stator surface, traveling-wave waveform and
The curved surface waveform of stator tooth.The wherein curved surface waveform W of stator tooth2It is fixed, does not change with time and change, traveling-wave waveform
W1With being transmitted along the forward direction of x-axis for time, stator surface actual waveform W is by traveling-wave waveform W1With the curved surface waveform W of stator tooth2
Superposition.Traveling-wave waveform determines the motion of stator tooth surface particle；Actual waveform determines the shape of stator deformation of tooth surface, and then
Determine the actual contact condition of stator and rotor.When Fig. 7 is time t=0, the state of three waveforms.The displacement unit of ordinate
It is mm, now, the curved surface waveform of stator tooth is overlapped with traveling-wave waveform, actual waveform amplitude increases, pressure rise in contact zone is real
Border contact zone diminishes and (means that stagnant zone is reduced), the friction drive increase of contact interface.When Fig. 8 is t=T/4, three ripples
The state of shape, T is the cycle of traveling wave.Now, traveling-wave waveform is no longer overlapped with the curved surface waveform of stator tooth, and actual waveform decides
, there is the direction phase in driving area and anti-driven area, two regions in actual contact zone in contact of the stator with rotor
Instead.The scope in driving area diminishes, and the friction drive of contact interface diminishes.When Fig. 9 is t=T/2, the state of three waveforms.This
When, the curved surface waveform of traveling-wave waveform and stator tooth is cancelled out each other, and the actual waveform of stator surface is plane, now in a wavelength
Interior friction drive is 0.When Figure 10 is t=3T/4, the state of three waveforms is similar to the state shown in Fig. 8.
From above-mentioned analysis, the annular surface structure of the stator tooth by changing stator can control friction drive
Size, and then control ultrasound electric machine rotating speed.The amplitude of the curved surface waveform of stator tooth can also be increased by continuation, made some
Period inner stator produces the frictional force opposite with rotor rotation direction, further the rotating speed of reduction motor, can also pass through design
The rotating speed and torque of motor are adjusted for the superposition of two or more waveforms (such as cosine waveform and square wave).In conventional research,
Because Driven by Ultrasonic Motors frequency is located at supersonic range, its rotating speed is very fast, passes through traditional frequency modulation, phase modulation and the mode of speed regulation of amplitude modulation
The requirement of Ultra-Low Speed is difficult to, the mode of speed regulation by stator curved surface toothing that this project is proposed can be good at overcoming this
One problem.Because the amplitude of traveling wave is in micron order, the amplitude of curved surface waveform is also in micron order, and curved stator toothing will not
There is larger change to the vibration shape of stator, it is ensured that stator has good vibration characteristics.In addition, relative to conventional frequency-adjustable speed-adjustable
Mode, mode of speed regulation of the invention does not influence the working frequency of stator, and stator can be made to be operated under optimal driving frequency, real
The regulation of existing motor speed.
The present invention is disclosed as above with preferable case study on implementation, but is not limited to the present invention, any to be familiar with this specialty
Technical staff, without departing from the scope of the present invention, when can using the disclosure above structure and technology contents do
Go out a little change or be modified to the equivalence enforcement case of equivalent variations, but it is every without departing from technical solution of the present invention
Hold, any simple modification, equivalent variations and modification that the technical spirit according to the present invention is made to above case study on implementation still belong to
Technical solution of the present invention scope.
Claims (8)
1. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth, it is characterised in that：It include flexible shaft (1), on
Nut (2), lower nut (6), pedestal (7), shell (10), upper angular contact ball bearing (4), lower angular contact ball bearing (11), rotor
And stator (9) (5)；
Shell (10) and pedestal (7) are detachably connected, and are provided with angular contact ball bearing (4), shell (10) and are pacified on pedestal (7)
Equipped with lower angular contact ball bearing (11), flexible shaft (1) is arranged on upper angular contact ball bearing (4) and lower angular contact ball bearing (11)
On, be disposed with rotor (5) and stator (9) between upper angular contact ball bearing (4) and lower angular contact ball bearing (11), rotor (5) with
Shell (10) is disposed adjacent and on flexible shaft (1), stator (9) is installed on pedestal (7), positioned at rotor (5) and calmly
Flexible hinge structure is machined with the shaft part of flexible shaft (1) between sub (9)；
It is characterized in that：Top nut (2) and lower nut (6) are screwed in the top and bottom of flexible shaft (1), the stator respectively
(9) space that end face is circumferentially machined between multiple stator tooths (9-1), two neighboring stator tooth (9-1) is teeth groove, many
The upper surface of individual stator tooth (9-1) is linked as an annular surface, waveform in curved surface, the amplitude of curved surface waveform after annular surface expansion
For 0.2-50 times of traveling-wave waveform amplitude, one layer with the curved face contact of stator tooth is equipped with the end face of the wheel rim of rotor (5)
Annular friction material (8), the other end of stator (9) is equipped with ring-shaped piezo ceramic layer (13).
2. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 1, it is characterised in that：It is single
The cross section of individual stator tooth (9-1) is sector.
3. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 2, it is characterised in that：Institute
Curved surface waveform is stated for sinusoidal waveform or cosine waveform.
4. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 2, it is characterised in that：Institute
It is sinusoidal waveform and square wave combination or the combination of cosine waveform and square wave to state curved surface waveform.
5. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 2, it is characterised in that：Institute
State superposition of the curved surface waveform for cosine waveform and square wave.
6. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 3, it is characterised in that：It is fixed
The root portion of sub- tooth (9-1) is machined with micropore (9-2), the aperture of micropore (9-2) from curved surface waveform maximum amplitude to most small size
Value direction is gradually reduced.
7. a kind of ultralow rotating speed traveling-wave ultrasonic with curved surface stator tooth according to any one of claim 1 to 6 claim
Motor, it is characterised in that：Main whole circle arc groove (1-1) structure of N bars radially processed by flexible shaft (1) of flexible hinge structure
Into wherein N >=1.
8. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 7, it is characterised in that：Ring
Shape friction material (8) is oil-containing friction material, and the oil-containing friction material includes by weight percentage as follows：
Polymeric matrix：45%-80%；
Friction modifier：10%-30%；
Carbon micron tube：1%-30%；
Described polymeric matrix is polytetrafluoroethylene (PTFE) and polybenzoate, polyimides or double maleic amides combinations of any one；
Described friction modifier is copper powder, nickel powder, cupric oxide, molybdenum disulfide, graphite, nano-diamond powder, carbon fiber, glass
One or more of combinations in fiber and rare earth powder.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108681031A (en) * | 2018-08-06 | 2018-10-19 | 深圳市三阶微控实业有限公司 | A kind of micro-camera and its control method using ultrasonic step wave motor |
| CN109153453A (en) * | 2017-11-30 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Flusher and unmanned vehicle |
| CN111555657A (en) * | 2020-06-03 | 2020-08-18 | 集美大学 | Traveling wave rotary ultrasonic motor friction plate with groove |
| CN112262302A (en) * | 2018-06-08 | 2021-01-22 | Lg伊诺特有限公司 | Sensing device |
| CN112713806A (en) * | 2020-12-30 | 2021-04-27 | 南京航空航天大学 | Efficient driving curved surface rotor applied to traveling wave type ultrasonic motor |
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| CN1688097A (en) * | 2005-04-18 | 2005-10-26 | 南京航空航天大学 | Standing wave frequency change step ultrasonic electric machine |
| CN106549603A (en) * | 2017-01-11 | 2017-03-29 | 上海交通大学 | A kind of dual-travel-wave rotary ultrasonic motor of simple oscialltor excitation |
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| CN109153453A (en) * | 2017-11-30 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Flusher and unmanned vehicle |
| CN112262302A (en) * | 2018-06-08 | 2021-01-22 | Lg伊诺特有限公司 | Sensing device |
| CN108681031A (en) * | 2018-08-06 | 2018-10-19 | 深圳市三阶微控实业有限公司 | A kind of micro-camera and its control method using ultrasonic step wave motor |
| CN108681031B (en) * | 2018-08-06 | 2023-10-27 | 深圳市三阶微控实业有限公司 | Miniature camera applying stepping ultrasonic motor and control method thereof |
| CN111555657A (en) * | 2020-06-03 | 2020-08-18 | 集美大学 | Traveling wave rotary ultrasonic motor friction plate with groove |
| CN111555657B (en) * | 2020-06-03 | 2021-09-21 | 集美大学 | Traveling wave rotary ultrasonic motor friction plate with groove |
| CN112713806A (en) * | 2020-12-30 | 2021-04-27 | 南京航空航天大学 | Efficient driving curved surface rotor applied to traveling wave type ultrasonic motor |
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