CN109696211B - Variable pre-pressure loading device of ultrasonic motor and mechanical characteristic testing platform - Google Patents
Variable pre-pressure loading device of ultrasonic motor and mechanical characteristic testing platform Download PDFInfo
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- CN109696211B CN109696211B CN201910155802.2A CN201910155802A CN109696211B CN 109696211 B CN109696211 B CN 109696211B CN 201910155802 A CN201910155802 A CN 201910155802A CN 109696211 B CN109696211 B CN 109696211B
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Abstract
The invention discloses a pre-pressure-variable loading device of an ultrasonic motor, which relates to the technical field of pre-pressure loading of the ultrasonic motor and comprises the following components: the pull rod comprises a bottom plate, a stator, a lead screw sliding block, a tension sensor, a pressure sensor, a pull rod, a lead screw, a stepping motor, a controller and a rotor mounting frame, wherein the rotor mounting frame is fixedly arranged on the bottom plate; the pressure sensor and the stepping motor are both electrically connected with the controller, and the mechanical characteristic test platform comprising the ultrasonic motor pre-pressure-variable loading device is further disclosed, and can be used for loading different pre-pressures on the ultrasonic motor, ensuring the pre-pressure loading accuracy and preventing the deflection from being increased due to pre-stress loading.
Description
Technical Field
The invention relates to the technical field of pre-pressure loading of ultrasonic motors, in particular to a pre-pressure-variable loading device of an ultrasonic motor and a mechanical characteristic testing platform thereof.
Background
The pre-pressure is the axial pressure applied between the stator and the rotor of the working motor (the friction material is stuck on the rotor or the stator), and can make the stator and the rotor tightly stuck together. The magnitude of the pre-stress affects the contact and wear characteristics between the stator and rotor, the dynamic characteristics of the stator, and the mechanical performance of the ultrasonic motor. The proper pre-pressure can reduce the friction wear and noise between the stator and the rotor as much as possible under the condition of ensuring the good output performance of the whole machine, and prolong the service life of the ultrasonic motor. In the testing process of the relation between the performance of the ultrasonic motor and the pre-pressure, a certain axial pressure is often required to be applied between a stator and a rotor of the ultrasonic motor, and the performance of the used loading device can directly influence the accuracy and reliability of the pre-pressure test result of the ultrasonic motor.
Disclosure of Invention
The invention aims to provide a variable pre-pressure loading device of an ultrasonic motor, which is used for solving the problems in the prior art, can load different pre-pressures on the ultrasonic motor, can ensure the accuracy of pre-pressure adjustment and can prevent the deflection of the variable pre-pressure loading device of the ultrasonic motor from being increased due to pre-stress loading.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an ultrasonic motor variable pre-pressure loading device which comprises a bottom plate, a stator, a screw rod slide block, a tension sensor, a pressure sensor, a pull rod, a screw rod, a stepping motor, a controller and a rotor mounting frame, wherein the rotor mounting frame is fixedly arranged on the bottom plate, the stepping motor and the screw rod slide block are both connected to the bottom plate in a sliding manner, the stator is fixedly arranged on the screw rod slide block, the stepping motor is connected with the screw rod and used for driving the screw rod to reciprocate along the axial direction of the screw rod, the tail end of the screw rod is fixedly connected with one end of the pressure sensor, the other end of the pressure sensor is connected with the stator, one end of the pull rod penetrates through the screw rod slide block, one end of the pull rod penetrating through the screw rod slide block is provided with an elastic element, and the other end of the pull rod is fixedly connected with one end of, the other end of the tension sensor is fixedly connected with the rotor mounting frame; the pressure sensor and the stepping motor are electrically connected with the controller so as to ensure the accuracy of pre-pressure loading of the ultrasonic motor.
Preferably, the pre-pressure varying and loading device of the ultrasonic motor further comprises a slide rail, the slide rail is fixedly arranged on the bottom plate, and the screw rod slide block and the stator are both connected to the slide rail in a sliding manner.
Preferably, the pre-pressure varying and loading device of the ultrasonic motor further comprises a stator slide block, the stator slide block is connected to the slide rail in a sliding manner, and the stator is fixedly arranged on the stator slide block.
Preferably, the elastic element is a disc spring.
Preferably, the other end of the tension sensor penetrates through the end part of the rotor mounting frame and is connected with a locking nut in a threaded manner, and the locking nut is used for adjusting the tension of the pull rod on the screw rod sliding block.
Preferably, the number of the pull rods is two, and the two pull rods are respectively arranged on two sides of the stepping motor.
The invention also provides an ultrasonic motor variable pre-pressure mechanical characteristic testing platform which comprises the ultrasonic motor variable pre-pressure loading device, and further comprises a hysteresis motor, an encoder, a torque sensor and a rotor which are sequentially connected, wherein the hysteresis motor, the encoder, the torque sensor and the rotor mounting frame are all fixedly arranged on the bottom plate, the rotor is rotationally connected to the rotor mounting frame, the rotor drives the encoder, the torque sensor and the hysteresis motor to coaxially rotate, the encoder is used for measuring the output rotating speed of the rotor, and the torque sensor is used for measuring the output torque of the rotor.
Preferably, supersound motor becomes pre-stress mechanical properties test platform still includes hysteresis lag motor mounting bracket, the hysteresis lag motor mounting bracket is fixed to be set up on the bottom plate, the hysteresis lag motor is fixed to be set up on the hysteresis lag motor mounting bracket.
Preferably, the ultrasonic motor variable pre-pressure mechanical characteristic test platform further comprises an encoder mounting frame, the encoder mounting frame is fixedly arranged on the bottom plate, and the encoder is fixedly arranged on the encoder mounting frame.
Preferably, the ultrasonic motor variable pre-pressure mechanical characteristic test platform further comprises a first coupler, a second coupler and a third coupler; the one end of first shaft coupling with the hysteresis motor is connected, the other end of first shaft coupling with the one end of encoder is connected, the other end of encoder with the one end of second shaft coupling is connected, the other end of second shaft coupling with torque sensor's one end is connected, torque sensor's the other end with the one end of third shaft coupling is connected, the other end of third shaft coupling with the rotor is connected.
Compared with the prior art, the invention has the following technical effects:
according to the pre-pressure-variable loading device for the ultrasonic motor, the stepping motor is connected with the lead screw to drive the lead screw to reciprocate along the axial direction of the lead screw, the tail end of the lead screw is fixedly connected with one end of the pressure sensor, the other end of the pressure sensor is connected with the stator, the pressure sensor and the stepping motor are both electrically connected with the controller, and a closed-loop control system is formed among the controller, the pressure sensor and the stepping motor, so that different pre-pressures can be loaded on the ultrasonic motor, and meanwhile, the accuracy of pre-pressure adjustment can be guaranteed; and one end of the pull rod penetrating out of the screw rod sliding block is provided with an elastic element, and the elastic element is compressed to offset the pre-pressure of a part of screw rods on the stator so as to prevent the deflection of the pre-pressure changing loading device of the ultrasonic motor from being increased due to the pre-stress loading.
The invention also provides a platform for testing the variable pre-pressure mechanical characteristics of the ultrasonic motor, which can be used for measuring the rotating speed and the output torque of the ultrasonic motor under different pre-pressure loading conditions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a structural diagram of a variable pre-pressure loading device of an ultrasonic motor according to the present invention;
fig. 2 is a variable pre-pressure mechanical characteristic testing platform of an ultrasonic motor provided by the invention.
Wherein: 1-base plate, 2-hysteresis motor, 3-hysteresis motor mounting bracket, 4-first coupling, 5-encoder mounting bracket, 6-encoder, 7-second coupling, 8-torque sensor mounting bracket, 9-torque sensor, 10-third coupling, 11-rotor mounting bracket, 12-rotor, 13-stator, 14-stator mounting bracket, 15-tension sensor, 16-pressure sensor, 17-pull rod, 18-lead screw motor mounting bracket, 19-through lead screw motor, 20-disc spring, 21-lead screw, 22-lead screw slider, 23-slide rail, 24-lock nut, 25-rotor shaft, 26-stator fixing plate, 27-pressure sensor fixing ring, 28-screw, 29-nut.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide a variable pre-pressure loading device of an ultrasonic motor, which is used for solving the problems in the prior art, can load different pre-pressures on the ultrasonic motor, can ensure the accuracy of pre-pressure adjustment and can prevent the deflection of the variable pre-pressure loading device of the ultrasonic motor from being increased due to pre-stress loading.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1: the embodiment provides an ultrasonic motor pre-pressure-variable loading device, which comprises a bottom plate 1, a stator 13, a lead screw slider 22, a tension sensor 15, a pressure sensor 16, a pull rod 17, a lead screw 21, a stepping motor, a controller and a rotor mounting frame 11, wherein the rotor mounting frame 11 is fixedly arranged on the bottom plate 1, the stepping motor and the lead screw slider 22 are both connected to the bottom plate 1 in a sliding manner, the stator 13 is fixedly arranged on the lead screw slider 22, the stepping motor is connected with the lead screw 21 and is used for driving the lead screw 21 to reciprocate along the axial direction of the lead screw 21, the tail end of the lead screw 21 is fixedly connected with one end of the pressure sensor 16, the other end of the pressure sensor 16 is connected with the stator 13, one end of the pull rod 17 penetrates through the lead screw slider 22, one end of the pull rod 17, which penetrates out of the lead screw slider 22, is provided with an elastic element, the other end of, by adopting the tension-compression scheme, the pressure generated on a part of the screw rod 21 can be counteracted through the elastic force of the elastic element, so that the phenomenon that the deflection of the ultrasonic motor pre-pressure changing loading device is increased in the loading process due to the pressure on the screw rod 21 can be avoided; the pressure sensor 16 and the stepping motor are both electrically connected with the controller to ensure the accuracy of the pre-pressure loading of the ultrasonic motor, wherein the stepping motor is a through lead screw motor 19.
The pre-pressure changing and loading device of the ultrasonic motor further comprises a sliding rail 23, the sliding rail 23 is fixedly arranged on the bottom plate 1, and the screw rod sliding block 22 and the stator 13 are both connected to the sliding rail 23 in a sliding mode.
The pre-pressure-changing loading device of the ultrasonic motor further comprises a stator sliding block, the stator sliding block is connected to the sliding rail 23 in a sliding mode, and the stator 13 is fixedly arranged on the stator sliding block.
The resilient element is a disc spring 20.
The other end of the tension sensor 15 penetrates through the end part of the rotor mounting frame 11 and is connected with a locking nut 24 in a threaded mode, and the tension of the pull rod 17 on the screw rod sliding block 22 can be adjusted through manually adjusting the locking nut 24.
The number of the pull rods 17 is two, and the two pull rods 17 are respectively arranged on two sides of the stepping motor.
The pre-pressure loading process of the ultrasonic motor is as follows: adjusting the distance between the screw motor mounting frame 18, the stator mounting frame 14 and the rotor mounting frame 11, locking the distance between the screw motor mounting frame 18 and the stator mounting frame 14 through a locking screw 24 and a pull rod 17, when the feed-through screw motor 19 is started, pushing the stator mounting frame 14 and the stator 13 to slide along a slide rail 23 in a direction close to the rotor 12 through a screw 21 until the stator 13 is in contact with the rotor 12, the stator 13 is subjected to the reverse acting force of the rotor 12, pre-pressure is generated between the stator 13 and the rotor 12, and the precision resolution and the size of the pre-pressure can be controlled through a closed-loop control system formed among the feed-through screw motor 19, the pressure sensor 16 and the controller, so that the purpose of changing the pre-pressure; whether the numerical values displayed by the two tension sensors 15 are the same or not can be determined, whether the pre-pressure loading on the two sides of the rotor 12 and the stator 13 is uniform or not can be determined, and when the numerical values displayed by the two tension sensors 15 are not the same, the pre-pressure loading on the two pull rods 17 is the same by manually adjusting the locking nuts 24 on the pull rods 17 on the two sides, so that the stator 13 and the rotor 12 can be uniformly loaded on the pull rods 17 on the two sides.
Example two
The embodiment provides an ultrasonic motor becomes pre-stress mechanical properties test platform, as shown in fig. 2, change the pre-stress loading device including ultrasonic motor in the embodiment one, still include the hysteresis motor 2 that connects gradually, encoder 6, torque sensor 9 and rotor 12, and hysteresis motor 2, encoder 6, torque sensor 9 and rotor mounting bracket 11 are all fixed to be set up on bottom plate 1, rotor 12 rotates to be connected on rotor mounting bracket 11, rotor 12 drives encoder 6, torque sensor 9 and the coaxial rotation of hysteresis motor 2, encoder 6 is used for measuring the output speed of rotor 12, torque sensor 9 is used for measuring the output moment of rotor 12.
The ultrasonic motor pre-pressure-changing mechanical characteristic testing platform further comprises a hysteresis motor mounting frame 3, the hysteresis motor mounting frame 3 is fixedly arranged on the bottom plate 1, and the hysteresis motor 2 is fixedly arranged on the hysteresis motor mounting frame 3.
The ultrasonic motor pre-pressure-changing mechanical characteristic testing platform further comprises an encoder mounting frame 5, the encoder mounting frame 5 is fixedly arranged on the bottom plate 1, and the encoder 6 is fixedly arranged on the encoder mounting frame 5.
The ultrasonic motor pre-pressure-changing mechanical characteristic testing platform further comprises a first coupler 4, a second coupler 7 and a third coupler 10; one end of the first coupler 4 is connected with the hysteresis motor 2, the other end of the first coupler 4 is connected with one end of the encoder 6, the other end of the encoder 6 is connected with one end of the second coupler 7, the other end of the second coupler 7 is connected with one end of the torque sensor 9, the other end of the torque sensor 9 is connected with one end of the third coupler 10, and the other end of the third coupler 10 is connected with the rotor 12.
After the pre-pressure is loaded, the stator 13 is excited through two paths of ultrasonic signals, the stator 13 drives the rotor 12 to rotate, the rotor 12 drives the rotor shaft 25 to rotate, and the power torque sensor 9, the encoder 6 and the hysteresis motor 2 can be driven through the third driving coupler 10, the second coupler 7 and the first coupler 4, so that the output rotating speed and the contact interface output torque of the ultrasonic motor can be measured.
By changing the superposition mode and the number of the disc springs 20, the rigidity of the axial precompression can be changed, and the loading modes of different axial rigidities in the precompression loading system can be realized, so that the output performance of the ultrasonic motor under different axial rigidities in the precompression loading system can be obtained.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. The pre-pressure varying and loading device of the ultrasonic motor is characterized in that: the device comprises a bottom plate, a stator, a screw rod sliding block, a tension sensor, a pressure sensor, a pull rod, a screw rod, a stepping motor, a controller, a slide rail, a stator sliding block and a rotor mounting frame, wherein the rotor mounting frame is fixedly arranged on the bottom plate, the stepping motor and the screw rod sliding block are all connected on the bottom plate in a sliding manner, the slide rail is fixedly arranged on the bottom plate, the screw rod sliding block and the stator sliding block are all connected on the slide rail in a sliding manner, the stator is fixedly arranged on the stator sliding block, the stepping motor is connected with the screw rod and is used for driving the screw rod to reciprocate along the axis direction of the screw rod, the tail end of the screw rod is fixedly connected with one end of the pressure sensor, the other end of the pressure sensor is connected with the stator, one end of the pull rod penetrates through the screw rod sliding block, and one end of, the other end of the pull rod is fixedly connected with one end of the tension sensor, and the other end of the tension sensor is fixedly connected with the rotor mounting frame; the pressure sensor and the stepping motor are electrically connected with the controller so as to ensure the accuracy of pre-pressure loading of the ultrasonic motor;
the number of the pull rods is two, and the two pull rods are respectively arranged on two sides of the stepping motor.
2. The ultrasonic motor pre-stress varying and loading device according to claim 1, wherein: the elastic element is a disc spring.
3. The ultrasonic motor pre-stress varying and loading device according to claim 1, wherein: the other end of the tension sensor penetrates through the end part of the rotor mounting frame and is connected with a locking nut in a threaded mode, and the locking nut is used for adjusting the tension of the pull rod on the screw rod sliding block.
4. The utility model provides a supersound motor becomes pre-stress mechanical properties test platform which characterized in that: the ultrasonic motor pre-stress variation loading device comprises the ultrasonic motor pre-stress variation loading device according to any one of claims 1 to 3, and further comprises a hysteresis motor, an encoder, a torque sensor and a rotor which are sequentially connected, wherein the hysteresis motor, the encoder, the torque sensor and the rotor mounting frame are fixedly arranged on the bottom plate, the rotor is rotatably connected onto the rotor mounting frame, the rotor drives the encoder, the torque sensor and the hysteresis motor to coaxially rotate, the encoder is used for measuring the output rotating speed of the rotor, and the torque sensor is used for measuring the output torque of the rotor.
5. The ultrasonic motor variable pre-stress mechanical characteristic testing platform according to claim 4, characterized in that: still include hysteresis lag motor mounting bracket, the hysteresis lag motor mounting bracket is fixed to be set up on the bottom plate, the hysteresis lag motor is fixed to be set up on the hysteresis lag motor mounting bracket.
6. The ultrasonic motor variable pre-stress mechanical characteristic testing platform according to claim 4, characterized in that: still include the encoder mounting bracket, the encoder mounting bracket is fixed to be set up on the bottom plate, the encoder is fixed to be set up on the encoder mounting bracket.
7. The ultrasonic motor variable pre-stress mechanical characteristic testing platform according to claim 4, characterized in that: the coupling also comprises a first coupling, a second coupling and a third coupling; the one end of first shaft coupling with the hysteresis motor is connected, the other end of first shaft coupling with the one end of encoder is connected, the other end of encoder with the one end of second shaft coupling is connected, the other end of second shaft coupling with torque sensor's one end is connected, torque sensor's the other end with the one end of third shaft coupling is connected, the other end of third shaft coupling with the rotor is connected.
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| CN201910155802.2A CN109696211B (en) | 2019-03-01 | 2019-03-01 | Variable pre-pressure loading device of ultrasonic motor and mechanical characteristic testing platform |
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| CN201910155802.2A CN109696211B (en) | 2019-03-01 | 2019-03-01 | Variable pre-pressure loading device of ultrasonic motor and mechanical characteristic testing platform |
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| CN109696211B true CN109696211B (en) | 2020-08-11 |
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| CN1274840A (en) * | 1999-05-21 | 2000-11-29 | 浙江工业大学 | Automatically loading small-force test equipment with elastic pressure head |
| CN101753057B (en) * | 2010-01-15 | 2011-10-19 | 南京航空航天大学 | Traveling wave ultrasonic motor assembling device |
| CN102680894B (en) * | 2012-05-23 | 2014-09-17 | 哈尔滨工业大学 | Performance testing system and performance testing method for portable motor |
| CN102914442B (en) * | 2012-10-22 | 2014-11-26 | 清华大学 | One-way pressure dynamic loading device |
| CN103308300B (en) * | 2013-06-06 | 2016-01-20 | 北京大学 | Buffer device for super-heavy-load tensile tester |
| CN103472395B (en) * | 2013-09-29 | 2015-08-19 | 哈尔滨工业大学 | The travelling wave supersonic motor load characteristic proving installation that open precompression is controlled |
| JP2015142456A (en) * | 2014-01-29 | 2015-08-03 | キヤノン株式会社 | Ultrasonic motor and lens barrel including ultrasonic motor embedded therein |
| JP2016152645A (en) * | 2015-02-16 | 2016-08-22 | キヤノン株式会社 | Vibration wave motor |
| CN105738174A (en) * | 2016-02-25 | 2016-07-06 | 哈尔滨飞机工业集团有限责任公司 | Manufacturing method of test sheet for adhesive floating and stripping test |
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