CN112165273B - Coupled mode type ultrasonic motor based on equidirectional eccentric constraint and oblique piezoelectric ceramics - Google Patents
Coupled mode type ultrasonic motor based on equidirectional eccentric constraint and oblique piezoelectric ceramics Download PDFInfo
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Abstract
The invention provides a coupling mode type ultrasonic motor based on equidirectional eccentric constraint and oblique piezoelectric ceramics, which comprises a stator unit, an upper rotor and a lower rotor, wherein the upper rotor and the lower rotor are respectively arranged at the upper side and the lower side of the stator unit; the stator unit generates a coupled modal vibration mode of first-order longitudinal vibration and second-order bending vibration by means of equidirectional eccentric constraint, so that modal degeneracy is not required, the structure is compact, and the design is simple.
Description
Technical Field
The invention relates to a coupled mode type ultrasonic motor based on equidirectional eccentric constraint and oblique piezoelectric ceramics.
Background
The linear ultrasonic motor can be divided into a single-mode linear ultrasonic motor and a multi-mode linear ultrasonic motor. For a multi-mode linear ultrasonic motor, longitudinal-bending compounding, longitudinal-torsion compounding and bending-bending compounding are adopted at present, and the research is more complete.
However, the size of the stator unit needs to be adjusted to approach the frequencies of the two vibration modes required for operation to realize mode degeneracy, so that the two operation modes are simultaneously excited at the same frequency to form a composite mode, and the design is complex.
The above problems should be considered and solved in the design and production process of a coupled mode type ultrasonic motor based on the co-rotating eccentric constraint and the oblique piezoelectric ceramics.
Disclosure of Invention
The invention aims to provide a coupled mode type ultrasonic motor based on homodromous eccentric constraint and oblique piezoelectric ceramics, which solves the problem that in the prior art, the size of a stator unit needs to be adjusted to approach the frequency of two vibration modes required by work to realize mode degeneracy, so that the two working modes are simultaneously excited to form a composite mode at the same frequency, and the structural design is complicated.
The technical solution of the invention is as follows:
the utility model provides a coupling mode type ultrasonic motor based on syntropy eccentric restraint and oblique piezoceramics, including stator unit and active cell unit, the active cell unit includes active cell and lower active cell, the upper and lower both sides of stator unit are located respectively to upper active cell and lower active cell, the stator unit includes metal elastomer, right-hand member oblique piezoceramics, left end oblique piezoceramics, go up drive foot and lower drive foot, both ends are equipped with right-hand member oblique piezoceramics and left end oblique piezoceramics respectively about metal elastomer, the right-hand member oblique piezoceramics and the positive cross-section of left end oblique piezoceramics are parallelogram, metal elastomer's upper and lower both sides are equipped with respectively and drive foot and lower drive foot, and go up drive foot and lower drive foot and locate the biggest department of bending vibration amplitude of metal elastomer respectively.
Furthermore, a metal elastic body is pasted on the right side surface of the left-end oblique piezoelectric ceramic, and the left side surface is used as a fixing surface; a metal elastomer is stuck on the left side surface of the right oblique piezoelectric ceramic, and the right side surface is used as a fixing surface; the polarization directions of the left-end oblique piezoelectric ceramic and the right-end oblique piezoelectric ceramic are both vertically upward, and the surfaces to which voltage excitation is applied are both fixed surfaces; and applying voltage on the fixing surfaces of the left-end oblique piezoelectric ceramics and the right-end oblique piezoelectric ceramics, respectively generating electric fields parallel to the oblique directions of the piezoelectric ceramics in the left-end oblique piezoelectric ceramics and the right-end oblique piezoelectric ceramics, and simultaneously exciting longitudinal vibration and torsional vibration of the left-end oblique piezoelectric ceramics and the right-end oblique piezoelectric ceramics so as to jointly excite the coupling vibration of one longitudinal bend and two bends of the metal elastomer.
Furthermore, when the upper driving foot and the lower driving foot are respectively arranged at the maximum position of the same bending vibration amplitude on the metal elastic body, namely the maximum position on the left side or the maximum position on the right side of the second-order bending vibration amplitude of the stator unit, the motion directions of the upper rotor and the lower rotor are opposite.
Furthermore, the upper driving foot and the lower driving foot are respectively arranged at the positions with the maximum amplitude of different bending vibration on the metal elastic body, namely one of the upper driving foot and the lower driving foot is pasted at the position with the maximum amplitude at the left side of the stator unit, and the other one is pasted at the position with the maximum amplitude at the right side of the stator unit, so that the moving directions of the upper rotor and the lower rotor are the same.
Furthermore, the upper rotor, the lower rotor and the metal elastic body are all in a linear shape.
Furthermore, the upper rotor and the lower rotor are both in a circular ring shape, a support used for power supply and fixing is arranged between the upper rotor and the lower rotor, the support comprises an insulating lantern ring and copper bars, the insulating lantern ring is provided with a plurality of copper bars, a stator unit is arranged between the adjacent copper bars, the metal elastomer of the stator unit is an arc-shaped metal elastomer, and the fixing surface of the left-end oblique piezoelectric ceramic and the fixing surface of the right-end oblique piezoelectric ceramic are respectively bonded on the adjacent copper bars.
Further, resonance voltage is applied to the fixing surface of the left-end oblique piezoelectric ceramic and the fixing surface of the right-end oblique piezoelectric ceramic, an electric field which is parallel to the piezoelectric ceramic in an oblique direction is generated inside the piezoelectric ceramic, the piezoelectric ceramic generates longitudinal vibration and torsional vibration, then coupling vibration of one longitudinal bend and two longitudinal bends of the arc-shaped metal elastomer is excited together, the plurality of stator units are connected in parallel in the circumferential direction and the axial direction through the support, and the upper rotor and the lower rotor are driven to rotate in a bidirectional or same direction together.
The invention has the beneficial effects that:
according to the coupled mode type ultrasonic motor based on the equidirectional eccentric constraint and the oblique piezoelectric ceramics, the stator unit generates a coupled mode vibration mode of first-order longitudinal vibration and second-order bending vibration by means of the end equidirectional eccentric constraint, so that mode degeneracy is not required. In addition, longitudinal vibration and torsional vibration of the oblique piezoelectric ceramics are simultaneously utilized to jointly excite the coupled mode vibration mode of one longitudinal bend and two longitudinal bends of the metal elastic body. The motor has compact structure and simple design.
The invention adopts the oblique piezoelectric ceramics, only needs one power supply excitation and one ceramic structure, can simultaneously carry out excitation in the longitudinal direction and the bending direction of the coupled mode vibration mode, and has compact structure.
All the piezoelectric ceramics used by the invention are uniformly distributed at the end part of the stator unit, and the piezoelectric ceramics are not arranged on the upper surface and the lower surface of the metal elastic body, so that the structure of the motor is compact, the driving feet can be conveniently arranged on the upper surface and the lower surface of a single metal elastic body at the same time, and the upper rotor and the lower rotor run in the same direction or in two directions or rotate in the same direction or in two directions.
The rotary motor can realize large parallel rotary output without bearings.
Drawings
FIG. 1 is a schematic structural diagram of a double-mover bidirectional linear type of coupled mode type ultrasonic motor based on equidirectional eccentric constraint and oblique piezoelectric ceramics.
FIG. 2 is a schematic structural diagram of a double-rotor equidirectional straight line type coupled mode type ultrasonic motor based on equidirectional eccentric constraint and oblique piezoelectric ceramics.
FIG. 3 is a schematic diagram illustrating the arrangement of the left-end oblique piezoelectric ceramics in the example.
FIG. 4 is an explanatory diagram of an arrangement of right-end oblique piezoelectric ceramics in the embodiment.
FIG. 5 is a double-mover bidirectional linear, first half-cycle waveform generation mechanism diagram of a coupled mode type ultrasonic motor based on homodromous eccentric constraint and oblique piezoelectric ceramics in the embodiment.
FIG. 6 is a mechanism diagram of the double-rotor bidirectional linear and latter half-cycle waveform generation of the coupled mode type ultrasonic motor based on the homodromous eccentric constraint and the oblique piezoelectric ceramics in the embodiment.
FIG. 7 is a diagram of a double-mover equidirectional linear and first-half-period waveform generation mechanism of a coupled mode type ultrasonic motor based on equidirectional eccentric constraint and oblique piezoelectric ceramics in the embodiment.
FIG. 8 is a mechanism diagram of double-rotor homodromous linear and second half-cycle waveform generation of a coupled mode type ultrasonic motor based on homodromous eccentric constraint and oblique piezoelectric ceramics in the embodiment.
Fig. 9 is a structural view of a dual rotor dual rotation type of the coupled mode type ultrasonic motor of the present invention based on the co-rotating eccentric constraint and the oblique piezoelectric ceramics.
Fig. 10 is a structural view of a dual rotor co-rotating type of coupled mode type ultrasonic motor of the present invention based on the co-rotating eccentric constraint and the oblique piezoelectric ceramics.
Wherein: 1-upper rotor, 2-lower rotor, 3-right end oblique piezoelectric ceramic, 4-left end oblique piezoelectric ceramic, 5-metal elastomer, 6-upper driving foot, 7-lower driving foot, 8-copper rod, 9-insulating lantern ring, P-polarization direction, E-electric field direction, V-electric field direction1Upper mover movement direction, V2Lower mover movement direction, ELLeft-end inclined piezoelectric ceramic internal electric field, ER-the electric field inside the right side of the oblique piezoelectric ceramic, XYZ-spatial coordinate system, and the dotted line is the deformation of the motor stator unit when the electric field in the oblique piezoelectric ceramic is zero; the solid lines except the upper rotor and the lower rotor are that when the positive direction component of the electric field in the oblique piezoelectric ceramic is the maximum, the motor stator unit deforms.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Examples
The utility model provides a coupling mode type ultrasonic motor based on syntropy eccentric restraint and oblique piezoceramics, as fig. 1 and fig. 2, including stator unit and active cell unit, the active cell unit includes active cell 1 and lower active cell 2, upper active cell 1 and lower active cell 2 locate the upper and lower both sides of stator unit respectively, the stator unit includes metal elastomer 5, right-hand member oblique piezoceramics 3, left end oblique piezoceramics 4, upper drive foot 6 and lower drive foot 7, metal elastomer 5's left and right ends are equipped with right-hand member oblique piezoceramics 3 and left end oblique piezoceramics 4 respectively, right-hand member oblique piezoceramics 3 and left end oblique piezoceramics 4's normal cross-section is parallelogram, metal elastomer 5's upper and lower both sides are equipped with upper drive foot 6 and lower drive foot 7 respectively, and upper drive foot 6 and lower drive foot 7 locate the biggest department of bending vibration amplitude of metal elastomer 5 respectively.
According to the coupled mode type ultrasonic motor based on the equidirectional eccentric constraint and the oblique piezoelectric ceramic, the stator unit generates the coupled mode vibration mode of first-order longitudinal vibration and second-order bending vibration by means of the end equidirectional eccentric constraint, so that mode degeneracy is not required. The longitudinal vibration and the torsional vibration of the oblique piezoelectric ceramics are simultaneously utilized to jointly excite the coupled mode vibration modes of one longitudinal bend and two longitudinal bends of the metal elastic body 5. The motor has compact structure and simple design.
The coupled mode type ultrasonic motor based on the homodromous eccentric constraint and the oblique piezoelectric ceramics has four types, namely a double-rotor bidirectional linear type, a double-rotor homodromous linear type, a double-rotor bidirectional rotation type and a double-rotor homodromous rotation type. The left side surface of the right inclined piezoelectric ceramic 3 is stuck with a metal elastomer 5, and the right side surface is fixed; the metal elastic body 5 is stuck on the right side surface of the left end oblique piezoelectric ceramic 4, and the left side surface is fixed. The left side surface of the right inclined piezoelectric ceramic 3 is stuck with a metal elastomer 5, and the right side surface is fixed; the metal elastic body 5 is stuck on the right side surface of the left end oblique piezoelectric ceramic 4, and the left side surface is fixed. The front-view front sections of the right-end oblique piezoelectric ceramic 3 and the left-end oblique piezoelectric ceramic 4 are parallelograms, the polarization directions are both vertical and upward, and the surfaces for applying voltage excitation are both fixed surfaces. And voltage is applied between the fixed end face of the right-end oblique piezoelectric ceramic and the fixed end face of the left-end oblique piezoelectric ceramic 4, an electric field obliquely parallel to the piezoelectric ceramic is generated in the piezoelectric ceramic, longitudinal vibration and torsional vibration of the piezoelectric ceramic are simultaneously excited, and a coupling mode vibration mode of one longitudinal bend and two longitudinal bends of the metal elastic body 5 is jointly excited.
By combining the design of the metal elastic body 5, the upper driving foot 6 and the lower driving foot 7, the bidirectional linear operation, the same-direction linear operation, the bidirectional rotary operation or the same-direction rotary operation of the motor can be realized. The bidirectional linear type and the homodromous linear type adopt a linear type metal elastomer 5 and a linear type rotor; the bidirectional rotation type and the homodromous rotation type are formed by connecting a plurality of stator units in parallel in the circumferential direction and in parallel in the axial direction, the rotor of the bidirectional rotation type and the homodromous rotation type is a circumferential rotor, and the stator units adopt arc-shaped metal elastomers 5.
According to the coupled mode type ultrasonic motor based on the equidirectional eccentric constraint and the oblique piezoelectric ceramics, when the metal elastic body 5 and the rotor are linear, the upper rotor 1 and the lower rotor 2 can linearly run in two directions or in the same direction; when the metal elastic body 5 is arc-shaped and the upper mover 1 and the lower mover 2 are circumferential, the upper mover 1 and the lower mover 2 may rotate in two directions or in the same direction. When the upper driving foot 6 and the lower driving foot 7 are positioned at the same maximum bending vibration amplitude position on the metal elastic body 5, the upper rotor 1 and the lower rotor 2 move in two directions; when the upper driving foot 6 and the lower driving foot 7 are located at different maximum bending vibration amplitude positions on the metal elastic body 5, the upper rotor 1 and the lower rotor 2 move in the same direction.
Referring to fig. 1, a coupled mode type ultrasonic motor based on equidirectional eccentric constraint and oblique piezoelectric ceramics, which is a double-rotor bidirectional linear type. When the upper driving foot 6 and the lower driving foot 7 are respectively arranged at the maximum bending vibration amplitude position of the metal elastic body 5, the upper driving foot 6 and the lower driving foot 7 are both arranged at the maximum amplitude position on the left side of the metal elastic body or the maximum amplitude position on the right side of the metal elastic body. Excitation voltage is applied to fixed ends of the right-end oblique piezoelectric ceramic 3 and the left-end oblique piezoelectric ceramic 4, and the upper rotor 1 and the lower rotor 2 move in two directions. The upper rotor 1 and the lower rotor 2 move in opposite directions.
In the coupled mode type ultrasonic motor based on the equidirectional eccentric constraint and the oblique piezoelectric ceramics, the metal elastomer 5 is pasted on the left side surface of the right oblique piezoelectric ceramics 3, and the right side surface is fixed; the metal elastic body 5 is stuck on the right side surface of the left end oblique piezoelectric ceramic 4, and the left side surface is fixed. The front-view front sections of the right-end oblique piezoelectric ceramic 3 and the left-end oblique piezoelectric ceramic 4 are parallelograms, the polarization directions are both vertical and upward, and the surfaces for applying voltage excitation are both fixed surfaces. And voltage is applied between the fixed end face of the right-end oblique piezoelectric ceramic and the fixed end face of the left-end oblique piezoelectric ceramic 4, an electric field obliquely parallel to the piezoelectric ceramic is generated in the piezoelectric ceramic, longitudinal vibration and torsional vibration of the piezoelectric ceramic are simultaneously excited, and a coupling mode vibration mode of one longitudinal bend and two longitudinal bends of the metal elastic body 5 is jointly excited.
Referring to fig. 2, a coupled mode type ultrasonic motor based on equidirectional eccentric constraint and oblique piezoelectric ceramics, a double-rotor equidirectional linear type. The upper driving foot 6 and the lower driving foot 7 are respectively arranged at the positions of the metal elastic body 5 with the maximum bending vibration amplitude. One of the upper driving foot 6 and the lower driving foot 7 is pasted at the maximum amplitude position of the second-order bending vibration left side of the stator unit, and the other one is pasted at the maximum amplitude position of the second-order bending vibration right side of the stator unit. The upper driving foot 6 is adhered to the upper surface of the metal elastic body 5, and the lower driving foot 7 is adhered to the lower surface of the metal elastic body 5. The upper rotor 1 is placed above the upper driving foot 6, the lower rotor 2 is placed below the lower driving foot 7, excitation voltage is applied to fixed ends of the right-end oblique piezoelectric ceramics 3 and the left-end oblique piezoelectric ceramics 4, and the upper rotor 1 and the lower rotor 2 move in the same direction.
As shown in FIG. 3, the left-end oblique piezoelectric ceramic 4 is in a Cartesian coordinate system XYZ, and the polarization directions are Z directions. When the motor works in a first-order longitudinal vibration and second-order bending vibration coupled vibration mode, the left-end oblique piezoelectric ceramic 4 is electrified, high-frequency alternating-current resonance voltage is applied between the fixed end faces of the left-end oblique piezoelectric ceramic 4, and an electric field E in an oblique direction is generated in the left-end oblique piezoelectric ceramic 4L. Due to the inverse piezoelectric effect, the left-end oblique piezoelectric ceramic 4 undergoes longitudinal vibration and torsional vibration.
As shown in fig. 4, the right oblique piezoelectric ceramic 3 is in a cartesian coordinate system XYZ, and the polarization directions are both Z directions. When the motor works in a first-order longitudinal vibration and second-order bending vibration coupled vibration mode, the right oblique piezoelectric ceramic 3 is electrified, a high-frequency alternating-current resonance voltage is applied between the fixed end faces of the right oblique piezoelectric ceramic 3, and an electric field E in an oblique direction is generated in the right oblique piezoelectric ceramic 3R. Due to the inverse piezoelectric effect, the right oblique piezoelectric ceramic 3 undergoes longitudinal vibration and torsional vibration.
As shown in fig. 5, the coupled mode type ultrasonic motor based on the equidirectional eccentric constraint and the oblique piezoelectric ceramic is a double-mover bidirectional linear type, and the mechanism that the waveform of the first half period is not generated is as follows: in the first half period, the right inclined piezoelectric ceramic 3 has an internal inclined electric field ERIs in a lower right direction, and has an oblique electric field E inside the oblique piezoelectric ceramic 4 at the left endLThe direction of (2) is the upper right direction. In an electric field ERUnder the action of the action, the right inclined piezoelectric ceramic 3 stretches leftwards in the X-axis direction and twists downwards in the Z-axis direction to drive the right end of the metal elastic body 5 to move downwards and leftwards; in an electric field ELUnder the action, the left-end oblique piezoelectric ceramic 4 contracts leftwards in the X-axis direction and twists upwards in the Z-axis direction to drive the left end of the metal elastic body 5 to move upwards and leftwards. Since the power supply frequency is the longitudinal-bending coupling mode frequency of the stator unit, the metal elastic body 5 generates coupling vibration of first-order longitudinal vibration and second-order bending vibration.
With reference to fig. 5, the motion mechanism of the driving foot of the first half period of the double-mover bidirectional linear ultrasonic motor is as follows:
stage I: the motor moves from an initial horizontal state (shown by a dotted line in fig. 5) to a maximum amplitude state (shown by a solid line in fig. 5) shown in fig. 5, in the process, top motion tracks of the upper driving foot 6 and the lower driving foot 7 are both inclined left and downward, thrust in the left direction is generated on the lower rotor 2, and thrust in the left direction is generated on the upper rotor 1
Stage II: the motor returns to the horizontal state (shown by the dotted line in fig. 5) in the maximum amplitude state (shown by the solid line in fig. 5) shown in fig. 5, and in the process, the top motion trajectories of the upper driving foot 6 and the lower driving foot 7 are in the right oblique upward direction, so that the rightward thrust is generated on the lower mover 2, and the rightward thrust is generated on the upper mover 1.
Due to the inertia of the lower rotor 2 and the deformation of the lower driving foot 7, the contact time and the friction force of the lower driving foot 7 and the lower rotor 2 are both greater than those of the lower driving foot in the stage I and the lower driving foot 7 in the stage II, so that the total thrust of the lower driving foot 7 to the lower rotor 2 in the first half period is in the left direction. Due to the inertia of the upper rotor 1 and the deformation of the upper driving foot 6, the contact time and the friction force of the upper driving foot 6 and the upper rotor 1 are smaller than those of the upper driving foot 6 in the stage I and the lower driving foot 6 in the stage II, so that the total thrust of the upper driving foot 6 to the upper rotor 1 in the first half period is in the right direction.
As shown in fig. 6, the coupled mode type ultrasonic motor based on the equidirectional eccentric constraint and the oblique piezoelectric ceramic is a double-mover bidirectional linear type, and the mechanism for generating the waveform of the rear half period is as follows: in the rear half period, the right inclined piezoelectric ceramic 3 has an internal inclined electric field ERIs in the upper left direction, and the oblique electric field E in the oblique piezoelectric ceramic 4 at the left endLIs in the lower left direction. In an electric field ERUnder the action, the right inclined piezoelectric ceramic 3 contracts rightwards in the X-axis direction and twists upwards in the Z-axis direction to drive the right end of the metal elastic body 5 to move upwards and rightwards; in an electric field ELUnder the action, the left-end oblique piezoelectric ceramic 4 stretches rightwards in the X-axis direction and twists downwards in the Z-axis direction to drive the left end of the metal elastic body 5 to move downwards and rightwards. The power supply frequency is the longitudinal and bending coupling modal frequency of the stator unit, so the metal elastic body 5 is used for generating powerAnd generating coupled vibration of first-order longitudinal vibration and second-order bending vibration.
With reference to fig. 6, the motion mechanism of the second half-cycle driving foot of the bidirectional driving motor is as follows:
stage III: the motor moves from an initial horizontal state (shown by a dotted line in fig. 6) to a maximum amplitude state (shown by a solid line in fig. 6), in the process, the top motion tracks of the upper driving foot 6 and the lower driving foot 7 are both obliquely upward right, the thrust in the right direction is generated for the lower rotor 2, and the thrust in the right direction is generated for the upper rotor 1.
And IV stage: the motor returns to a horizontal state in the maximum amplitude state as shown in the figure, in the process, the top motion trail of the upper driving foot 6 and the lower driving foot 7 is left inclined downwards, the left thrust is generated for the lower rotor 2, and the left thrust is generated for the upper rotor 1.
Due to the inertia of the lower rotor 2 and the deformation of the lower driving foot 7, the contact time and the friction force of the lower driving foot 7 and the lower rotor 2 are smaller than those in the stage III, so that the total thrust of the lower driving foot 7 to the lower rotor 2 in the rear half period is in the left direction. Due to the inertia of the upper rotor 1 and the deformation of the upper driving foot 6, the contact time and the friction force of the upper driving foot 6 and the upper rotor 1 are greater than those in the stage III, so that the total thrust of the upper driving foot 6 to the upper rotor 1 in the rear half period is in the right direction.
And (3) integrating four motion stages I, II, III and IV, wherein the motion direction of the upper rotor 1 is the right direction, and the motion direction of the lower rotor 2 is the left direction.
As shown in fig. 7, the coupled mode type ultrasonic motor based on the equidirectional eccentric constraint and the oblique piezoelectric ceramic is a double-rotor equidirectional linear type motor, and the mechanism of the first half period is as follows: right inclined piezoelectric ceramic 3 internal inclined electric field ERIs in a lower right direction, and has an oblique electric field E inside the oblique piezoelectric ceramic 4 at the left endLThe direction of (2) is the upper right direction. In an electric field ERUnder the action of the action, the right inclined piezoelectric ceramic 3 stretches leftwards in the X-axis direction and twists downwards in the Z-axis direction to drive the right end of the metal elastic body 5 to move downwards and leftwards; in an electric field ELUnder the action of the elastic force, the left end oblique piezoelectric ceramic 4 contracts leftwards in the X-axis direction and twists upwards in the Z-axis direction to drive the metal bulletThe left end of the body 5 moves up and to the left. Since the power supply frequency is the longitudinal-bending coupling mode frequency of the stator unit, the metal elastic body 5 generates coupling vibration of first-order longitudinal vibration and second-order bending vibration.
With reference to fig. 7, the motion mechanism of the front half-cycle driving foot of the same-direction driving motor is as follows:
stage I: the motor moves from an initial horizontal state (shown by a dotted line in fig. 7) to a maximum amplitude state (shown by a solid line in fig. 7), in the process, the top motion track of the upper driving foot 6 inclines upwards to the left, and thrust in the left direction is generated on the upper mover 1; the top motion tracks of the lower driving feet 7 are all inclined downwards to the left, and generate thrust to the lower rotor 2 in the left direction.
Stage II: the maximum amplitude state (shown by a solid line in fig. 7) of the motor returns to the horizontal state (shown by a broken line in fig. 7), and in the process, the top motion track of the upper driving foot 6 is inclined to the right and downwards, so that the upper mover 1 is thrust to the right; the top motion trail of the lower driving foot 7 is right oblique upward, and generates a thrust in the right direction to the lower rotor 2.
Due to the inertia of the lower rotor 2 and the deformation of the lower driving foot 7, the contact time and the friction force of the lower driving foot 7 and the lower rotor 2 are both greater than those of the lower driving foot in the stage I and the lower driving foot 7 in the stage II, so that the total thrust of the lower driving foot 7 to the lower rotor 2 in the first half period is in the left direction. Due to the inertia of the upper rotor 1 and the deformation of the upper driving foot 6, the contact time and the friction force of the upper driving foot 6 and the upper rotor 1 are both greater in the stage I than in the stage II, so that the total thrust of the upper driving foot 6 on the upper rotor 1 in the first half period is in the left direction.
Referring to fig. 8, the coupled mode type ultrasonic motor based on the homodromous eccentric constraint and the oblique piezoelectric ceramics is a double-mover homodromous linear type, and the waveform generation mechanism is that the oblique electric field E in the right oblique piezoelectric ceramics 3RIs in the upper left direction, and the oblique electric field E in the oblique piezoelectric ceramic 4 at the left endLIs in the lower left direction. In an electric field ERUnder the action, the right inclined piezoelectric ceramic 3 contracts rightwards in the X-axis direction and twists upwards in the Z-axis direction to drive the right end of the metal elastic body 5 to move upwards and rightwards; in an electric field ELUnder the action of the left end inclined piezoelectric ceramic 4Stretching to the right in the X-axis direction, and twisting downwards in the Z-axis direction to drive the left end of the metal elastic body 5 to move downwards and rightwards. Since the power supply frequency is the longitudinal-bending coupling mode frequency of the stator unit, the metal elastic body 5 generates coupling vibration of first-order longitudinal vibration and second-order bending vibration.
With reference to fig. 8, the motion mechanism of the latter half-cycle driving foot of the same-direction driving motor is as follows:
stage III: the motor moves from an initial horizontal state (shown by a solid line in fig. 7) to a state with the maximum amplitude (shown by a solid line in fig. 8), in the process, the motion track of the top of the upper driving foot 6 is inclined to the right and downwards, and thrust in the right direction is generated on the upper rotor 1; the top motion tracks of the lower driving feet 7 are all obliquely upward right, and generate a thrust in the right direction to the lower rotor 2.
And IV stage: the motor returns to a horizontal state (shown by a dotted line in fig. 8) from a maximum amplitude state (shown by a solid line in fig. 8), in the process, the motion track of the top of the upper driving foot 6 is in a left oblique direction, and thrust in the left direction is generated on the upper mover 1; the top motion trail of the lower driving foot 7 is left inclined downwards, and generates left thrust on the lower rotor 2.
Due to the inertia of the lower rotor 2 and the deformation of the lower driving foot 7, the contact time and the friction force of the lower driving foot 7 and the lower rotor 2 are smaller than those in the stage III, so that the total thrust of the lower driving foot 7 to the lower rotor 2 in the rear half period is in the left direction. Due to the inertia of the upper rotor 1 and the deformation of the upper driving foot 6, the contact time and the friction force of the upper driving foot 6 and the upper rotor 1 are smaller than those in the stage III, so that the total thrust of the upper driving foot 6 to the upper rotor 1 in the rear half period is in the left direction.
And (3) integrating four motion stages I, II, III and IV, wherein the motion direction of the upper rotor 1 is the left direction, and the motion direction of the lower rotor 2 is the left direction.
As shown in fig. 9, the coupled mode type ultrasonic motor based on the co-rotating eccentric constraint and the oblique piezoelectric ceramic is a dual-rotor dual-rotation type. The metal elastic body 5 is an arc-shaped metal elastic body 5, the left end of the arc-shaped metal elastic body 5 is pasted with the left end oblique piezoelectric ceramic 4, and the right end of the arc-shaped metal elastic body 5 is pasted with the right end oblique piezoelectric ceramic 3. The lower driving feet 7 are arranged on the inner surface of the circular arc metal elastic body 5 and serve as inner driving feet, and the upper driving feet 6 are arranged on the outer surface of the circular arc metal elastic body 5 and serve as outer driving feet. The inner driving foot and the outer driving foot are both stuck to the maximum amplitude position of the second-order bending vibration left side of the stator unit or the maximum amplitude position of the second-order bending vibration right side of the stator unit, namely the maximum amplitude position of the second-order bending vibration on the same side. The arc-shaped metal elastomer 5, the outer driving foot, the inner driving foot, the right-end oblique piezoelectric ceramic 3 and the left-end oblique piezoelectric ceramic 4 jointly form a stator unit. Utilize bar copper 8 to fix and apply voltage to the stator unit tip, the fixed power that connects in parallel of bar copper 8 outer end, insulating lantern ring 9 arranges on the bar copper 8 between interior outer rotor, and the stability of bar copper 8 is strengthened in the help. A plurality of stator units can be arranged between two different copper bars 8 in the circumferential direction to form circumferential parallel connection of the stator units; a plurality of stator units may also be arranged axially between the same two copper bars 8 to form an axial parallel connection of the stator units. The lower rotor 2, namely the inner rotor, is arranged inside the inner driving foot, and the upper rotor 1, namely the outer rotor, is arranged outside the outer driving foot. The working mechanism of each arc-shaped stator unit is similar to that of a double-rotor bidirectional linear ultrasonic motor, the arc-shaped stator units convert linear motion of the linear motor into rotary motion, and all the stator units drive the inner rotor and the outer rotor to rotate bidirectionally together.
As shown in fig. 10, the coupled mode type ultrasonic motor based on the co-rotating eccentric constraint and the oblique piezoelectric ceramic is a dual-rotor co-rotating type. The metal elastic body 5 is an arc-shaped metal elastic body 5, the left end of the arc-shaped metal elastic body 5 is pasted with the left end oblique piezoelectric ceramic 4, and the right end of the arc-shaped metal elastic body 5 is pasted with the right end oblique piezoelectric ceramic 3. The inner surface of the circular arc metal elastic body 5 is provided with a lower driving foot 7, namely an inner driving foot, and the outer surface of the circular arc metal elastic body 5 is provided with an upper driving foot 6, namely an outer driving foot. One of the inner driving foot and the outer driving foot is pasted at the maximum amplitude position of the second-order bending vibration left side of the stator unit, and the other one of the inner driving foot and the outer driving foot is pasted at the maximum amplitude position of the second-order bending vibration right side of the stator unit. The arc-shaped metal elastomer 5, the outer driving foot, the inner driving foot, the right-end oblique piezoelectric ceramic 3 and the left-end oblique piezoelectric ceramic 4 jointly form a stator unit. Utilize bar copper 8 to fix and apply voltage to stator unit tip, the fixed power that connects in parallel of bar copper 8 outer end, insulating lantern ring 9 arranges on the bar copper 8 between inner rotor is runner 2 down and outer rotor is runner 1, helps strengthening the stability of bar copper 8. A plurality of stator units can be arranged between two different copper bars 8 in the circumferential direction to form circumferential parallel connection of the stator units; a plurality of stator units may also be arranged axially between the same two copper bars 8 to form an axial parallel connection of the stator units. The inner rotor is arranged inside the inner driving foot, and the outer rotor is arranged outside the outer driving foot. The working mechanism of each arc-shaped stator unit is similar to that of a double-rotor homodromous linear ultrasonic motor, the arc-shaped stator units convert the linear motion of the linear motor into rotary motion, and all the stator units drive the inner rotor and the outer rotor to rotate in the same direction together.
According to the coupled modal type ultrasonic motor based on the homodromous eccentric constraint and the oblique piezoelectric ceramics, the first-order longitudinal vibration and the second-order bending vibration of the stator unit are coupled together through the end homodromous eccentric constraint, and the modal degeneracy design of the structure of the stator unit is avoided. Therefore, the motor is simple in design. By adopting the oblique piezoelectric ceramic, only one power supply is needed for excitation and one ceramic structure is needed, so that excitation can be carried out in the longitudinal direction and the bending direction of the coupled mode vibration mode, and the motor has a compact structure.
According to the coupled mode type ultrasonic motor based on the equidirectional eccentric constraint and the oblique piezoelectric ceramics, all the used piezoelectric ceramics are uniformly distributed at the end part of the stator unit, and the piezoelectric ceramics are not arranged on the upper surface and the lower surface of the metal elastic body 5, so that the motor structure is compact, the driving feet can be conveniently arranged on the upper surface and the lower surface of the single metal elastic body 5 simultaneously, and the upper rotor 1 and the lower rotor 2 can run in the same direction or run in two directions or rotate in the same direction or rotate in two directions. The rotary motor of the invention can realize the large parallel rotary output without bearing.
Claims (6)
1. The utility model provides a coupling modal type ultrasonic motor based on syntropy eccentric constraint and oblique piezoceramics, includes stator unit and active cell unit, and the active cell unit includes active cell and lower active cell, goes up the upper and lower both sides that stator unit was located respectively to active cell and lower active cell, its characterized in that: the stator unit comprises a metal elastic body, right-end oblique piezoelectric ceramics, left-end oblique piezoelectric ceramics, an upper driving foot and a lower driving foot, the right end and the left end of the metal elastic body are respectively provided with the right-end oblique piezoelectric ceramics and the left-end oblique piezoelectric ceramics, the right cross sections of the right-end oblique piezoelectric ceramics and the left-end oblique piezoelectric ceramics are both parallelograms, the upper side and the lower side of the metal elastic body are respectively provided with the upper driving foot and the lower driving foot, and the upper driving foot and the lower driving foot are respectively arranged at the maximum bending vibration amplitude of the metal elastic body; a metal elastomer is adhered to the right side surface of the left-end oblique piezoelectric ceramic, and the left side surface is used as a fixing surface; a metal elastomer is stuck on the left side surface of the right oblique piezoelectric ceramic, and the right side surface is used as a fixing surface; the polarization directions of the left-end oblique piezoelectric ceramic and the right-end oblique piezoelectric ceramic are both vertically upward, and the surfaces to which voltage excitation is applied are both fixed surfaces; and applying voltage on the fixing surfaces of the left-end oblique piezoelectric ceramics and the right-end oblique piezoelectric ceramics, respectively generating electric fields parallel to the oblique directions of the piezoelectric ceramics in the left-end oblique piezoelectric ceramics and the right-end oblique piezoelectric ceramics, and simultaneously exciting longitudinal vibration and torsional vibration of the left-end oblique piezoelectric ceramics and the right-end oblique piezoelectric ceramics so as to jointly excite the coupling vibration of one longitudinal bend and two bends of the metal elastomer.
2. The co-eccentric constraint and skewed piezoelectric ceramic based coupled mode ultrasonic motor of claim 1, wherein: the upper driving foot and the lower driving foot are respectively arranged at the maximum position of the same bending vibration amplitude on the metal elastic body, namely when the upper driving foot and the lower driving foot are both arranged at the maximum position on the left side or the maximum position on the right side of the second-order bending vibration amplitude of the stator unit, the moving directions of the upper rotor and the lower rotor are opposite.
3. The co-eccentric constraint and skewed piezoelectric ceramic based coupled mode ultrasonic motor of claim 1, wherein: the upper driving foot and the lower driving foot are respectively arranged at the positions with the maximum amplitude of different bending vibration on the metal elastic body, namely when one of the upper driving foot and the lower driving foot is pasted at the position with the maximum amplitude on the left side of the stator unit and the other one is pasted at the position with the maximum amplitude on the right side of the stator unit, the moving directions of the upper rotor and the lower rotor are the same.
4. The coupled-mode ultrasonic motor based on the co-rotating eccentric constraint and the oblique piezoelectric ceramic according to claim 2 or 3, wherein: the upper rotor, the lower rotor and the metal elastic body are all in a linear shape.
5. The coupled-mode ultrasonic motor based on the co-rotating eccentric constraint and the oblique piezoelectric ceramic according to claim 1 or 2, wherein: go up the active cell and all adopt the ring shape with lower active cell, go up the active cell and be equipped with between the active cell down and be used for power supply and fixed support, the support includes insulating lantern ring and bar copper, the insulating lantern ring is equipped with a plurality of bar copper, is equipped with stator unit between adjacent bar copper, stator unit's metal elastomer adopts convex metal elastomer, left end oblique piezoceramics's stationary plane and right-hand member oblique piezoceramics's stationary plane bond respectively on adjacent bar copper.
6. The co-eccentric constraint and skewed piezoelectric ceramic based coupled mode ultrasonic motor of claim 5, wherein: resonance voltage is applied to the fixing surface of the left-end oblique piezoelectric ceramic and the fixing surface of the right-end oblique piezoelectric ceramic, an electric field which is parallel to the piezoelectric ceramic in an oblique direction is generated inside the piezoelectric ceramic, the piezoelectric ceramic generates longitudinal vibration and torsional vibration, then coupling vibration of one longitudinal bend and two longitudinal bends of the arc metal elastomer is jointly excited, the plurality of stator units are connected in parallel in the circumferential direction and the axial direction through the support, and the upper rotor and the lower rotor are jointly driven to rotate in a bidirectional or same direction.
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