CN112910308A - Traveling wave ultrasonic motor based on acoustic black hole principle - Google Patents
Traveling wave ultrasonic motor based on acoustic black hole principle Download PDFInfo
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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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/08—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using travelling waves, i.e. Rayleigh surface waves
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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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
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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
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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
- H02N2/16—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
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Abstract
The invention discloses a traveling wave ultrasonic motor based on an acoustic black hole principle, which comprises: the stator is composed of a plurality of groups of driving units, each driving unit is composed of an acoustic black hole beam, piezoelectric ceramics and a signal source, when each signal source is connected with a single-phase signal, the piezoelectric ceramics generate ultrasonic vibration, the acoustic black hole beam generates unidirectional energy flow, and under the action of the energy flow, the surface of the acoustic black hole beam generates elliptical motion to push the moving of the rotor or the rotating motion of the rotor. The traveling wave ultrasonic motor increases the number of the driving units and the number of the acoustic black hole beams, so that the output of the motor can be increased and the operation efficiency can be improved; according to the design principle of the invention, a plurality of ultrasonic driving devices with simple and smart structures, such as a cylindrical driving device, a conical driving device, a spherical driving device and the like, can be flexibly constructed.
Description
Technical Field
The invention relates to the field of traveling wave ultrasonic motors, in particular to a traveling wave ultrasonic motor based on an acoustic black hole principle.
Background
The traveling wave ultrasonic motor is a piezoelectric device which excites traveling waves in or on the surface of an elastic body to further enable the surface of the elastic body to generate elliptical motion and push a rotor or a rotor to move, and mainly comprises: linear and rotary. Since elastomers in the engineering field are of limited length and only standing waves can be obtained under the influence of the end reflection effect (Zhaocheng, ultrasonic motor technology and applications, scientific publishers, Beijing, 2007), many traveling wave generation techniques have been proposed.
The existing technology for generating traveling waves mainly comprises: (1) a vibration exciter and a vibration absorber are used to generate a traveling wave (T.Sashida, T.Kenjo, An introduction to ultrasonic motors, London: Oxford Science Publications,1993, Huwei, Zhao Chun, research, vibration, test and diagnosis of linear traveling wave ultrasonic motors, 1996, 16 (3): 8-14). This excitation technique uses two actuators, one of which is used to excite the vibration and the other to absorb the vibration, thereby producing a traveling wave motion in the elastomer. (2) The travelling wave is generated by standing wave synthesis (S.Ueha, Y.Tomikawa, Ultrasonic motors: the organ and applications: London: Oxford Science Publications, 1993). The technology uses two-phase signals with 90-degree space-time phase difference to excite a resonance mode and generate stable traveling waves. (3) The traveling wave is formed by exciting the two adjacent order resonant frequencies (S.Ueha, Y.Tomikawa, Ultrasonic motors: the organ and applications. London: Oxford Science Publications, 1993). Based on the above-described technology, the predecessors have proposed many novel ultrasonic motor configurations, driving technological advances.
However, the prior art has certain drawbacks. The first excitation technique requires two transducers, and the vibrations of the two transducers must satisfy certain constraints to achieve the excitation and vibration absorption functions, respectively, thereby complicating the structure and circuitry. In the second excitation technique, in order to improve the electromechanical conversion efficiency, a pure traveling wave needs to be excited, which requires that the stator must have two modes with the same frequency and shape, i.e. the stator structure must satisfy high symmetry. However, under the influence of machining errors and stator teeth, the stator is generally no longer of a standard axisymmetric configuration, and thus natural frequency splitting and mode coupling phenomena (S.W.Wang, J.Xiu, J.P.Gu, J.Y.Xu, J.P.Liu, Z.G.Shen, Predictionand suppression of inductive natural frequency and mode coupling of a cyclic inductive stator, Proceedings of the institute of Mechanical Engineers, 186Part C: Journal of Mechanical Engineering Science,2010,224: 1853-2) are generated, which severely affect the purity of the traveling wave and its stability. Further, in order to obtain signals strictly satisfying the phase difference of 90 degrees, the circuit design becomes complicated. For the third excitation technique, due to the difference between the natural frequency and the mode of the two-order mode, traveling wave impurity phenomenon is also generated, and the motion efficiency and the stability of the motor are influenced.
Disclosure of Invention
The invention provides a traveling wave ultrasonic motor based on an acoustic black hole principle, which adopts piezoelectric ceramics to excite the high-frequency vibration of an acoustic black hole beam to generate unidirectional energy flow and simultaneously generate elliptical motion on the surface of the beam, the acoustic black hole beam pushes a rotor or a rotor to move under the action of the elliptical motion, and finally the driving function is realized. Due to the adoption of single-phase driving, the driving circuit is simplified, the cost is saved, and the failure rate is reduced. See the description below for details:
a traveling wave ultrasonic motor based on the acoustic black hole principle comprises: a stator composed of a plurality of sets of drive units,
each driving unit consists of an acoustic black hole beam, piezoelectric ceramics and a signal source, when each signal source is connected with a single-phase signal, the piezoelectric ceramics generates ultrasonic vibration, the acoustic black hole beam generates unidirectional energy flow, and under the action of the energy flow, the surface of the acoustic black hole beam generates elliptical motion to push the movement of the rotor or the rotation of the rotor.
The rotor and the driving unit generate driving torque acting on the rotor through friction force, and the bending deformation of the acoustic black hole beam enables the required pretightening force to be generated between the rotor and the driving unit.
In order to realize the forward and reverse rotation of the ultrasonic motor, a plurality of driving units can be arranged, and the energy flowing direction in the acoustic black hole beam is changed through proper adjustment of the installation direction, so that the driving force direction is changed.
In order to improve the motor output, a plurality of groups of driving units can be arranged, and a plurality of groups of acoustic black hole beams can be arranged. In order to improve the torque output quality of the motor, the length of the acoustic black hole beam can be changed, so that the torque pulsation of the rotor is reduced.
Under the action of a single-phase signal, the acoustic black hole beam starts to vibrate, unidirectional energy flow is formed in the acoustic black hole beam, meanwhile, elliptical motion is formed on the surface of the acoustic black hole beam, and under the action of the elliptical motion, the acoustic black hole beam pushes the rotor to move or rotate, so that the driving function of the motor is realized.
In another implementation manner, the acoustic black hole beam may be excited by using the same piece of piezoelectric ceramic, or by using multiple pieces of piezoelectric ceramic to excite separately. And, in order to improve the electromechanical conversion efficiency, the piezoelectric ceramic may be excited in a d33 mode.
Further, the amplitude and frequency of the signal and the pre-pressure among the stator, the rotor and the rotor are adjusted, so that the output characteristic of the ultrasonic motor can be adjusted.
The technical scheme provided by the invention has the beneficial effects that:
1. the invention has simple structure, and consists of a stator, a rotor or a rotor and one or more paths of single-phase driving signals, wherein the stator consists of a plurality of driving units, and the driving units comprise a plurality of groups of acoustic black hole beams. The single-phase signal driving is adopted, so that a driving circuit is simplified, the reliability is improved, and the cost is reduced;
2. the invention avoids the harsh requirement of the existing traveling wave ultrasonic motor on the symmetry degree of the stator shaft, thereby avoiding the problem that the quality and the stability of the traveling wave are seriously influenced by natural frequency splitting, vibration mode coupling and the like;
3. according to the invention, the output of the motor can be increased and the output quality can be improved by increasing the number of the driving units and the acoustic black hole beams and adjusting the installation direction;
4. according to the design principle of the invention, a plurality of cylindrical, conical and spherical ultrasonic driving devices with simple and smart structures can be flexibly constructed, and the structures of a multi-rotor-single stator, a single-rotor-multi-stator, a multi-rotor-single stator, a single-rotor-multi-stator and the like can be constructed to adapt to the requirements of different occasions.
Drawings
FIG. 1 shows a schematic structural diagram of a bidirectional linear ultrasonic motor;
only two groups of driving units are provided in the figure, each group of driving units consists of five acoustic black hole beams, a plurality of driving units can be arranged for increasing the output force, the length of each acoustic black hole beam can be increased for increasing the stroke, and the driving units can be set according to the actual application requirements.
FIG. 2 shows a schematic structural view of a unidirectional rotary ultrasonic motor;
only four acoustic black hole beams are shown in the figure, and a plurality of acoustic black hole beams can be arranged according to the practical application requirement in order to increase the driving torque.
FIG. 3 shows a schematic structural view of a unidirectional rotary ultrasonic motor;
the figure has four groups of driving units, each group of unit consists of three acoustic black hole beams, in order to increase the output force, a plurality of driving units can be arranged, and the driving units are set according to the requirements in practical application.
FIG. 4 shows a schematic structural view of a bi-directional rotary ultrasonic motor;
the driving unit comprises four driving units, each driving unit comprises four acoustic black hole beams, a plurality of driving units can be arranged for increasing the driving torque, the distribution rule of the driving units can be adjusted for changing the output characteristic of the motor, uniform distribution, grouping and even asymmetric configuration can be formed, and the configuration can be set according to actual needs.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below.
In order to overcome the technical problem in the background art, the embodiment of the invention provides a traveling wave excitation device based on the acoustic black hole principle (V.V. krylov, New type of acoustic reflectors utilizing the effect of acoustic 'black holes', Acta Acusted United Ac,2004,90: 830-837), provides a basic topological configuration, and also provides a motion control technology.
The basic structure and the working principle of the ultrasonic motor based on the acoustic black hole principle are described in the following with reference to fig. 1 to 4. In fact, many improvements in the topology and basic parameters that can improve performance can be made without changing the basic principles. This is further elucidated below in connection with an embodiment in the drawing.
Example 1:
the embodiment of the invention provides a bidirectional linear traveling wave ultrasonic motor based on an acoustic black hole principle, and referring to fig. 1, the design principle of the ultrasonic motor is as follows:
referring to fig. 1, the bidirectional linear ultrasonic motor designed in the embodiment of the present invention mainly includes: acoustic black hole beams 010 and 040, piezoelectric ceramics 020 and 050, single- phase signals 030 and 060, and a mover 070.
When a single-phase signal 030 is applied, the piezoelectric ceramic 020 generates ultrasonic vibration, unidirectional energy flow moving rightwards is generated in the acoustic black hole beam 010, and therefore the surface of the acoustic black hole beam 010 generates elliptical motion, and the mover 070 is pushed to move rightwards.
When another single-phase signal 060 is applied, the piezoelectric ceramic 050 generates ultrasonic vibration, so that unidirectional energy flow moving leftward is generated inside the acoustic black hole beam 040, and the surface of the acoustic black hole beam 040 generates elliptical motion to push the mover 070 to move leftward.
The length of the acoustic black hole beam is changed, the stroke of the rotor can be adjusted, the surface of the acoustic black hole beam is provided with the protruding stator teeth, the elliptic motion is amplified, the effective thrust is increased, and therefore the effect of increasing the thrust is achieved.
In addition, the mover in this embodiment may be a rectangular block or other opening, for example, the spatial arrangement of the acoustic black hole beams may be adjusted to form a cylindrical mover linear motor.
Example 2:
the embodiment of the invention provides a unidirectional rotation ultrasonic motor based on an acoustic black hole principle, and referring to fig. 2, the design principle of the ultrasonic motor is as follows:
referring to fig. 2, the unidirectional rotation ultrasonic motor mainly includes: acoustic black hole beams 080, 090, 100, and 110, piezoelectric ceramic 120, and disk rotor 130.
When the single-phase signal 135 is applied, the piezoelectric ceramic 120 generates ultrasonic vibration, and thus the acoustic black hole beams 080, 090, 100 and 110 simultaneously generate energy flow spirally moving from the center to the outside, and the energy flow generates elliptical motion on the surfaces of the acoustic black hole beams 080, 090, 100 and 110, thereby pushing the disc rotor 130 to rotate clockwise.
In order to realize the inversion, another group of acoustic black hole beams with opposite rotation directions can be further arranged, the main working principle of the acoustic black hole beams is similar to that of the clockwise situation, and details are not repeated in the embodiment of the invention.
In addition, stator teeth can be arranged on the surface of the acoustic black hole beam, the elliptical motion of the surface of the stator is amplified, effective thrust is increased, and the purpose of increasing the output of the motor is achieved.
Example 3:
the embodiment of the invention provides a unidirectional rotation ultrasonic motor based on an acoustic black hole principle, and referring to fig. 3, the design principle of the ultrasonic motor is as follows:
referring to fig. 3, the unidirectional rotation ultrasonic motor mainly includes: four groups of driving units, wherein the first driving unit consists of an acoustic black hole beam 140, piezoelectric ceramics 150 and a signal source 160; the second driving unit consists of an acoustic black hole beam 170, piezoelectric ceramics 180 and a signal source 190; the third driving unit consists of an acoustic black hole beam 200, piezoelectric ceramics 210 and a signal source 220; the fourth driving unit is composed of an acoustic black hole beam 230, a piezoelectric ceramic 240, and a signal source 250.
In addition, the basic structure of the ultrasonic motor further includes: a disk rotor 260.
The working principle of the ultrasonic motor is as follows: when the signal sources 160, 190, 220 and 250 are switched on to generate single-phase signals, the piezoelectric ceramics 150, 180, 210 and 240 in the four groups of driving units generate ultrasonic vibration, so that the acoustic black hole beams fixedly connected with the piezoelectric ceramics generate unidirectional energy flow rotating anticlockwise, and under the action of the energy flow, the surfaces of the acoustic black hole beams 140, 170, 200 and 230 generate elliptical motion, so that the disc rotor 260 is pushed to rotate anticlockwise.
In addition, stator teeth can be arranged on the surface of the acoustic black hole beam, so that the elliptical motion of the surface of the stator is amplified, the effective thrust is increased, and the purpose of increasing the output of the motor is realized.
Example 4:
the embodiment of the invention provides a bidirectional rotating ultrasonic motor based on an acoustic black hole principle, and referring to fig. 4, the design principle of the ultrasonic motor is as follows:
referring to fig. 4, the bidirectional rotary ultrasonic motor mainly comprises four groups of driving units, wherein the first driving unit consists of an acoustic black hole beam 260, piezoelectric ceramics 270 and a signal source 280; the second driving unit consists of an acoustic black hole beam 310, piezoelectric ceramics 300 and a signal source 290; the third driving unit consists of an acoustic black hole beam 320, piezoelectric ceramics 330 and a signal source 340; the fourth driving unit is composed of an acoustic black hole beam 370, a piezoelectric ceramic 360, and a signal source 350.
In addition, the basic structure of the ultrasonic motor further includes a disk rotor 380.
The working principle of the ultrasonic motor is as follows: when the signal sources 280 and 340 are switched on by single-phase signals, the piezoelectric ceramics 270 and 330 in the two groups of driving units generate ultrasonic vibration, so that the acoustic black hole beams 260 and 320 fixedly connected with the ultrasonic vibration generate unidirectional energy flow rotating counterclockwise at the same time, and the energy flow generates elliptical motion on the surfaces of the acoustic black hole beams 260 and 320, thereby pushing the rotor 380 to rotate counterclockwise.
When a single-phase signal is connected to the signal sources 290 and 350, the piezoelectric ceramics 300 and 360 generate ultrasonic vibration, so that the acoustic black hole beams 310 and 370 fixedly connected with the piezoelectric ceramics generate clockwise rotating unidirectional energy flow, and the energy flow generates elliptical motion on the surfaces of the acoustic black hole beams 310 and 370, so that the rotor 380 is pushed to rotate clockwise.
The invention provides a basic structure and an operating principle of the ultrasonic motor based on the acoustic black hole principle with the accompanying drawing. In fact, the number of the driving units or the positioning included angles among the driving units in fig. 1-4 can be increased, and the number of the acoustic black hole beams can be increased to adjust the output characteristics of the motor.
In addition, considering the running stability of the rotor or the rotor, the lengths of the acoustic black hole beams in different driving units can be adjusted, so that the driving forces of the different driving units generate phase differences, and harmful vibration generated by higher harmonics in signals is counteracted.
In addition, stator teeth can be arranged on the surface of the acoustic black hole beam, so that the elliptical motion of the surface of the stator is amplified, the effective thrust is increased, and the purpose of increasing the motor output is achieved.
In the embodiment of the present invention, except for the specific description of the model of each device, the model of other devices is not limited, as long as the device can perform the above functions.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A traveling wave ultrasonic motor based on the acoustic black hole principle comprises: a stator, characterized in that the stator is composed of a plurality of groups of driving units,
each driving unit consists of an acoustic black hole beam, piezoelectric ceramics and a signal source, when each signal source is connected with a single-phase signal, the piezoelectric ceramics generates ultrasonic vibration, the acoustic black hole beam generates unidirectional energy flow, and under the action of the energy flow, the surface of the acoustic black hole beam generates elliptical motion to push the movement of the rotor or the rotation of the rotor.
2. The traveling wave ultrasonic motor based on the acoustic black hole principle as claimed in claim 1, wherein the acoustic black hole beam generates energy flow of moving or rotating.
3. The traveling wave ultrasonic motor based on the acoustic black hole principle as claimed in claim 1, wherein the adjustment of the moving direction of the mover or the rotation direction of the rotor is achieved by adjusting the installation orientation of the driving unit.
4. The traveling wave ultrasonic motor based on the acoustic black hole principle of claim 1, wherein the acoustic black hole beam is one or more.
5. The traveling wave ultrasonic motor based on the acoustic black hole principle as claimed in claim 1, wherein the driving units are uniformly or non-uniformly arranged.
6. The traveling wave ultrasonic motor based on the acoustic black hole principle as claimed in claim 1, wherein the rotor is a flat plate rotor, a cylindrical rotor or a disk rotor.
7. A traveling wave ultrasonic motor based on an acoustic black hole principle according to any one of claims 1 to 6, wherein the surface of the acoustic black hole beam is provided with stator teeth, and the stator teeth are used for amplifying the elliptical motion of the surface of the stator and increasing the thrust.
8. A traveling wave ultrasonic motor based on the acoustic black hole principle according to any one of claims 1 to 6, wherein the number of the driving units is increased or the positioning included angle between the driving units is increased.
9. A traveling wave ultrasonic motor based on the acoustic black hole principle as claimed in any one of claims 1 to 6, wherein the length of the acoustic black hole beam in different driving units is adjusted to generate phase difference between the driving forces of different driving units to counteract the harmful vibration generated by higher harmonics in the signal.
10. The traveling wave ultrasonic motor based on the acoustic black hole principle as claimed in any one of claims 1 to 6, wherein the acoustic black hole beam is excited by using one piece of piezoelectric ceramics or by using a plurality of pieces of piezoelectric ceramics, and the piezoelectric ceramics are excited according to a d33 mode.
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| CN110855182A (en) * | 2019-11-22 | 2020-02-28 | 桂林电子科技大学 | Energy harvesting device |
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| CN106023979A (en) * | 2016-05-23 | 2016-10-12 | 南京航空航天大学 | local resonance acoustic black hole structure |
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