CN202190223U - Electromagnetic and ultrasonic hybrid double-rotor motor - Google Patents
Electromagnetic and ultrasonic hybrid double-rotor motor Download PDFInfo
- Publication number
- CN202190223U CN202190223U CN2011203357563U CN201120335756U CN202190223U CN 202190223 U CN202190223 U CN 202190223U CN 2011203357563 U CN2011203357563 U CN 2011203357563U CN 201120335756 U CN201120335756 U CN 201120335756U CN 202190223 U CN202190223 U CN 202190223U
- Authority
- CN
- China
- Prior art keywords
- rotor
- positioning rotor
- precision positioning
- stator
- coarse positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The utility model discloses an electromagnetic and ultrasonic hybrid double-rotor motor, which comprises a stator, rotors and an output shaft. The rotors include a precision positioning rotor and a rough positioning rotor, the stator comprises a piezoelectric ceramic and an elastic body mounted on the piezoelectric ceramic, the elastic body of the stator is in surface-to-surface close contact with the precision positioning rotor, and the precision positioning rotor is connected with the rough positioning rotor and an outer casing through radial bearings. The electromagnetic and ultrasonic hybrid double-rotor motor is reasonable in structure, the service life of the electromagnetic and ultrasonic hybrid double-rotor motor is far longer than that of a traveling-wave type ultrasonic motor, and the positioning precision of the electromagnetic and ultrasonic hybrid double-rotor motor is far higher than that of a common stepping motor. By the aid of the integrated structure, switchover without interference for electromagnetic and ultrasonic hybrid drive is realized, and the problems of complicated structure, difficulty in machining connectors, incapability of realizing switchover without interference and realizing miniaturization machining and the like caused by adopting a clutch or other switchover transmission mechanisms to complete hybrid drive of an electromagnetic motor and an ultrasonic motor are overcome.
Description
Technical field
The utility model relates to a kind of motor.
Background technology
Stepping motor is one of critical product of electromechanical integration as executive component, is widely used in the various automation control systems.Adopt ring distributor and power amplifier can make the excitation winding of stepping motor connect DC power supply according to certain rotation; Because excitation winding is arranged in the space according to certain rules; In turn with the DC power supply connection after; Will form the rotating magnetic field that a kind of step changes in the space, stepping motor rotor is rotated.But under common drive controlling mode, stepping motor all can not perfectly adapt to the requirement of modern precision location and processing aspect control precision, velocity variations scope, low-speed performance.To improve the motor positioning accuracy and to improve the motor runnability is that the segmentation Driving technique of purpose can make stepping motor reach very high positioning accuracy; But adopt the micro-stepping driving of stepping motor circuit; The complexity of system is increased; And the step motor drive precision after the segmentation also depends on the factors such as segmentation Current Control precision of subdivision driver, and the segmentation number is big more, the more difficult control of precision.Like the high frequency starting the arc in the welding process and stabilising arc there is very serious high-frequency electromagnetic wave interference in drive circuit under the reality operating mode; Adopt the stepping motor sub-circuit can greatly reduce the reliability and stability of system; Driver will have quite high specification requirement and technological requirement, and cost also can be higher.
Supersonic motor (USM) is a kind of non-electromagnetic machine, and it utilizes the inverse piezoelectric effect of piezoelectric ceramic on stator, to produce ultrasonic vibration, through with the friction couple transmission actuating force of rotor.Because it has advantageous characteristic such as rotating speed is low, torque is big, positioning accuracy is high, power density is big, no electromagnetic interference, so be used widely in fields such as Aero-Space, robot, precision instruments.But USM works long hours and can cause motor material characteristic and output characteristic to change, and produces the resonance frequency drift, rotating speed descends.Owing to rely on the friction carry-over moment, so the life-span of USM is generally not long, be respectively 2000 hours and 1000 hours like Japanese Shinsei company's production and Traveling Ultrasonic Motor (TRUSM) USR30 and the USR60 life-span of being used widely.From the mechanics angle analysis; Also be understood that the reason that the USM life-span is short: under alternate stress and frictional force effect, motor produces fatigue rupture, and the emergentness that is promptly caused by crack initiation, expansion and unstability is destroyed; This of course not transition result, but a gradual asymptotic process.Under the alternate stress effect,, repeatedly behind the repeat function, will produce the fatigue rupture phenomenon through overstress though the stress of electric machine part is lower than the quiet lotus strength degree of material.Show through test of many times: the ability of material opposing symmetrical cycle alternate stress is the poorest.The vibration row ripple of USM produces the alternate stress of supersonic frequency; In the rotor transmission of drive force; Its alternation fine motion is also being wrecked self incessantly, and under alternate stress and frictional force effect, motor produces fatigue damage; Make condensed layer local shedding, temperature rise between stator and piezoelectric ceramic cause thermal mismatching etc. soon easily, influence motor output torque and positioning accuracy.And, reduced in the life-span of USM greatly because piezoelectric ceramic crack initiation, expansion and unstability cause sudden destruction.As transship in the machine operation engineering, phenomenon such as stall, then the life-span of USM is shorter.
Chinese scholars adopts the electromagnetic servo motor as navigation system coarse positioning driving element in recent years; Adopt supersonic motor or piezo-activator as navigation system precision positioning driving element; Fully combine supersonic motor and electromagnetic machine advantage separately, obtained effect preferably.But existing hybrid drive system is all kept apart Electromagnetic Drive and ultrasound-driven parts fully; Adopt clutch or other to switch the switching that transmission mechanism is accomplished two motors, complex structure, connector processing difficulties; Can't realize not having disturbance and switch, can't realize integrated, miniaturization Design processing.
Summary of the invention
It is a kind of rational in infrastructure that the purpose of the utility model is to provide, the electromagnetic acoustic mixing double-rotor machine of favorable working performance.
The technical solution of the utility model is:
A kind of electromagnetic acoustic mixing double-rotor machine; Comprise stator, rotor, output shaft; It is characterized in that: rotor comprises precision positioning rotor and coarse positioning rotor; Stator is made up of piezoelectric ceramic and the elastomer that is contained on the piezoelectric ceramic, and the elastomer of stator adopts the face face closely to contact with the precision positioning rotor, and the precision positioning rotor all is connected through radial bearing with coarse positioning rotor, shell.
Piezoelectric ceramic polarizes along thickness direction.
Stator is by nut and shell clamping and locking, and the nut of elastomer block top applies precompression through disk spring, and the nut shaft external threading connects; Coarse positioning rotor and output shaft are connected as a single entity, and the coarse positioning rotor is a pair of utmost point or several star magnet steel to the utmost point, and the coarse positioning rotor all is connected through radial bearing with shell, stator, precision positioning rotor; The precision positioning rotor is wound with two-phase or multiphase winding, and every phase number of pole-pairs equates with the rotor pole logarithm; Precision positioning rotor energising phase field axis and coarse positioning rotor magnetic pole axial alignment.
Coarse positioning rotor and output shaft are connected as a single entity, and the coarse positioning rotor is a pair of utmost point or several star magnet steel to the utmost point, and the coarse positioning rotor all is connected through radial bearing with shell, precision positioning rotor, and coarse positioning rotor lower end is connected through radial thrust bearing with fixed axis; The precision positioning rotor is wound with two-phase or multiphase winding, and every phase number of pole-pairs equates with the rotor pole logarithm, precision positioning rotor energising phase field axis and coarse positioning rotor magnetic pole axial alignment.
Stator is by precision positioning rotor and shell clamping and locking; The nut of precision positioning rotor top applies precompression through disk spring; Nut is threaded with the precision positioning armature spindle, is connected through radial bearing between precision positioning rotor and shell, stator, coarse positioning rotor; The coarse positioning rotor adopts outer-rotor structure, and the coarse positioning rotor is connected through radial bearing with the precision positioning rotor, and coarse positioning rotor lower end is connected through radial thrust bearing with shell.
The utility model is rational in infrastructure, and its life-span is longer than traveling-wave ultrasonic motor, and its positioning accuracy is far above general stepping motor.Its integral structure has realized that the no disturbance in electromagnetism, the ultrasonic combination drive switches, and has overcome employing clutch or other and has switched transmission mechanism and accomplish electromagnetism, ultrasonic two motor combination drive complex structures, connector processing difficulties, can't realize not having disturbance and switch, can't realize problems such as miniaturization Design processing.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
Fig. 1 is electromagnetic acoustic mixing double-rotor machine embodiment 1 profile of the present invention.
Fig. 2 is electromagnetic acoustic mixing double-rotor machine embodiment 2 profiles of the present invention.
Fig. 3 is electromagnetic acoustic mixing double-rotor machine embodiment 3 profiles of the present invention.
Encoder 41 is arranged, bearing (ball) cover 42, elastomer block 43, radial thrust bearing 44 among Fig. 3; Precision positioning rotor and output shaft 45, coarse positioning external rotor 46, radial bearing 47, bearing (ball) cover 48; Pad 49, disk spring 50, nut 51, radial thrust bearing 52; Piezoelectric ceramic 13, radial bearing 54, shell 55.
Embodiment
Embodiment 1:
Electromagnetic acoustic mixing double-rotor machine of the present invention is by encoder, bearing (ball) cover, and pad, radial bearing, shell, piezoelectric ceramic, radial bearing, elastomer block, disk spring, nut, axle sleeve, the precision positioning rotor, coarse positioning rotor and output shaft constitute.
The stator of this motor is made up of piezoelectric ceramic and the elastomer that is contained on the piezoelectric ceramic, and stator is by nut and shell clamping and locking, and the nut of elastomer block top applies precompression through disk spring.The nut shaft external threading connects.Piezoelectric ceramic polarizes along thickness direction.
Coarse positioning rotor and output shaft are connected as a single entity, and the coarse positioning rotor is a pair of utmost point or several star magnet steel to the utmost point.The coarse positioning rotor all is connected through radial bearing with shell, stator, precision positioning rotor.
The precision positioning rotor is wound with two-phase or multiphase winding, and every phase number of pole-pairs equates with the rotor pole logarithm.Precision positioning rotor energising phase field axis is made every effort to and coarse positioning rotor magnetic pole axial alignment.Above the precision positioning rotor, apply precompression, make that the face face contacts between rotor and elastomer block, precompression is evenly distributed on entire contact surface through nut, disk spring.
When precision positioning rotor winding was switched on by the phase sequence of rule variation, the coarse positioning rotor is rotation continuously just, and step angle is bigger, realizes the coarse positioning of hybrid electric motor.Motor is through the output shaft output torque.
When adopting two-way ac sine signal excitation piezoelectric ceramic to produce resonance; Piezoelectric ceramic converts electrical energy into the elastic vibration ability of stator through inverse piezoelectric effect; Make the elliptic motion of stator surface particle, produce the row ripple and produce micrometric displacement through the CONTACT WITH FRICTION Continuous Drive precision positioning rotor between stator, precision positioning rotor.Precision positioning rotor winding is by changeless phase sequence energising, and then the resultant magnetic field of precision positioning rotor winding generation is constant, and after the precision positioning rotor produced micrometric displacement, the coarse positioning rotor was followed the precision positioning winding and rotated, and realized the precision positioning of hybrid electric motor.Motor is through the output shaft output torque.
Embodiment 2:
Electromagnetic acoustic mixing double-rotor machine of the present invention is by nut, shell, and piezoelectric ceramic, elastomer block, disk spring, fixed axis, axle sleeve, radial thrust bearing, coarse positioning rotor and output shaft, radial bearing, bearing (ball) cover, encoder, pad, the precision positioning rotor is formed.
The stator of this motor is made up of piezoelectric ceramic and the elastomer that is contained on the piezoelectric ceramic, and stator is by nut and shell clamping and locking, and the nut of elastomer block top applies precompression through disk spring.Nut is connected with sleeve thread.Fixed axis is fixed and can be fixedly connected through threaded engagement mechanism with shell, piezoelectric ceramic, elastomer block.Piezoelectric ceramic polarizes along thickness direction.
Coarse positioning rotor and output shaft are connected as a single entity, and the coarse positioning rotor is a pair of utmost point or several star magnet steel to the utmost point.The coarse positioning rotor all is connected through radial bearing with shell, precision positioning rotor.Coarse positioning rotor lower end is connected through radial thrust bearing with fixed axis, to realize the axial and radial location of coarse positioning rotor.
The precision positioning rotor is wound with two-phase or multiphase winding, and every phase number of pole-pairs equates with the rotor pole logarithm.Precision positioning rotor energising phase field axis is made every effort to and coarse positioning rotor magnetic pole axial alignment.Above the precision positioning rotor, apply precompression, make that the face face contacts between precision positioning rotor and elastomer block, precompression is evenly distributed on entire contact surface through nut, disk spring.
When precision positioning rotor winding was switched on by the phase sequence of rule variation, the coarse positioning rotor is rotation continuously just, and step angle is bigger, realizes the coarse positioning of hybrid electric motor.Motor is through the output shaft output torque.
When adopting two-way ac sine signal excitation piezoelectric ceramic to produce resonance; Piezoelectric ceramic converts electrical energy into the elastic vibration ability of stator through inverse piezoelectric effect; Make the elliptic motion of stator surface particle, produce the row ripple and produce micrometric displacement through the CONTACT WITH FRICTION Continuous Drive precision positioning rotor between stator, precision positioning rotor.Precision positioning rotor winding is by changeless phase sequence energising, and then the resultant magnetic field of precision positioning rotor winding generation is constant, and after the precision positioning rotor produced micrometric displacement, the coarse positioning rotor was followed the precision positioning winding and rotated, and realized the precision positioning of hybrid electric motor.Motor is through the output shaft output torque.
Embodiment 3:
Electromagnetic acoustic mixing double-rotor machine of the present invention is by encoder, bearing (ball) cover, and elastomer block, precision positioning rotor and output shaft, the coarse positioning external rotor, radial bearing, bearing (ball) cover, pad, disk spring, nut, radial thrust bearing, piezoelectric ceramic, shell is formed.
The stator of this motor is made up of piezoelectric ceramic and the elastomer that is contained on the piezoelectric ceramic; Stator is by precision positioning rotor and shell clamping and locking; The nut of precision positioning rotor top applies precompression through disk spring; Nut is threaded with the precision positioning armature spindle, makes that the face face contacts between precision positioning rotor and elastomer block, and precompression is evenly distributed on entire contact surface.Piezoelectric ceramic polarizes along thickness direction.
Be connected through radial bearing between precision positioning rotor and shell, stator, coarse positioning rotor.
The coarse positioning rotor adopts outer-rotor structure, and the coarse positioning rotor is connected through radial bearing with the precision positioning rotor.Coarse positioning rotor lower end is connected through radial thrust bearing with shell, to realize the axial and radial location of coarse positioning rotor.
When precision positioning rotor winding was switched on by the phase sequence of rule variation, the coarse positioning rotor is rotation continuously just, and step angle is bigger, realizes the coarse positioning of hybrid electric motor.The gear output torque of motor through linking to each other with external rotor.
When adopting two-way ac sine signal excitation piezoelectric ceramic to produce resonance; Piezoelectric ceramic converts electrical energy into the elastic vibration ability of stator through inverse piezoelectric effect; Make the elliptic motion of stator surface particle, produce the row ripple and produce micrometric displacement through the CONTACT WITH FRICTION Continuous Drive precision positioning rotor between stator, precision positioning rotor.Precision positioning rotor winding is by changeless phase sequence energising, and then the resultant magnetic field of precision positioning rotor winding generation is constant, and the coarse positioning rotor is followed the precision positioning winding and rotated, and realizes the precision positioning of hybrid electric motor.The gear output torque of motor through linking to each other with rotor can be through output shaft or through the common output torque of the gear that links to each other with external rotor when precision positioning.
Claims (5)
1. electromagnetic acoustic mixing double-rotor machine; Comprise stator, rotor, output shaft; It is characterized in that: rotor comprises precision positioning rotor and coarse positioning rotor; Stator is made up of piezoelectric ceramic and the elastomer that is contained on the piezoelectric ceramic, and the elastomer of stator adopts the face face closely to contact with the precision positioning rotor, and the precision positioning rotor all is connected through radial bearing with coarse positioning rotor, shell.
2. electromagnetic acoustic mixing double-rotor machine according to claim 1, it is characterized in that: piezoelectric ceramic polarizes along thickness direction.
3. electromagnetic acoustic mixing double-rotor machine according to claim 1 and 2 is characterized in that: stator is by nut and shell clamping and locking, and the nut of elastomer block top applies precompression through disk spring, and the nut shaft external threading connects; Coarse positioning rotor and output shaft are connected as a single entity, and the coarse positioning rotor is a pair of utmost point or several star magnet steel to the utmost point, and the coarse positioning rotor all is connected through radial bearing with shell, stator, precision positioning rotor; The precision positioning rotor is wound with two-phase or multiphase winding, and every phase number of pole-pairs equates with the rotor pole logarithm; Precision positioning rotor energising phase field axis and coarse positioning rotor magnetic pole axial alignment.
4. electromagnetic acoustic mixing double-rotor machine according to claim 1 and 2; It is characterized in that: coarse positioning rotor and output shaft are connected as a single entity; The coarse positioning rotor is a pair of utmost point or several star magnet steel to the utmost point; The coarse positioning rotor all is connected through radial bearing with shell, precision positioning rotor, and coarse positioning rotor lower end is connected through radial thrust bearing with fixed axis; The precision positioning rotor is wound with two-phase or multiphase winding, and every phase number of pole-pairs equates with the rotor pole logarithm, precision positioning rotor energising phase field axis and coarse positioning rotor magnetic pole axial alignment.
5. electromagnetic acoustic mixing double-rotor machine according to claim 1 and 2; It is characterized in that: stator is by precision positioning rotor and shell clamping and locking; The nut of precision positioning rotor top applies precompression through disk spring; Nut is threaded with the precision positioning armature spindle, is connected through radial bearing between precision positioning rotor and shell, stator, coarse positioning rotor; The coarse positioning rotor adopts outer-rotor structure, and the coarse positioning rotor is connected through radial bearing with the precision positioning rotor, and coarse positioning rotor lower end is connected through radial thrust bearing with shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203357563U CN202190223U (en) | 2011-09-08 | 2011-09-08 | Electromagnetic and ultrasonic hybrid double-rotor motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203357563U CN202190223U (en) | 2011-09-08 | 2011-09-08 | Electromagnetic and ultrasonic hybrid double-rotor motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202190223U true CN202190223U (en) | 2012-04-11 |
Family
ID=45921657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203357563U Expired - Fee Related CN202190223U (en) | 2011-09-08 | 2011-09-08 | Electromagnetic and ultrasonic hybrid double-rotor motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202190223U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111200349A (en) * | 2020-02-11 | 2020-05-26 | 南通大学 | Combined type motor of high accuracy location |
-
2011
- 2011-09-08 CN CN2011203357563U patent/CN202190223U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111200349A (en) * | 2020-02-11 | 2020-05-26 | 南通大学 | Combined type motor of high accuracy location |
| WO2021068993A1 (en) * | 2020-02-11 | 2021-04-15 | 南通大学 | Composite motor having high-precision positioning |
| CN111200349B (en) * | 2020-02-11 | 2021-04-23 | 南通大学 | Combined type motor of high accuracy location |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Xu et al. | Comparative analysis of bearingless switched reluctance motors with decoupled suspending force control | |
| JP2002262487A (en) | Power generation system and rotary electric machine | |
| CN102497080A (en) | Moving magnet type linear rotation two-degree-of-freedom motor | |
| CN101355290A (en) | Dual radial directions magnetic field reaction type straight-line rotating stepper motor | |
| CN103986301A (en) | High-dynamic moving-magnetic type linear rotation integrated two-degree-of-freedom motor | |
| CN111854663A (en) | Piezoelectric thread driving type one-dimensional positioning platform | |
| CN202190223U (en) | Electromagnetic and ultrasonic hybrid double-rotor motor | |
| He et al. | Speed and axial position control for a linear-rotary switched reluctance motor with two radial windings | |
| Xu et al. | Hybrid pole type bearingless switched reluctance motor with short flux path | |
| CN102570926B (en) | Five-degree-of-freedom suspended electric power generation system | |
| CN103986366B (en) | The hollow ultrasonic motor that stator floats | |
| Xu et al. | Control characteristics of 8/10 and 12/14 bearingless switched reluctance motor | |
| CN214480332U (en) | Differential inertia type piezoelectric rotary driver | |
| CN204886524U (en) | Can rotate drive arrangement with operation of sharp two -degree -of -freedom | |
| CN102158120B (en) | Radial and axial multi-vibrator ultrasonic linear motor and operating method thereof | |
| CN111200349B (en) | Combined type motor of high accuracy location | |
| CN113541437A (en) | Electrostatic stepping motor | |
| CN203840182U (en) | High-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor | |
| Yusri et al. | Effects of varying arc angles and poles numbers on force characteristics of switched reluctance (sr) actuator | |
| Liu et al. | A switched reluctance motor with conical magnetic bearings | |
| CN202160014U (en) | Disk type magnetic motor with permanent magnets and electromagnets | |
| CN102142789B (en) | Displacement amplification ultrasonic linear motor and working method thereof | |
| JP2011254682A (en) | Axial gap type rotary electric machine, compressor, and rotary electric machine apparatus | |
| CN116317423B (en) | Bearingless asynchronous motor transmission system and control method thereof | |
| CN205319970U (en) | Free beam structure miniature screw thread supersound motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120411 Termination date: 20150908 |
|
| EXPY | Termination of patent right or utility model |