CN202663320U - Two-degree-of-freedom ultrasonic motor - Google Patents
Two-degree-of-freedom ultrasonic motor Download PDFInfo
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- CN202663320U CN202663320U CN 201220345584 CN201220345584U CN202663320U CN 202663320 U CN202663320 U CN 202663320U CN 201220345584 CN201220345584 CN 201220345584 CN 201220345584 U CN201220345584 U CN 201220345584U CN 202663320 U CN202663320 U CN 202663320U
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- 239000000919 ceramic Substances 0.000 claims abstract description 62
- 230000010287 polarization Effects 0.000 claims abstract description 7
- 230000005284 excitation Effects 0.000 claims description 10
- 239000002184 metal Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract 2
- 238000004814 ceramic processing Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000010355 oscillation Effects 0.000 description 7
- 238000002604 ultrasonography Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The utility model relates to a two-degree-of-freedom ultrasonic motor. The existing multi-degree-of-freedom ultrasonic motor is difficult to manufacture and the driving circuit is complex. The stator of the two-degree-of-freedom ultrasonic motor comprises a rotor seat and a piezoelectric ceramic seat which are integrally formed and are coaxially arranged, wherein the rotor seat is a metallic cylinder and the piezoelectric ceramic seat is a metallic regular quadrangular prism. Piezoelectric ceramic plate installation grooves are respectively and obliquely arranged on the four side surfaces of the piezoelectric ceramic seat. A piezoelectric ceramic plate which is of the shape of an elongated sheet is bonded in each installation groove. The piezoelectric ceramic plates are polarized along the thickness direction and the polarization mode is d31. A rotor is of the shape of a circular ring, is movably sheathed on the rotor seat and can rotate and move linearly along the axis of the rotor seat. By using the d31 effect of piezoelectric ceramic to excite the torsional vibration mode and the longitudinal vibration mode of a stator, two-degree-of-freedom movement, i.e. rotation and linear movement are respectively realized. The two-degree-of-freedom ultrasonic motor has the advantages of easiness in piezoelectric ceramic processing, compact motor structure, ingenious mechanism, convenience in driving, higher efficiency and the like.
Description
Technical field
The utility model belongs to the Piezoelectric Driving applied technical field, relates to a kind of two-freedom supersonic motor, particularly a kind of miniature rotation-straight line two-freedom supersonic motor.
Background technology
Supersonic motor is a kind of inverse piezoelectric effect of utilizing piezoelectric is converted to the microdeformation of elastomeric material the mover macroscopic motion by resonance new principle motor.Compare with the traditional electrical magneto, supersonic motor has low-speed and large-torque, it is fast to cut off self-lock, respond, resolution is high, power density is high, without characteristics such as electromagnetic interference, is adapted at the small-power occasion and uses.
Multiple freedom degrees ultrasound ripple motor is a kind of of supersonic motor, is characterized in that rotor can export two and above freedom of motion.According to the output form of rotor motion, common multiple freedom degrees ultrasound ripple motor can be divided into three kinds: the first is rotary-type, utilizes ball as rotor, has two to three rotary freedoms; The second is linear pattern, by two planar degrees of freedom of polypody winding machine; The third is compound for rotation-straight line, generally has a rotation and a linear degrees of freedom, and such electric machine structure form is fewer.
Compare with traditional electromagnetic type multi-freedom electric motor, multiple freedom degrees ultrasound ripple motor has compact conformation, motion realizes variation and precision advantages of higher.But then, existing multiple freedom degrees ultrasound ripple motor focuses mostly on front two class formations mentioned above, and the structure that adopts multiple stators to cooperate makes motor volume larger, is not suitable for microminiaturized place of using.In addition, also there are the problems such as structure processing difficulties and drive circuit complexity in existing multiple freedom degrees ultrasound ripple motor.
Summary of the invention
The utility model provides a kind of rotation-straight line two-freedom supersonic motor for the deficiencies in the prior art.
The utility model comprises stator and rotor.
Stator comprises rotator seat and piezoelectric ceramic seat; Described rotator seat is metal cylinder, and the piezoelectric ceramic seat is the metal four-prism; The bottom surface diameter of rotator seat equates with the bottom surface length of side of piezoelectric ceramic seat, is 1～5mm; Rotator seat and piezoelectric ceramic seat are one-body molded, and coaxial setting, and the stator total length is 10～30mm.The design of the variable section structure of stator overcome in the bonding piezoelectric ceramic piece situation of periphery, produced in the past come unstuck cracked and the not high shortcoming of utilance.
Four sides of piezoelectric ceramic seat have the piezoelectric ceramic piece mounting groove, the piezoelectric ceramic piece mounting groove is oblique the offering of piezoelectric ceramic seat side surface, the angle of the center line of piezoelectric ceramic piece mounting groove and the longitudinal center line of side surface is α, 5 °≤α≤50 °, four piezoelectric ceramic piece mounting grooves offering the position, offer direction on side separately, to offer angle identical.
The piezoelectric ceramic piece of four rectangular chip shape is bonded in respectively in four piezoelectric ceramic piece mounting grooves, described piezoelectric ceramic piece through-thickness polarization, and polarization mode is
d 31, the surface of four piezoelectric ceramic pieces connects respectively an end of four power lines, and the other end of four power lines links together, and is connected stator grounding with excitation power supply.
Described rotor is annular, is nested with on rotator seat, is flexibly connected with rotator seat, and rotor can be along axis rotation and the rectilinear motion of rotator seat.
Four piezoelectric ceramic pieces all apply voltage magnitude and are
V 0, duty ratio is
D, frequency is
fThe square wave excitation signal of telecommunication.Applying the signal of telecommunication is in order to motivate two mode of torsional oscillation and longitudinal vibration at stator, to utilize the control method friction-driven rotor motion of inertial impulse.Because the driving frequency of torsional oscillation and two mode of longitudinal vibration
fDifference, motor can produce respectively the motion of rotation and two degrees of freedom of straight line.
The frequency of the above-mentioned square wave excitation signal of telecommunication
fDuring for the resonance frequency of torsional oscillation mode, rotor produces and rotatablely moves.Work as duty ratio
DDuring less than 50 ﹪, rotor produces clockwise rotation; Work as duty ratio
DDuring greater than 50 ﹪, rotor produces and is rotated counterclockwise motion.
The frequency of the above-mentioned square wave excitation signal of telecommunication
fDuring for the resonance frequency of longitudinal vibration mode, rotor produces rectilinear motion.Work as duty ratio
DDuring less than 50 ﹪, rotor produces vertically rectilinear motion forward; Work as duty ratio
DDuring greater than 50 ﹪, rotor produces the vertically backward rectilinear motion of (to the direction of piezoelectric ceramic seat).
The method that the utility model amplexiforms piezoelectric ceramic piece in the surface tilt of piezoelectric ceramic seat makes motor stator, utilized piezoelectric ceramic
d 31Torsional oscillation mode and the longitudinal vibration mode of effect excitation stator have piezoelectric ceramic piece and easily polarize, and electric machine structure is compact, element is few, drive facility and efficient than advantages of higher.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of stator among Fig. 1;
Fig. 3 is that the piezoelectric ceramic piece mounting groove is offered position view among Fig. 2 on the side.
Embodiment
Shown in Fig. 1,2 and 3, the hyperacoustic motor of a kind of rotation-straight line two-freedom comprises stator and rotor 2.
Stator comprises rotator seat 1-1 and piezoelectric ceramic seat 1-2.Rotator seat 1-1 is metal cylinder, piezoelectric ceramic seat 1-2 is the metal four-prism, the bottom surface diameter of rotator seat 1-1 equates with the bottom surface length of side of piezoelectric ceramic seat 1-2, is 1～5mm, and the square bottom surface of the rounded bottom surface of rotator seat 1-1 and piezoelectric ceramic seat 1-2 is tangent.Rotator seat 1-1 and piezoelectric ceramic seat 1-2 are one-body molded, and coaxial setting, and the stator total length is 10～30mm.
Four sides of piezoelectric ceramic seat 1-2 have piezoelectric ceramic piece mounting groove 1-3, piezoelectric ceramic piece mounting groove 1-3 is oblique the offering of piezoelectric ceramic seat 1-2 side surface, the center line of piezoelectric ceramic piece mounting groove (dotted line among Fig. 3) is α with the angle of the longitudinal center line (chain-dotted line among Fig. 3) of side surface, 5 °≤α≤50 °, four piezoelectric ceramic piece mounting grooves offering the position, offer direction on side separately, to offer angle identical.
The piezoelectric ceramic piece 3 of four rectangular chip shape is bonded in respectively in four piezoelectric ceramic piece mounting groove 1-3.The polarization of piezoelectric ceramic piece 3 through-thickness, polarization mode is
d 31, the surface of four piezoelectric ceramic pieces connects respectively an end of four power lines, and the other end of four power lines links together, and is connected stator grounding with excitation power supply.
Four piezoelectric ceramic pieces all apply voltage magnitude and are
V 0, duty ratio is
D, frequency is
fThe square wave excitation signal of telecommunication.Applying the signal of telecommunication is in order to motivate two mode of torsional oscillation and longitudinal vibration at stator, to utilize the control method friction-driven rotor motion of inertial impulse.Because the driving frequency of torsional oscillation and two mode of longitudinal vibration
fDifference, motor can produce respectively the motion of rotation and two degrees of freedom of straight line.
The frequency of the above-mentioned square wave excitation signal of telecommunication
fDuring for the resonance frequency of torsional oscillation mode, rotor produces and rotatablely moves.Work as duty ratio
DDuring less than 50 ﹪, rotor produces clockwise rotation; Work as duty ratio
DDuring greater than 50 ﹪, rotor produces and is rotated counterclockwise motion.
The frequency of the above-mentioned square wave excitation signal of telecommunication
fDuring for the resonance frequency of longitudinal vibration mode, rotor produces rectilinear motion.Work as duty ratio
DDuring less than 50 ﹪, rotor produces the vertically forward rectilinear motion of (away from the direction of piezoelectric ceramic seat); Work as duty ratio
DDuring greater than 50 ﹪, rotor produces the vertically backward rectilinear motion of (to the direction of piezoelectric ceramic seat).
Claims (4)
1. a two-freedom supersonic motor comprises stator and rotor, it is characterized in that: described stator comprises rotator seat and piezoelectric ceramic seat; Described rotator seat is metal cylinder, and the piezoelectric ceramic seat is the metal four-prism, and the bottom surface diameter of rotator seat equates with the bottom surface length of side of piezoelectric ceramic seat; Rotator seat and piezoelectric ceramic seat are one-body molded, and coaxial setting;
Four sides of piezoelectric ceramic seat have the piezoelectric ceramic piece mounting groove, and the piezoelectric ceramic piece mounting groove is oblique the offering of piezoelectric ceramic seat side surface, and four piezoelectric ceramic piece mounting grooves offering the position, offer direction on side separately, to offer angle identical;
The piezoelectric ceramic piece of four rectangular chip shape is bonded in respectively in four piezoelectric ceramic piece mounting grooves, described piezoelectric ceramic piece through-thickness polarization, and polarization mode is
d 31, the surface of four piezoelectric ceramic pieces connects respectively an end of four power lines, and the other end of four power lines links together, and is connected stator grounding with excitation power supply;
Described rotor is annular, is nested with on rotator seat, is flexibly connected with rotator seat, and rotor can be along axis rotation and the rectilinear motion of rotator seat.
2. a kind of two-freedom supersonic motor as claimed in claim 1, it is characterized in that: the bottom surface diameter of described rotator seat and the bottom surface length of side of piezoelectric ceramic seat are 1～5mm.
3. a kind of two-freedom supersonic motor as claimed in claim 1, it is characterized in that: described stator total length is 10～30mm.
4. a kind of two-freedom supersonic motor as claimed in claim 1, it is characterized in that: the angle of the center line of described piezoelectric ceramic piece mounting groove and the longitudinal center line of side surface is α, 5 °≤α≤50 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220345584 CN202663320U (en) | 2012-07-17 | 2012-07-17 | Two-degree-of-freedom ultrasonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220345584 CN202663320U (en) | 2012-07-17 | 2012-07-17 | Two-degree-of-freedom ultrasonic motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202663320U true CN202663320U (en) | 2013-01-09 |
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ID=47458194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220345584 Expired - Lifetime CN202663320U (en) | 2012-07-17 | 2012-07-17 | Two-degree-of-freedom ultrasonic motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202663320U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102751900A (en) * | 2012-07-17 | 2012-10-24 | 浙江大学 | Two-degree-of-freedom ultrasonic motor |
-
2012
- 2012-07-17 CN CN 201220345584 patent/CN202663320U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102751900A (en) * | 2012-07-17 | 2012-10-24 | 浙江大学 | Two-degree-of-freedom ultrasonic motor |
| CN102751900B (en) * | 2012-07-17 | 2015-08-12 | 浙江大学 | Two-freedom supersonic motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130109 Effective date of abandoning: 20150812 |
|
| RGAV | Abandon patent right to avoid regrant |