CN205490234U - Motor stator , novel multichannel steering engine control's microminiature supersound motor - Google Patents
Motor stator , novel multichannel steering engine control's microminiature supersound motor Download PDFInfo
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- CN205490234U CN205490234U CN201620016552.6U CN201620016552U CN205490234U CN 205490234 U CN205490234 U CN 205490234U CN 201620016552 U CN201620016552 U CN 201620016552U CN 205490234 U CN205490234 U CN 205490234U
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- stator
- foot
- inner sleeve
- piezoelectric ceramic
- ceramic piece
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- 239000000919 ceramic Substances 0.000 claims description 41
- 239000011159 matrix material Substances 0.000 claims description 21
- 238000002604 ultrasonography Methods 0.000 claims description 20
- 230000000694 effects Effects 0.000 abstract description 8
- 239000002245 particle Substances 0.000 abstract description 3
- 230000002596 correlated effect Effects 0.000 abstract 1
- 238000000407 epitaxy Methods 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 46
- 238000006073 displacement reaction Methods 0.000 description 9
- 238000005452 bending Methods 0.000 description 6
- 239000000956 alloy Substances 0.000 description 3
- 230000005284 excitation Effects 0.000 description 3
- 238000005086 pumping Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The utility model provides a motor stator, novel multichannel steering engine control's microminiature supersound motor, this stator include stator base member piece, sufficient, the piezoceramics piece of a plurality of drive, and stator base member piece has the epitaxy, and it is sufficient that its lower surface is equipped with the drive, is equipped with a piezoceramics piece on the up end of stator base member piece, and the side sufficient in every drive all is equipped with the 2nd piezoceramics piece, in using microminiature supersound motor with this stator, use the poor sinusoidal signal as pi / 2 of two way time phases to encourage the piezoceramics piece simultaneously, encourage disc stator base member respectively, make particle on the sufficient terminal surface of drive produce oval movement track, promote to press the connecting axle on the sufficient terminal surface of drive rotatory through the frictional force effect, provide power for the connection, can realize four -axis independence or individual operation, simple structure, output characteristic is good, and the structure size can realize that the multichannel drives steering engine control's microminiaturization, precision height along with the application scope adjustment of be correlated with.
Description
Technical field
What this utility model related to the small ultrasound electric machine of the novel multi-channel servos control of inverse piezoelectric effect based on piezoelectric ceramics is
Unite integrated, belong to ultrasound electric machine field.
Background technology
Ultrasound electric machine is a kind of novel small and special electric machine, and its operation principle is the inverse piezoelectric effect utilizing piezoelectric, excites elastomer
(stator) is at the micro breadth oscillation of supersonic range, and vibration is changed into the rotation of rotor by the rubbing action between stator and rotor
Or linear motion, output, drive load.The small ultrasound electric machine of novel multi-channel servos control is the one of ultrasound electric machine,
Compare with traditional electromagnetic machine and there is many unique advantages: compact conformation, flexible design, torque density (torque/mass ratio)
Greatly, it is possible to achieve motor short, little, thin, beneficially microminiaturization.Low speed high torque, it is not necessary to gear reduction, can directly drive
Dynamic.Rotor inertia is little, and response is fast, can cut off self-lock, and have bigger holding moment of torsion.Position and speed controlling are good,
Displacement resolution is high, electromagnetism interference.
At present, the domestic research for multichannel servos control is still in the starting stage, for the control mode of matrix deflection,
Although expanding theoretical research, but present stage is still in the exploratory stage.
Main control mode is broadly divided into two classes: a class is the actuator using intelligence alloy material as the exploitation of driving force source；
Another kind of is the actuator using piezoelectric ceramics as the exploitation of driving force source.Intelligence alloy material mainly have memory alloy material and
Magnetostriction materials, deflect to control matrix using the actuator that this kind of material is developed as driving force source, and then control base
The aerodynamic force of body, and then revise flight path.This scheme can provide bigger driving force and relatively large deflection angle, but is in response to
Speed is relatively low, thus limits the number of times of correction, and then have impact on the final precision of correction.Piezoelectric ceramics comes as driving force
The actuator of source exploitation, utilizes the inverse piezoelectric effect of piezoelectric to produce small deformation, uses multistage displacement amplifying mechanism,
This micro-strain being amplified, the deformation yet with piezoelectric is usually micron level, and the effect after multistage amplification is also not
Enough ideals, it is impossible to produce bigger drift angle, which results in pneumatic control power less.
Utility model content
This utility model is intended to overcome the deficiencies in the prior art, it is provided that a kind of compact conformation, fast response time, control flexibly, can
The steering wheel of device is performed with the multichannel steering wheel control of the most multiple output shafts output.
The motor stator that this utility model provides includes stator base sheet, some drivings foot, piezoelectric ceramic piece, drives foot, stator
Base sheet is integrally machined, and the middle part of stator base sheet thickness direction is with extension, and its lower surface is provided with driving foot, at stator base
The upper surface of sheet is provided with the first piezoelectric ceramic piece, is equipped with the second piezoelectric ceramic piece in each side driving foot.
Specifically, driving and being enough to the central point of stator base sheet is the center of circle, is uniformly distributed in circumference, each drives the same of foot
Side is provided with the second piezoelectric ceramic piece.
The microminiature ultrasound electric machine of a kind of novel multi-channel servos control, including stator, axle and a fastening stator and the set of axle
Cartridge；Described stator includes the disk stator matrix of band extension annulus and the some drivings foot integrally synthesized, fixed at described disk
The upper surface of subbase body is provided with the first piezoelectric ceramic piece, is equipped with the second piezoelectric ceramic piece in the described side driving foot；Each drive
The lower surface of action spot is correspondingly provided with an axle, and described sleeve arrangement includes inner sleeve and outer sleeve, and inner sleeve is provided with through hole,
Described axle is arranged in through hole by bearing；Described disk stator matrix is arranged on inner sleeve top, drives foot to go deep into inner sleeve
Inside, the top of outer sleeve is provided with boss, and the extension annulus card of stator is fastened by boss, and is provided with fixing bottom outer sleeve
Device, is fixed therein portion by inner sleeve.
Further, being additionally provided with nut at the top of described outer sleeve, this nut covers the upper surface of whole disk stator matrix,
Stator and the first piezoelectric ceramic piece are fixed.
Further, described drive foot have four, it is uniformly distributed along the circumference of disk stator matrix, each drive foot same
One side is provided with the second piezoelectric ceramic piece.
Specifically, described inner sleeve sidewall is four discontinuous cambered surfaces, becomes cross circumferentially distributed, corresponding sets with driving foot
Put；It is equipped with the through hole installing axle in the middle of each cambered surface, makes the lower surface of driving foot be pressed on axle；Inner sleeve bottom is provided with level
Web, four cambered surfaces are connected into an entirety by this web；The sidewall shape of described outer sleeve is corresponding with inner sleeve, in making
Sleeve is slidably enclosed within outer sleeve, and device end is fixed by end cap.
A kind of microminiature ultrasonic motor control method, to be respectively acting on stator base with the sine of frequency and cosine pumping signal
The second piezoelectric ceramics on first piezoelectric ceramics and driving foot.
Specifically, it is with sinusoidal voltage E1=V sin (ω t) puts on the first piezoelectric ceramic piece, with cosinusoidal voltage
E2=V cos (ω t) is applied on a pair second piezoelectric ceramic pieces that spatially phase contrast is π.
This utility model uses above technical scheme compared with prior art, has following technical effect that
This utility model selected a kind of multiple freedom degrees ultrasound motor as actuator, owing to multiple freedom degrees ultrasound motor has knot
Structure size is little, directly drives without reducing gear, and the feature that anti-overload ability is strong, so the design of multiple freedom degrees ultrasound motor carries
Supply another kind of more preferable probability.
Multichannel steering wheel control performs the design of device, for small-bore applicable situation, by two to orthogonal installation
The weave control of the rudder wing, realizes the adjustment of the rolling to matrix, pitching and yaw-position, is finally completed the trajectory to matrix and repaiies
Just.Steering wheel is installed in body front end, and try one's best the most again the least takies installing space simultaneously, for the rudder wing to swing the rudder face providing enough steady
Determine moment, revision directive can quickly be responded.
Wherein, the upper surface of stator, extension annulus, driving foot are to be integrally machined one-shot forming, compact conformation, and four drivings
Foot circumferencial direction cross is uniformly distributed, and the piezoelectric ceramic piece of circular excitation longitudinal vibration is posted in upper surface, and four drive foot side to post square
Shape excites the piezoelectric ceramic piece of bending vibration, with the sine of frequency and cosine pumping signal be respectively acting on stator base piezoelectric ceramics and
Driving the piezoelectric ceramics on foot, according to the inverse piezoelectric effect of piezoelectric ceramics, end face piezoelectric ceramic piece excitation disk stator matrix produces
Longitudinal vibration mode such as Fig. 4, makes the overall length travel produced along the z-axis direction.The piezoelectric ceramic piece excitation driving foot side drives foot
Produce mode of flexural vibration such as Fig. 5, make driving foot generation be perpendicular to the flexural deformation of z-axis, displacement superposed in both direction, promote
Drive foot end face particle to produce elliptical trajectory, promote to be pressed in driving the connecting shaft of foot end face to rotate.Put on the upper square of driving foot
The driving voltage of shape piezoelectric ceramic piece can have certain phase contrast, therefore many rudder wing connecting shafts are independent of each other.This motor just,
Reverse directions can be controlled by changing the phase contrast of biphase sine and cosine pumping signal.
On the premise of meeting dimensional requirement, the stator profile equidimension of motor can be the most arbitrarily devised, using the teaching of the invention it is possible to provide stable
Moment, position and speed controlling are good, and have the ability of cutting off self-lock, and this just provides possibility for accurately instructing, and is also micro-
Littleization creates condition.
Accompanying drawing explanation
Below with reference to accompanying drawing, the utility model is described in further detail:
Fig. 1 to Fig. 3 is respectively the front view of small ultrasonic motor stator, top view and the solid of novel multi-channel servos control
Figure；
Fig. 4 is the section view longitudinal vibration bending vibation mode picture of Cylinder stator matrix；
Fig. 5 is the section view bending bending vibation mode picture driving foot；
Fig. 6 is the small ultrasound electric machine internal stator topology layout of novel multi-channel servos control；
Fig. 7 is the outline drawing of the small ultrasound electric machine of novel multi-channel servos control；
Fig. 8 is the installation diagram of the microminiature ultrasound electric machine of novel multi-channel servos control；
In figure, 1 stator base, 2 drive foot, 3 extension annulus, 4 stator upper surfaces, 5 first pressures
Electroceramics sheet, 6 second piezoelectric ceramic pieces, 7 sinusoidal voltages, 8 cosinusoidal voltage, 9 clamp nuts, 10
Bearing, 11 axles, 12 inner sleeves, 13 outer sleeves, 14 bolts, 15 end caps, 16 webs.
Detailed description of the invention
This utility model provides a kind of motor stator, the microminiature ultrasound electric machine of novel multi-channel servos control, for making this practicality new
The purpose of type, technical scheme and effect are clearer, clearly, and referring to the drawings and give an actual example the most detailed to this utility model
Describe in detail bright.Should be appreciated that and described herein be embodied as only in order to explain this utility model, be not used to limit this practicality new
Type.
The motor stator that this utility model provides, as shown in Figure 1 to Figure 3, including stator base sheet 1, some driving foots 2, pressure
Electroceramics sheet, drive foot 2, stator base sheet 1 be integrally machined, the middle part of stator base sheet 1 thickness direction with extension 3, its
Lower surface is provided with driving foot 2, is provided with the first piezoelectric ceramic piece 5 on the upper surface 4 of stator base sheet 1, drives foot 2 each
Side be equipped with the second piezoelectric ceramic piece 6.
Specifically, drive foot 2 with the central point of stator base sheet 1 as the center of circle, be uniformly distributed in circumference, each driving foot 2
Same side be provided with the second piezoelectric ceramic piece 6.
Being applied on microminiature ultrasound electric machine by above-mentioned motor stator, the microminiature forming a kind of novel multi-channel servos control is ultrasonic
Motor, as shown in Figure 6 to 8, this ultrasound electric machine is arranged on the rudder wing and installs housing intrasegmental part its structure, by four connecting shafts 11
It is press respectively against on each driving foot 2 end faces, ensures that four connecting shafts 11 phase contrast in a circumferential direction is pi/2, for even simultaneously
Spindle rotates provides power resources, has two to symmetrical and the right angle setting connecting shaft in " cross " type layout.
Specifically, this motor includes stator, axle 11 and a fastening stator and the sleeve arrangement of axle；Stator includes integrally closing
The disk stator matrix 1 of the band extension annulus 3 become and some driving foots 2, the upper surface at disk stator matrix 1 is provided with first
Piezoelectric ceramic piece 5, is equipped with the second piezoelectric ceramic piece 6 in the side driving foot 2；Each lower surface driving foot 2 is correspondingly provided with
One axle 11, and sleeve arrangement includes that inner sleeve and outer sleeve, inner sleeve 12 are provided with through hole, and axle 11 is by bearing 10
It is arranged in through hole；Disk stator matrix 1 is arranged on inner sleeve 12 top, drives foot 2 to go deep into the inside of inner sleeve 12, outward
The top of sleeve 13 is provided with boss, and extension annulus 3 card of stator is fastened by boss, and is provided with fixing bottom outer sleeve 13
Device, is fixed therein portion by inner sleeve 12.
Wherein, being additionally provided with clamp nut 9 at the top of outer sleeve 13, this nut 9 covers the upper table of whole disk stator matrix 1
Face, is fixed stator and the first piezoelectric ceramic piece 5.In the present embodiment, driving foot 2 to have four, it is along disk stator base
The circumference of body 1 is uniformly distributed, and each same side driving foot 2 is provided with the second piezoelectric ceramic piece 6.
Inner sleeve 12 sidewall is four discontinuous cambered surfaces, becomes cross circumferentially distributed, is correspondingly arranged with driving foot 2；Each arc
It is equipped with the through hole installing axle 11 in the middle of face, makes the lower surface of driving foot 2 be pressed on axle 11；Inner sleeve 12 bottom is provided with level
Web 16, four cambered surfaces are connected into an entirety by this web 16；The sidewall shape of outer sleeve 13 is relative with inner sleeve 12
Should, inner sleeve 12 is embedded in the sliding tray of outer sleeve 13, makes inner sleeve slidably be enclosed within outer sleeve, and device end is by holding
Lid 15 is fixed.
Owing to four drive foot 2 the most uniform, adjacent two driving foot spatially phase contrasts are pi/2, therefore at disk
Apply sinusoidal voltage 7 on circular piezoelectric potsherd 5 on stator base 1 upper surface, disk stator matrix 1 can be excited to produce curved
Qu Zhendong, makes stator entirety have displacement modes in Z-direction, and as shown in Figure 4, particle displacement is square with coordinate Z axis for its bending vibation mode picture
Just take to identical, take negative on the contrary, make the foot 2 that drives being positioned on disk stator matrix 1 produce displacement along the z-axis direction.This
It is a kind of method for expressing, is not the actual real displacement of stator.In like manner, four rectangles on foot 2 sides can driven respectively
When applying cosinusoidal voltage 8 on piezoelectric ceramic piece 6, driving foot 2 can be excited to produce flexural vibration modes, its bending vibation mode picture such as Fig. 5 institute
Show, drive foot 2 there is no displacement along the z-axis direction, displacement the most along the circumferential direction.When to driving spatially phase place on foot 2
Difference for π a pair rectangular piezoelectric ceramic sheet 6 on apply cosinusoidal voltage simultaneously time, can control simultaneously a pair spatially phase contrast be π
A pair connecting shaft 11 produce equidirectional rotation.When to a pair rectangular piezoelectric ceramic sheet 6 driving foot spatially phase contrast to be π
The upper cosinusoidal voltage that applies respectively, time, can control simultaneously a pair spatially phase contrast be that a pair connecting shaft 11 of π produces opposite direction
Rotation.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.To these
The multiple amendment of embodiment will be apparent from for those skilled in the art, generic principles defined herein
Can realize in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention will not be by
It is limited to the embodiments shown herein, and is to fit to consistent with principles disclosed herein and features of novelty the widest
Scope.
Claims (7)
1. a motor stator, including stator base sheet, some drivings foot, piezoelectric ceramic piece, the middle part of shown stator base sheet thickness direction is with extension, its lower surface is provided with driving foot, it is characterized in that, the upper surface of stator base sheet is provided with the first piezoelectric ceramic piece, is equipped with the second piezoelectric ceramic piece in each side driving foot.
A kind of motor stator the most according to claim 1, it is characterised in that it is the center of circle that described driving be enough to the central point of stator base sheet, is uniformly distributed in circumference, each same side driving foot is provided with the second piezoelectric ceramic piece.
A kind of motor stator the most according to claim 1, it is characterised in that described driving foot, stator base sheet are integrally machined.
4. the microminiature ultrasound electric machine of a novel multi-channel servos control, it is characterised in that include stator, axle and a fastening stator and the sleeve arrangement of axle；Described stator includes the disk stator matrix of band extension annulus and the some drivings foot integrally synthesized, and the upper surface at described disk stator matrix is provided with the first piezoelectric ceramic piece, is equipped with the second piezoelectric ceramic piece in the described side driving foot；Each lower surface driving foot is correspondingly provided with an axle, and described sleeve arrangement includes inner sleeve and outer sleeve, and inner sleeve is provided with through hole, and described axle is arranged in through hole by bearing；Described disk stator matrix is arranged on inner sleeve top, drives foot to go deep into the inside of inner sleeve, and the top of outer sleeve is provided with boss, and the extension annulus card of stator is fastened by boss, and is provided with fixing device bottom outer sleeve, and inner sleeve is fixed therein portion.
The microminiature ultrasound electric machine of a kind of novel multi-channel servos control the most according to claim 4, it is characterised in that be additionally provided with nut at the top of described outer sleeve, this nut covers the upper surface of whole disk stator matrix, is fixed by stator.
The microminiature ultrasound electric machine of a kind of novel multi-channel servos control the most according to claim 4, it is characterised in that described driving foot has four, and it is uniformly distributed along the circumference of disk stator matrix, each same side driving foot is provided with the second piezoelectric ceramic piece.
The microminiature ultrasound electric machine of a kind of novel multi-channel servos control the most according to claim 6, it is characterised in that described inner sleeve sidewall is four discontinuous cambered surfaces, becomes cross circumferentially distributed, is correspondingly arranged with driving foot；It is equipped with the through hole installing axle in the middle of each cambered surface, makes the lower surface of driving foot be pressed on axle；Inner sleeve bottom is provided with the web of level, and four cambered surfaces are connected into an entirety by this web；The sidewall shape of described outer sleeve is corresponding with inner sleeve, makes inner sleeve slidably be embedded on outer sleeve, and device end is fixed by end cap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620016552.6U CN205490234U (en) | 2016-01-08 | 2016-01-08 | Motor stator , novel multichannel steering engine control's microminiature supersound motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620016552.6U CN205490234U (en) | 2016-01-08 | 2016-01-08 | Motor stator , novel multichannel steering engine control's microminiature supersound motor |
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| Publication Number | Publication Date |
|---|---|
| CN205490234U true CN205490234U (en) | 2016-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620016552.6U Withdrawn - After Issue CN205490234U (en) | 2016-01-08 | 2016-01-08 | Motor stator , novel multichannel steering engine control's microminiature supersound motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205490234U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105471316A (en) * | 2016-01-08 | 2016-04-06 | 南京航空航天大学 | Motor stator, novel multi-channel steering gear control micro ultrasonic motor and control method thereof |
-
2016
- 2016-01-08 CN CN201620016552.6U patent/CN205490234U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105471316A (en) * | 2016-01-08 | 2016-04-06 | 南京航空航天大学 | Motor stator, novel multi-channel steering gear control micro ultrasonic motor and control method thereof |
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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: 20160817 Effective date of abandoning: 20180302 |
|
| AV01 | Patent right actively abandoned |