JPS63283475A - Ultrasonic motor - Google Patents
Ultrasonic motorInfo
- Publication number
- JPS63283475A JPS63283475A JP62117350A JP11735087A JPS63283475A JP S63283475 A JPS63283475 A JP S63283475A JP 62117350 A JP62117350 A JP 62117350A JP 11735087 A JP11735087 A JP 11735087A JP S63283475 A JPS63283475 A JP S63283475A
- Authority
- JP
- Japan
- Prior art keywords
- ultrasonic motor
- contact
- protrusion
- corners
- projecting bodies
- 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.)
- Pending
Links
- 238000005452 bending Methods 0.000 abstract description 10
- 239000000463 material Substances 0.000 abstract description 6
- 230000010355 oscillation Effects 0.000 abstract 2
- 238000005299 abrasion Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 abstract 1
- 239000002783 friction material Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000005923 long-lasting effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- H02N2/163—Motors with ring stator
-
- 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/005—Mechanical details, e.g. housings
- H02N2/0065—Friction interface
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は圧電体を用いて駆動力を発生する超音波モータ
に関する。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an ultrasonic motor that generates driving force using a piezoelectric material.
従来の技術
近年圧電セラミック等の圧電体を用いた振動体に弾性振
動を励振し、これを駆動力とした超音波モータが注目さ
れている。2. Description of the Related Art In recent years, ultrasonic motors have attracted attention, in which elastic vibrations are excited in a vibrating body using a piezoelectric material such as a piezoelectric ceramic, and this vibration is used as a driving force.
以下、図面を参照しながら超音波モータの従来技術につ
いて説明を行う。Hereinafter, the conventional technology of an ultrasonic motor will be explained with reference to the drawings.
第２図は径方向１次、周方向３次以上の円環形超音波モ
ータの切り欠き斜視図であり、円環形の弾性体１に円環
膨圧電体２を貼合せて振動体３を構成している。４は耐
磨耗性材料の摩擦材、５は弾性体であり、互いに貼合せ
られて移動体６を構成している。移動体６は摩擦材４を
介して振動体３と接触している。圧電体２に電界を印加
すると振動体３の周方向に曲げ撮動の進行波が励起され
、移動体６を駆動する。尚、同図中の矢印は移動体６の
回転方向を示す。FIG. 2 is a cutaway perspective view of an annular ultrasonic motor with primary order in the radial direction and tertiary or higher order in the circumferential direction. are doing. Reference numeral 4 indicates a friction material made of a wear-resistant material, and reference numeral 5 indicates an elastic body, which are pasted together to form a moving body 6. The moving body 6 is in contact with the vibrating body 3 via the friction material 4. When an electric field is applied to the piezoelectric body 2, a traveling wave for bending and imaging is excited in the circumferential direction of the vibrating body 3, thereby driving the movable body 6. Note that the arrow in the figure indicates the rotation direction of the moving body 6.
第３図は第２図の超音波モータに使用した圧電体２の電
極構造の一例を示している。同図では円周方向に９波の
弾性波がのるようにしである。ＡおよびＢはそれぞれ２
分の１波長相当の小領域から成る電極群で、Ｃは４分の
３波長相当、Ｄは４分の１波長相当の電極である。電極
ＣおよびＤは電極群ＡとＢに位置的に４分の１波長（＝
９０度）の位相差を作るために設けている。電極ＡとＢ
内の隣り合う小電極部は互いに反対に厚み方向に分極さ
れている。圧電体２の弾性体１との接着面は、第３図に
示めされた面と反対の面であり、電極はベタ電極である
。使用時には、電極群ＡおよびＢは同図に斜線で示され
たように、それぞれ短絡して用いられる。FIG. 3 shows an example of the electrode structure of the piezoelectric body 2 used in the ultrasonic motor of FIG. In the figure, nine elastic waves are placed in the circumferential direction. A and B are each 2
This is an electrode group consisting of a small region corresponding to one-quarter wavelength, where C is an electrode corresponding to three-quarter wavelength and D is an electrode corresponding to one-quarter wavelength. Electrodes C and D are positioned at a quarter wavelength (=
This is provided to create a phase difference of 90 degrees. Electrodes A and B
Adjacent small electrode portions within the electrode are polarized in opposite directions in the thickness direction. The adhesive surface of the piezoelectric body 2 with the elastic body 1 is the opposite surface to the surface shown in FIG. 3, and the electrodes are solid electrodes. During use, electrode groups A and B are short-circuited, as indicated by diagonal lines in the figure.
以上のように構成された超音波モータの圧電体２の電極
ＡおよびＢに
Ｖ ｔ−Ｖｏｘｓｉｎ（ωｔ） −−−
（１）Ｖ ２−Ｖ Ｏｘｃｏｓ＜ ωｔ ）
−−−（２）ただし、ｖＯ：電圧の瞬時値
ω：角周波数
ｔ：時間
で表される電圧ｖ１およびｖ２をそれぞれ印加すれば、
感動体３には
ξ〜ξｏｘ（ｃｏｓ（ωｔ）ｘｃｏｓ（ｋｘ）＋５ｉｎ
（ωｔ）ｘｓｉｎ（ｋｘ））
−ξｏ ｘｃｏｓ（ωｔ−ｋｘ） −−一（
３）ただし ξ：曲げ感動の振幅値
ξ０：曲げ感動の瞬時値
ｋ ・波数（２π／λ）
λ：波長
× ：位置
で表せる、円周方向に進行する曲げ振動の進行波が励起
される。V t-Voxsin (ωt) at the electrodes A and B of the piezoelectric body 2 of the ultrasonic motor configured as above.
(1) V2−V Oxcos<ωt)
---(2) However, vO: Instantaneous value of voltage ω: Angular frequency t: If voltages v1 and v2 expressed in time are applied, respectively,
For the moving body 3, ξ ~ ξox (cos (ωt) x cos (kx) + 5in
(ωt)xsin(kx)) −ξo xcos(ωt−kx) −−one(
3) However, ξ: Amplitude value of bending impression ξ0: Instantaneous value of bending impression k ・Wave number (2π/λ) λ: Wavelength x : A traveling wave of bending vibration traveling in the circumferential direction, which can be expressed by position, is excited.
第４図は振動体３の表面のＡ点が進行波の励起によって
、長軸２ｗ、短軸２ｕの楕円運動をし、感動体３上に加
圧して設置された移動体６が、楕円の頂点近傍で接触す
ることにより、摩擦力により波の進行方向とは逆方向に
Ｖ−ωＸｕの速度で運動する様子を示している。Fig. 4 shows that point A on the surface of the vibrating body 3 moves in an ellipse with a long axis 2w and a short axis 2u due to the excitation of the traveling wave, and the movable body 6 placed under pressure on the moving body 3 moves in an ellipse. This figure shows how the waves move at a speed of V-ωXu in the opposite direction to the direction of wave travel due to frictional force due to contact near the apex.
機械出力を大きくとるには、振動体の進行方向の変位成
分Ｕを大きくすればよい。そのために、第５図に示すよ
うに感動体に突起体７を設ける。In order to increase the mechanical output, the displacement component U of the vibrating body in the traveling direction may be increased. For this purpose, a protrusion 7 is provided on the moving body as shown in FIG.
突起体７により、曲げ剛性はあまり増加せず、曲げ振動
による進行方向の成分Ｕは拡大されるので、機械出力を
増大できる。The protrusions 7 do not significantly increase the bending rigidity, and the component U in the traveling direction due to bending vibration is expanded, so that the mechanical output can be increased.
第６図は径方向２次、周方向３次以上の曲げ振動モード
を使用した円板形超音波モータの切り欠き斜視図である
。円板形の弾性体８に円板形圧電体９を貼合せて感動体
１０を構成している。１１は耐磨耗性材料の摩擦材、１
２は弾性体であり、互いに貼合せられて移動体１３を構
成している。FIG. 6 is a cutaway perspective view of a disc-shaped ultrasonic motor using bending vibration modes of 2nd order in the radial direction, 3rd order in the circumferential direction or higher. A moving body 10 is constructed by bonding a disk-shaped piezoelectric body 9 to a disk-shaped elastic body 8. 11 is a friction material made of wear-resistant material; 1
Reference numeral 2 denotes an elastic body, which is pasted together to form the movable body 13.
移動体１３は摩擦材１１を介して振動体１０に設けられ
た突起体１５と接触している。圧電体９に電界を印加す
ると振動体１０の周方向に曲げ振動の進行波が励起され
、移動体１３は回転軸１４を中心にして回転する。The movable body 13 is in contact with a protrusion 15 provided on the vibrating body 10 via the friction material 11. When an electric field is applied to the piezoelectric body 9, a traveling wave of bending vibration is excited in the circumferential direction of the vibrating body 10, and the movable body 13 rotates about the rotation axis 14.
第７図は円板形超音波モータの振動体の径方向の変位分
布図である。機械出力を大きくとるためには、変位の大
きいところから出力を取り出せばよいので、変位の最大
点に突起体１５を設けている。FIG. 7 is a radial displacement distribution diagram of the vibrating body of the disc-shaped ultrasonic motor. In order to obtain a large mechanical output, it is sufficient to extract the output from a point where the displacement is large, so the protrusion 15 is provided at the point of maximum displacement.
発明が解決しようとする問題点
第８図は突起体近傍の超音波モータの動作のモデル図で
ある。突起体１６の先端は摩擦材１７に接触して、摩擦
力で移動体１８を駆動する。突起体１６の先端の接触面
はいつも摩擦材１７と平行ではな（、その角から接触す
る。従って、突起体１６の接触面の角がでていたりバリ
が出ていると、ある瞬間、摩擦材１７が突起体１６の角
と接触するので、摩擦材１７を機械的に損傷したり、接
触面積が小さくなり、動力伝達が効率良（できないとい
う問題がある。Problems to be Solved by the Invention FIG. 8 is a model diagram of the operation of the ultrasonic motor in the vicinity of the protrusion. The tip of the projection 16 contacts the friction material 17 and drives the movable body 18 by the frictional force. The contact surface at the tip of the protrusion 16 is not always parallel to the friction material 17 (it makes contact from its corner. Therefore, if the contact surface of the protrusion 16 has a protruding corner or a burr, at a certain moment, friction will occur. Since the material 17 comes into contact with the corner of the protrusion 16, there is a problem that the friction material 17 may be mechanically damaged or the contact area becomes small, making it impossible to efficiently transmit power.
本発明はかかる点に鑑みてなされたもので、出力の太き
（、効率の良い、しかも長寿命で高信頼性の超音波モー
タを提供することを目的としている。The present invention has been made in view of these points, and an object of the present invention is to provide an ultrasonic motor with high output, high efficiency, long life, and high reliability.
問題点を解決するための手段
振動体の移動体との接触面に突起体を設け、突起体の移
動体との接触面の角にアールをとるか面とりをし、接触
面に接触して設置された移動体を駆動する。Means for solving the problem: Provide a protrusion on the contact surface of the vibrating body with the movable body, round or chamfer the corner of the contact surface of the protrusion with the movable body, and make contact with the contact surface. Drive the installed moving object.
作 用
突起体の角の部分による摩擦材の機械的な損傷が軽減さ
れ、しかも効率良（振動体の振動を移動体に伝達するこ
とにより、出力が増大し、効率の良い、しかも長寿命で
高信頼性の超音波モータを実現できる。Mechanical damage to the friction material caused by the corners of the working protrusions is reduced, and it is also efficient (by transmitting the vibration of the vibrating body to the moving body, the output is increased, making it efficient and long lasting. A highly reliable ultrasonic motor can be realized.
実施例
以下、図面に従って本発明の一実施例について詳細な説
明を行う。EXAMPLE Hereinafter, an example of the present invention will be described in detail with reference to the drawings.
第１図は本発明の円環形超音波モータの振動体の斜視図
である。同図において、弾性体２０は圧電体２１と共に
振動体２２を構成している。２３は感動体２２に設けら
れた突起体であり、移動体との接触面の角をすべてアー
ルを取っている。FIG. 1 is a perspective view of the vibrating body of the annular ultrasonic motor of the present invention. In the figure, an elastic body 20 and a piezoelectric body 21 constitute a vibrating body 22. 23 is a protrusion provided on the moving body 22, and all corners of the contact surface with the moving body are rounded.
従って、突起体２３は摩擦材に角から接触しても接触面
積を大きくとれるので、機械出力を太き（きれる。つま
り、振動体２２の曲げ感動による進行方向の成分を効率
良く伝達できる。また突起体の角で摩擦材を機械的に損
傷することもない。本例では、突起体の角にアールを取
ったが、面とりをしても同様の効果が得られる。また、
ここでは詳細に記述しないが、円板形超音波モータに対
しても全く同様である。Therefore, even if the protrusion 23 contacts the friction material from a corner, the contact area can be large, so the mechanical output can be increased (cut).In other words, the component in the traveling direction due to the bending impression of the vibrating body 22 can be efficiently transmitted. There is no mechanical damage to the friction material at the corners of the protrusions.In this example, the corners of the protrusions are rounded, but the same effect can be obtained by chamfering them.Also,
Although not described in detail here, the same applies to a disc-shaped ultrasonic motor.
発明の効果
本発明によれば、感動体の撮動を移動体に効率良（伝達
することにより、出力を増大し、効率を高め、しかも摩
擦材の機械的損傷を小さくすることにより、長寿命で高
信頼性の超音波モータを提供できる。Effects of the Invention According to the present invention, by efficiently transmitting the image of a moving object to a moving object, output is increased and efficiency is increased, and mechanical damage to the friction material is reduced, thereby extending the life of the moving object. can provide highly reliable ultrasonic motors.
第１図は本発明の円環形超音波モータの振動体の斜視図
、第２図は従来の円環形超音波モータの切り欠き斜視図
、第３図は第２図の超音波モータに用いた圧電体の形状
と電極構造を示す平面図、第４図は超音波モータの動作
原理の説明図、第５図は感動体に突起体を設けた円環形
超音波モータの切り欠き斜視図、第６図は従来の円板形
超音波モータの切り欠き斜視図、第７図は円板形振動体
の径方向の変位分布図、第８図は突起体近傍の超音波モ
ータの動作のモデル図である。
２０・・・・・・弾性体、２１・・・・・・圧電体、２
２・・・・・・感動体、２３・・・・・・突起体。
代理人の氏名 弁理士 中尾敏男 はか１名第１図
第２図
第３図
第５図
第 ７ 図
第８図Fig. 1 is a perspective view of the vibrating body of the annular ultrasonic motor of the present invention, Fig. 2 is a cutaway perspective view of a conventional annular ultrasonic motor, and Fig. 3 is a perspective view of the vibrating body of the annular ultrasonic motor of the present invention. FIG. 4 is a plan view showing the shape of the piezoelectric body and the electrode structure. FIG. 4 is an explanatory diagram of the operating principle of the ultrasonic motor. FIG. Figure 6 is a cutaway perspective view of a conventional disc-shaped ultrasonic motor, Figure 7 is a radial displacement distribution diagram of a disc-shaped vibrator, and Figure 8 is a model diagram of the operation of the ultrasonic motor near the protrusion. It is. 20...Elastic body, 21...Piezoelectric body, 2
2...Emotion body, 23...Protrusion body. Name of agent Patent attorney Toshio Nakao (1 person) Figure 1 Figure 2 Figure 3 Figure 5 Figure 7 Figure 8
Claims (1)
から構成される振動体に弾性進行波を励振することによ
り、前記振動体上に接触して設置された移動体を移動さ
せる超音波モータにおいて、前記振動体の前記移動体と
の接触面側に突起体を設け、前記突起体の前記移動体と
の接触面の角にアールをとるか面とりをしたことを特徴
とする超音波モータ。A piezoelectric body is driven by an alternating current voltage to excite an elastic traveling wave in a vibrating body composed of the piezoelectric body and an elastic body, thereby moving a movable body placed in contact with the vibrating body. In the sonic motor, a protrusion is provided on the side of the contact surface of the vibrating body with the movable body, and a corner of the contact surface of the protrusion with the movable body is rounded or chamfered. sonic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62117350A JPS63283475A (en) | 1987-05-14 | 1987-05-14 | Ultrasonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62117350A JPS63283475A (en) | 1987-05-14 | 1987-05-14 | Ultrasonic motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63283475A true JPS63283475A (en) | 1988-11-21 |
Family
ID=14709516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62117350A Pending JPS63283475A (en) | 1987-05-14 | 1987-05-14 | Ultrasonic motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63283475A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5055732A (en) * | 1988-04-05 | 1991-10-08 | Aisin Seiki Kabushiki Kaisha | Ultrasonic motor |
| US5229678A (en) * | 1989-10-20 | 1993-07-20 | Seiko Epson Corporation | Drive control unit for an ultrasonic step motor |
| US5247220A (en) * | 1989-10-20 | 1993-09-21 | Seiko Epson Corporation | Ultrasonic motor |
| US5479380A (en) * | 1989-10-20 | 1995-12-26 | Seiko Epson Corporation | Ultrasonic motor for driving an analog electronic watch |
-
1987
- 1987-05-14 JP JP62117350A patent/JPS63283475A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5055732A (en) * | 1988-04-05 | 1991-10-08 | Aisin Seiki Kabushiki Kaisha | Ultrasonic motor |
| US5229678A (en) * | 1989-10-20 | 1993-07-20 | Seiko Epson Corporation | Drive control unit for an ultrasonic step motor |
| US5247220A (en) * | 1989-10-20 | 1993-09-21 | Seiko Epson Corporation | Ultrasonic motor |
| US5479380A (en) * | 1989-10-20 | 1995-12-26 | Seiko Epson Corporation | Ultrasonic motor for driving an analog electronic watch |
| US5521455A (en) * | 1989-10-20 | 1996-05-28 | Seiko Epson Corporation | Ultrasonic motor |
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