CN102025286B - Alternating force based linear ultrasonic motor - Google Patents
Alternating force based linear ultrasonic motor Download PDFInfo
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- CN102025286B CN102025286B CN201010558702A CN201010558702A CN102025286B CN 102025286 B CN102025286 B CN 102025286B CN 201010558702 A CN201010558702 A CN 201010558702A CN 201010558702 A CN201010558702 A CN 201010558702A CN 102025286 B CN102025286 B CN 102025286B
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- langevin
- mover
- piezoelectric ceramic
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Abstract
The invention discloses an alternating force based linear ultrasonic motor which comprises a stator and a rotor, wherein the stator comprises a left Langevin vibrator and a right Langevin vibrator which are in butt joint along a central line, each Langevin vibrator is entirely of a continuous section rod type structure, the section of which is tapered from the tail part to the head part, the head parts of the left Langevin vibrator and the right Langevin vibrator are in butt joint to obtain a whole body, clamping members are arranged at the lower parts of the Langevin vibrators and installed among a group of piezoelectric ceramic wafers, two ends of the stator are respectively provided with a preload bolt, a driving foot piezoelectric ceramic wafer is attached to on a surface arranged at the butt joint position of the two Langevin vibrators and parallel to the vertical vibrating face of the vibrator, an electrode plate and a friction plate are attached to the driving foot piezoelectric ceramic wafer to form a driving foot, the rotor is a linear guide rail and parallel to the stator, and the rotor and the stator come into contact at the driving foot. The invention facilitates the improvement of the speed, the output force and the operating efficiency of a motor. The alternating force based linear ultrasonic motor has simple structure, small size, large output force, high speed and high efficiency.
Description
Technical field
Based on linear ultrasonic motor and the operation mode and the electric excitation mode of alternating force, belong to the ultrasound electric machine technical field.
Background technology
Ultrasound electric machine is to utilize the inverse piezoelectric effect of piezoelectric ceramic and the new type power output device of ultrasonic vibration.Compare with electromagnetic machine; Have compact conformation, low speed high torque, response fast (Millisecond), cut off self-lock, position and speed control property are good, do not receive advantages such as electromagnetic interference and low noise operation, gather around in fields such as Aero-Space, micromachine, robot, precision instrumentation, servomechanism, medicine equipments to have broad application prospects.
Linear type ultrasound motor belongs to a classification of ultrasound electric machine.Structure according to the linear type ultrasound motor stator is dull and stereotyped and bar (or combining structure of bar), and linear ultrasonic motor is divided into plate structure and bar structure.Though it is simple in structure for the plate structure linear ultrasonic motor, flexible design, its output speed and power are less.Need have big power output, linear type ultrasound motor that efficient is high for applications such as industrial robot, Aero-Space.The rod-type linear ultrasonic motor has advantages such as power output, the speed of service be big.Comprise mover and stator as the one of which; Its architectural feature is: mover is a linear guide rail; Stator is made up of several Langevin-type transducers, and is consistent through regulating frequency, makes oscillator two phase vibration mode complex vibration (motion); Driving foot formation space elliptic motion, promote the mover motion with the mover contact friction.On the contact interface of stator and rotor, the interaction of stator and rotor shows as the acting in conjunction of tangential and normal direction table variable force for this type ultrasound electric machine, and they are vertical each other in the space, differ pi/2 in time.But, because existing linear ultrasonic motor utilizes structural vibrations that normal force (the normally normal vibration of the symmetrical mode generation of stator) is provided.In this design, the vibrational state of the symmetrical mode of stator receives the influence of the precompression between stator and rotor, and when precompression is fully big, the vibration of the symmetrical mode of stator will be restricted, thereby cause the normal direction alternating force to reduce, and power output reduces.That is to say that the architectural feature of existing linear ultrasonic motor has limited the further raising of motor power output.This invention is only utilized a mode of oscillation of structure, the tangential alternating force is provided, and utilizes longitudinal vibration piezoelectric chip that the normal direction alternating force directly is provided.Since the not influence of preloading power of normal direction alternating force, therefore, can be through increasing the power output that precompression improves motor.The linear ultrasonic motor that the present invention proposes will have bigger power output than existing linear ultrasonic motor.In addition, the present invention has only utilized a mode of structure, therefore, does not have the mode consistency problem that exists in the existing linear ultrasonic motor design, makes structural design be more prone to simple.
The research and development of present domestic linear ultrasonic motor is very fast, and colleges and universities such as Tsing-Hua University, Nanjing Aero-Space University, Harbin Institute of Technology have successively launched research to linear ultrasonic motor.Online at Chinese patent, published annular standing wave linear ultrasonic motor [200510046044.9], prism longitudinal bend composite vibrator linear supersonic motor [200610132316.1], triangle bended plate type piezoelectric straight line ultrasound electric motor [200710045921.X], H shape standing wave linear ultrasonic motor oscillator [200820014739.8] etc. successively since 2004.In recent years, Nanjing Aero-Space University succeeded in developing column structure dual-wheel foot driving linear ultrasonic motor and electric excitation method thereof [200710020963.8], based on K shape linear ultrasonic motor [200g10124426.2] of continuous amplitude transformer principle etc.This type straight line has all utilized two mode of structure, through symmetrical modal vibration (or longitudinal vibration or bending vibration modes) the normal direction alternating force is provided.At present, do not see as yet and utilize a structural vibration tangent line alternating force to be provided, directly to utilize the longitudinal vibration piezoelectric ceramic that the report of the linear ultrasonic motor of normal direction alternating force is provided.
Summary of the invention
The objective of the invention is to develop a kind of simple in structure, power output is big, the speed of service is fast, delivery efficiency is high linear ultrasonic motor and operation mode and electric excitation mode based on alternating force.Rely on the type of drive that drives foot formation space elliptic motion and then promote mover different with the traditional line ultrasound electric machine; This motor has proposed a kind of brand-new type of drive that is changed to the basis with power; Do not relate to the vibration modal frequency consistency problem; The structural design of linear ultrasonic motor is more prone to, and power output is bigger.
The present invention adopts following technical scheme for realizing above-mentioned purpose:
A kind of linear ultrasonic motor based on alternating force; Comprise stator and mover, two Langevin-type transducers constituted along the center line butt joint about said stator comprised, each Langevin-type transducer comprises front end housing, rear end cap, piezoelectric ceramic piece and corresponding electrode slice composition; And each Langevin-type transducer integral body is the cross section by the afterbody continuous cross section bar type structure of convergent craniad; About the head butt joint of two Langevin-type transducers be connected as a single entity, the bottom of Langevin-type transducer is provided with holder, said holder is installed between one group of piezoelectric ceramic piece; The two ends of said stator are provided with the pretightning force bolt; Paste a slice on the surface that two Langevin-type transducer joints are parallel to oscillator longitudinal vibration face and drive foot and use piezoelectric ceramic piece, paste electrode slice and friction plate on piezoelectric ceramic piece again and constitute and drive enough driving foot, said mover is a linear guide rail; Be arranged to parallel construction with said stator, and be in contact with one another at driving foot place.
A kind of electric excitation method thereof of linear ultrasonic motor at first uses sinusoidal signal to excite to drive foot and use piezoelectric ceramic piece, and it flexible makes and drive the surperficial extrusion stress of foot and be cyclic variation, so actuating force can be cyclic variation when driving sufficient moving reciprocatingly; Secondly for two Langevin-type transducers about stator; Use respectively with above-mentioned sinusoidal signal phase difference be that the same frequency sinusoidal signal of positive and negative pi/2 inspires longitudinal vibration mode; Because said stator and mover are arranged to parallel construction, driving the direction of motion that the sufficient stator vibration of locating still is parallel to mover, stator in the vibration and mover are because rubbing action produces the tangential force along the mover direction of motion; Stator and mover receive the effect of tangential and two alternating forces of normal direction on contact-making surface; These two alternating forces are vertical each other in the space, differ pi/2 in time, and mover guide rail 1 is done rectilinear motion under the acting in conjunction of two alternating forces.
Beneficial effect:
(1) there is not abrupt-change cross section (identical acoustic impedance is arranged) in the Langevin-type transducer, can not produce reflected wave plane sound wave.
(2) convergent design forward made it on each cross section, have identical acoustic impedance after the continuous variable cross section bar adopted.
(3) the continuous variable cross section bar adopt by after convergent design forward, also make the vibration of head of Langevin-type transducer be exaggerated.
(4) stator is formed by connecting through driving foot and Langevin-type transducer continuous contraction the on joint face, also makes stator reduce in the moment of flexure that drives the foot place.
(5) effect that decide, the mover guide rail receives tangential and two alternating forces of normal direction on contact-making surface, these two alternating forces are vertical each other in the space, differ pi/2 in time, and mover is done rectilinear motion under their acting in conjunction.Therefore, design of the present invention helps to improve speed, power output and the operational efficiency of motor.This linear ultrasonic motor is simple in structure, size is little, power output is big, speed is big, efficient is high.
Description of drawings
Fig. 1 is the linear ultrasonic motor structural representation based on alternating force
Piezoelectric ceramic polarization arrangement and electric excitation mode that Fig. 2 proposes for the present invention based on the linear ultrasonic motor structure of alternating force
Label title among Fig. 1: 1. line slideway; 2. rear end cap; 3. front end housing; 4. drive foot and use piezoelectric ceramic piece; 5. electrode slice; 6. piezoelectric ceramic piece; 7. holder; 8. friction plate; 9. pretightning force bolt.
Embodiment
A kind of linear ultrasonic motor based on alternating force is as shown in Figure 1; Comprise stator and mover; It is characterized in that: said stator mainly by about two Langevin-type transducers constitute along the center line butt joint; Each Langevin-type transducer is formed by front end housing 3, rear end cap 2, piezoelectric ceramic piece 6 and corresponding electrode slice 5, and the whole cross section that is is by the afterbody continuous cross section bar type structure of convergent craniad, about the head butt joint of two Langevin-type transducers be connected as a single entity; Paste a slice on the surface that two Langevin-type transducer joints are parallel to oscillator longitudinal vibration face in addition and drive foot with piezoelectric ceramic piece 4; Paste electrode slice 5 and a slice friction plate 8 on piezoelectric ceramic piece 4 again and constitute and drive foot driving foot, mover is that linear guide rail 1 is arranged to parallel construction with said stator, and locates to be in contact with one another driving foot.External support component of the present invention is equipped with through hole, in order to stator and precompression device to be installed, stator is connected the linear ultrasonic motor of formation in aggregates based on alternating force through pretightning force bolt 9 with mover.
Electric excitation method thereof of the present invention is: use sinusoidal signal to excite and drive foot with piezoelectric ceramic piece 4; Its flexible surperficial extrusion stress of driving foot that makes is cyclic variation; So actuating force can be cyclic variation when driving sufficient moving reciprocatingly; For two Langevin-type transducers about stator, use respectively with above sinusoidal signal phase difference be that the same frequency sinusoidal signal of positive and negative pi/2 inspires longitudinal vibration mode because said stator and line slideway 1 are arranged to parallel construction; Driving the direction of motion that the sufficient stator vibration of locating (reciprocating motion) still is parallel to mover, stator in the vibration and mover are because rubbing action produces the tangential force along the mover direction of motion.Effect fixed, mover receives tangential and two alternating forces of normal direction on contact-making surface, these two alternating forces are vertical each other in the space, differ pi/2 in time, and mover is done rectilinear motion under their acting in conjunction.This motor stator is made up of the Langevin-type transducer of ultrasonic amplitude transformer principle, can make to drive the bigger displacement of foot acquisition, makes motor realize bigger displacement, makes motor realize that power output is big, and the speed of service is fast, the characteristics that delivery efficiency is high.
Principles of structural design: the 1. mode of oscillation that excites Langevin-type transducer by the inverse piezoelectric effect of piezoelectric ceramic piece.2. two same frequency sinusoidal signals that with the phase difference are pi/2 encourage the longitudinal vibration piezoelectric ceramic piece about stator respectively and drive the longitudinal vibration potsherd that foot is located, and the place forms stress ellipse at the driving foot, and the driving mover is done rectilinear motion.3. drive the longitudinal vibration sheet at foot place with sinusoidal signal excitation, and be that the same frequency sinusoidal signal of positive and negative pi/2 encourages the longitudinal vibration piezoelectric ceramic piece about stator respectively, form stress ellipse driving the foot place, drive mover and do rectilinear motion with phase difference with it.
Be based on the example of the linear ultrasonic motor of alternating force below:
Utilize the inverse piezoelectric effect d of piezoelectric ceramic piece
33Inspire the vibration of the mode of oscillation and the middle part chip ceramic of stator.Fig. 1 is the structural representation of motor, and it mainly is made up of stator, mover.Stator is mainly docked each other along center line by two Langevin-type transducers and constitutes, and each Langevin-type transducer comprises front end housing 3, rear end cap 2, holder 7, piezoelectric ceramic piece 4, electrode slice 5, bolt 9, friction plate 8.Totally 8 of the piezoelectric ceramic pieces 6 of two Langevin-type transducers that join are divided into four groups, and per two piezoelectric ceramic pieces 6 constitute one group, accompany electrode slice 5 between every group of two piezoelectric ceramic pieces 6.Each group piezoelectric ceramic piece 6 is arranged in the both sides of holder 7.Paste a slice on the surface that two Langevin-type transducer joints are parallel to oscillator longitudinal vibration face in addition and drive foot, paste electrode slice 5 and a slice friction plate 8 on piezoelectric ceramic piece 4 again to constitute drivings sufficient driving foot with piezoelectric ceramic piece 4.Front end housing 2 is provided with pretightning force bolt 9, through pretightning force bolt 9 each parts of stator are connected as a single entity, its front end housing 3 cross sections by after be forward the convergent state, form ultrasonic amplitude transformer, in order to amplify the amplitude that motor stator drives the foot place.
The motor stator piezoelectric ceramic piece lays mode and electric excitation mode is seen Fig. 2, and the Langevin-type transducer of butt joint has 8 piezoelectric ceramic pieces 6, and being divided into is four groups, lays respectively at the both sides up and down of holder 7, and every group comprises the opposite piezoelectric ceramic piece of a pair of polarised direction 6.Electrode slice 5 is laid in the centre of every group of piezoelectric ceramic piece 6, is used for external pumping signal.Paste a slice on the surface that two Langevin-type transducer joints are parallel to oscillator longitudinal vibration face in addition and drive foot with piezoelectric ceramic piece 4; Drive foot paste again on piezoelectric ceramic piece 4 electrode slice 5 and a slice friction plate 8 constitute drive sufficient; Mover is that linear guide rail 1 is arranged to parallel construction with said stator, and is in contact with one another at driving foot place.Provide sinusoidal excitation signal E=Usin (ω t+ pi/2) and E=Usin (ω t-pi/2) to give four groups of piezoelectric ceramic pieces 6 on both sides respectively; Provide sinusoidal excitation signal E=Usin ω t to driving the foot place simultaneously with potsherd 4; Motivate the longitudinal vibration of stator simultaneously and drive the stretching motion of foot with potsherd 4, the actuating force cyclic variation drives mover when utilizing the driving foot to move reciprocatingly.
Claims (2)
1. linear ultrasonic motor based on alternating force; Comprise stator and mover, it is characterized in that: said stator by about two Langevin-type transducers constitute along the center line butt joint, each Langevin-type transducer comprises front end housing, rear end cap, piezoelectric ceramic piece and corresponding electrode slice; And each Langevin-type transducer integral body is the cross section by the afterbody continuous cross section bar type structure of convergent craniad; About the head butt joint of two Langevin-type transducers be connected as a single entity, the bottom of Langevin-type transducer is provided with holder, said holder is installed between one group of piezoelectric ceramic piece; The two ends of said stator are provided with the pretightning force bolt; Paste a slice on the surface that two Langevin-type transducer joints are parallel to oscillator longitudinal vibration face and drive foot and use piezoelectric ceramic piece, paste electrode slice and friction plate on piezoelectric ceramic piece again and constitute and drive enough driving foot, said mover is a line slideway; Be arranged to parallel construction with said stator, and be in contact with one another at driving foot place.
2. the electric excitation method thereof of a kind of linear ultrasonic motor as claimed in claim 1; It is characterized in that: at first use sinusoidal signal to excite and drive the sufficient piezoelectric ceramic piece of using; It flexible makes and drives the surperficial extrusion stress of foot and be cyclic variation, so actuating force can be cyclic variation when driving foot and move reciprocatingly; Secondly for two Langevin-type transducers about stator; Use respectively with above-mentioned sinusoidal signal phase difference be that the same frequency sinusoidal signal of positive and negative pi/2 inspires longitudinal vibration mode; Because stator and mover are arranged to parallel construction, driving the direction of motion that the sufficient stator vibration of locating still is parallel to mover, stator in the vibration and mover are because rubbing action produces the tangential force along the mover direction of motion; Stator and mover receive the effect of tangential and two alternating forces of normal direction on contact-making surface; These two alternating forces are vertical each other in the space, differ pi/2 in time, and mover is done rectilinear motion under the acting in conjunction of two alternating forces.
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| CN102355160B (en) * | 2011-10-19 | 2014-12-10 | 哈尔滨工业大学 | Longitudinal and bending composite mode sandwich two-foot ultrasonic linear motor oscillator with elastic support |
| CN103950027A (en) * | 2014-04-24 | 2014-07-30 | 南京航空航天大学 | Linear supersonic motor-based two-finger parallel connection micro operation hand and operation method |
| CN105048863A (en) * | 2015-07-31 | 2015-11-11 | 南京航空航天大学 | Bending vibration mode-based linear ultrasonic motor and electric excitation method thereof |
| CN107707150A (en) * | 2017-11-09 | 2018-02-16 | 南京航空航天大学 | The ultrasound electric machine and method of work of screw thread pair driving based on bending vibration modes |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7501743B2 (en) * | 2006-04-28 | 2009-03-10 | The Penn State Research Foundation | Piezoelectric ultrasonic motor for 2-dimensional positioning |
| CN101404467A (en) * | 2008-07-04 | 2009-04-08 | 南京航空航天大学 | K shaped linear ultrasound motor based on continuous amplitude transforming rod principle |
| CN201398155Y (en) * | 2009-05-12 | 2010-02-03 | 西安康弘新材料科技有限公司 | Linear piezoelectric motor |
| CN201854204U (en) * | 2010-11-25 | 2011-06-01 | 南京航空航天大学 | Linear ultrasonic motor based on alternating force |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100857095B1 (en) * | 2006-10-18 | 2008-09-05 | 현대자동차주식회사 | Linear Actuator using Piezoelectric Element |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7501743B2 (en) * | 2006-04-28 | 2009-03-10 | The Penn State Research Foundation | Piezoelectric ultrasonic motor for 2-dimensional positioning |
| CN101404467A (en) * | 2008-07-04 | 2009-04-08 | 南京航空航天大学 | K shaped linear ultrasound motor based on continuous amplitude transforming rod principle |
| CN201398155Y (en) * | 2009-05-12 | 2010-02-03 | 西安康弘新材料科技有限公司 | Linear piezoelectric motor |
| CN201854204U (en) * | 2010-11-25 | 2011-06-01 | 南京航空航天大学 | Linear ultrasonic motor based on alternating force |
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