CN101626206B - Longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor vibrator - Google Patents
Longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor vibrator Download PDFInfo
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- CN101626206B CN101626206B CN2009100727000A CN200910072700A CN101626206B CN 101626206 B CN101626206 B CN 101626206B CN 2009100727000 A CN2009100727000 A CN 2009100727000A CN 200910072700 A CN200910072700 A CN 200910072700A CN 101626206 B CN101626206 B CN 101626206B
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Abstract
A longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor vibration generator belongs to the technical field of a piezoelectric ultrasonic motor. The invention aims at solving the problems that the mechanical output capacity of an ultrasonic motor is restricted when the method that metal elastic body pastes a piezoelectric ceramic sheet is adopted for excitation by the existing ultrasonic motor vibration generator, vibration path distortion of vibration generator surface particle caused by the condition that multi-transducer can not be guaranteed to be completely consistent when the multi-transducer are adopted to drive simultaneously and the mechanical output capacity and maneuverability of the ultrasonic motor are reduced. The invention comprises a longitudinal and flexural composite sandwich transducer and two cylinders, the small end face of a front end cover of the longitudinal and flexural composite sandwich transducer is made into a whole with a cylinder, the big end face of the front end cover thereof is respectively connected with one end of a screw stud, a longitudinal vibration piezoelectric ceramic plate and a flexural vibration piezoelectric ceramic plate respectively are sheathed on the screw stud with electrode plates in an interval manner, and the other end of the screw stud is connected with a flange. The traveling wave ultrasonic motor vibrator is applicable to the manufacturing field of the ultrasonic motor.
Description
Technical field
The present invention relates to a kind of longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor oscillator, belong to the piezoelectric ultrasonic motor technical field.
Background technology
Ultrasound electric machine is a kind of ultrasonic vibrational energy of utilizing, and produces the motor of actuating force by the friction coupling.It utilizes the contrary piezoelectricity of piezoelectric ceramic to imitate pressure, in elastomer, motivate the vibration in the supersonic range, form particle movement at surface of elastomer specified point or specific region then, by the coupling of the friction between stator, the rotor microscopic motion of particle is converted to the macroscopic motion of rotor again with particular track.Ultrasound electric machine because have low speed high torque, need not gear, no electromagnetic interference, advantage such as response speed is fast and cut off self-lock, as a kind of piezoelectric actuator application is very widely arranged.
For the simplicity of exiting principle and the simplicity of theoretical analysis method, the piezoelectric ultrasonic motor oscillator adopts the mode of metallic elastic body stickup piezoelectric ceramic thin sheet to encourage mostly at present, and this energisation mode adopts the d of piezoelectric ceramic
31Vibration mode, d
31Vibration mode is the pattern of potsherd stretching vibration along its length, because this vibration mode Tensile strength is low and realize that the mechanical-electric coupling efficient of power conversion is low, pasted the intensity of glue-line and the restriction of fatigue life simultaneously, make the mechanical fan-out capability of ultrasound electric machine be subjected to serious restriction; For the piezoelectric ultrasonic motor that adopts a plurality of energy converter type oscillators to drive, because it is in full accord that each oscillator is difficult to guarantee in processes such as processing, stickup and assembling, vibration characteristics be there are differences, and then cause the distortion of oscillator surface particle vibration track, reduce the mechanical fan-out capability and the controllability of ultrasound electric machine equally.
Summary of the invention
The objective of the invention is to adopt the mode of metallic elastic body stickup piezoelectric ceramic thin sheet to encourage in order to solve present ultrasonic motor oscillator, the mechanical fan-out capability of ultrasound electric machine is restricted, and being difficult to of existing when adopting a plurality of transducers to drive simultaneously guarantees that a plurality of transducers are in full accord and the distortion of the oscillator surface particle vibration track that causes, reduce the mechanical fan-out capability of ultrasound electric machine and the problem of controllability, a kind of longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor oscillator is provided.
The present invention includes vertical curved composite sandwich transducer and two cylinders, the inwall of described cylinder is along a plurality of pectination driving gears of circumferential even distribution, and a plurality of pectination driving gears are axially parallel with central axis along cylinder;
Described vertical curved composite sandwich transducer is made up of two front end housings, two first curved piezoelectric ceramic pieces that shake, two second curved piezoelectric ceramic pieces that shake, two first longitudinal vibration piezoelectric ceramic pieces, two second longitudinal vibration piezoelectric ceramic pieces, two first electrode slices, two second electrode slices, two third electrode sheets, two the 4th electrode slices, flange, two double-screw bolts and two insulating cases;
Front end housing is made one by cuboid and hexahedron two parts, the thickness of front end housing equates with the height of cylinder, hexahedral large end face overlaps with the one side of cuboid, the outer surface of hexahedral small end face and cylinder is made one, and hexahedron is tapered rectangle by large end face to the cross section of small end face; The end face center of cuboid one side of front end housing has tapped blind hole;
The both sides of flange center connect a double-screw bolt respectively, from end socket a slice successively first longitudinal vibration piezoelectric ceramic piece that is connected with flange, a slice first electrode slice, a slice second longitudinal vibration piezoelectric ceramic piece, a slice second electrode slice, a slice first curved piezoelectric ceramic piece that shakes, a slice third electrode sheet, a slice second curved shake piezoelectric ceramic piece, a slice the 4th electrode slice, the other end of each double-screw bolt is fixedlyed connected with a front end housing by a tapped blind hole respectively on each double-screw bolt; Each double-screw bolt and the first longitudinal vibration piezoelectric ceramic piece, first electrode slice, the second longitudinal vibration piezoelectric ceramic piece, second electrode slice, the first curved piezoelectric ceramic piece that shakes, third electrode sheet, second curved the shaking are with an insulating case between piezoelectric ceramic piece and the 4th electrode slice;
Described two first longitudinal vibration piezoelectric ceramic pieces, two second longitudinal vibration piezoelectric ceramic pieces, two slices first curved piezoelectric ceramic piece and two second curved piezoelectric ceramic pieces that shake of shaking polarize along thickness direction respectively, the first longitudinal vibration piezoelectric ceramic piece on described each double-screw bolt is opposite with the polarised direction of the second longitudinal vibration piezoelectric ceramic piece, the polarised direction of first on each double-screw bolt curved the shake piezoelectric ceramic piece and the second curved piezoelectric ceramic piece that shakes is opposite, and a left side half sheet of the symmetrical cutting of every first curved the shake piezoelectric ceramic piece and the second curved piezoelectric ceramic piece that shakes is opposite with the polarised direction of right half sheet.
Advantage of the present invention is:
Piezo ceramic element among the present invention adopts sandwich structure, adopts the d of the high mechanical-electric coupling efficient of piezo ceramic element
33Vibration mode work, d
33Vibration mode is the pattern of potsherd along the thickness direction stretching vibration, has solved to paste asking of piezoelectric ceramic chip piezoelectric ultrasonic motor mechanical-electric coupling low, the mechanical fan-out capability difference of efficient
Topic; The present invention adopts the excitation that realizes the flexural vibrations of transducer along the curved piezoelectric ceramic piece that shakes of thickness direction polarization, adopts the excitation that realizes the extensional vibration of transducer along the longitudinal vibration piezoelectric ceramic piece of thickness direction polarization; Realize transducer longitudinal vibration natural frequency, curved natural frequency and the curved degeneracy that shakes between the natural frequency of cylinder of shaking of transducer by adjusting structural parameters; Front end housing adopts the variable cross-section design to play the effect of amassing wealth by heavy taxation of vibrational energy, can improve the amplitude and the vibration velocity of oscillator driving gear surface particle, makes and adopts the ultrasound electric machine performance of oscillator of the present invention to be improved; Adopt single transducer encourage the trip ripple in the cylinder oscillator, problem when avoiding adopting a plurality of transducer, the problem includes: the inconsistent problem of vibration, the mechanical fan-out capability and the controllability of raising ultrasound electric machine.
But that the present invention has is simple in structure, flexible design, mechanical-electric coupling efficient height, can realize big moment output, stable performance, be easy to control the advantage of producing in serial form.
Description of drawings
Fig. 1 is a sectional structure schematic diagram of the present invention; Fig. 2 is a perspective view of the present invention; Fig. 3 is the two first curved piezoelectric ceramic pieces that shake shown in Figure 1, the polarised direction schematic diagram of two second curved shake piezoelectric ceramic piece, two first longitudinal vibration piezoelectric ceramic pieces, two second longitudinal vibration piezoelectric ceramic pieces; Fig. 4 is the schematic diagram that the present invention is connected with driving power; Fig. 5～Fig. 8 is that the vibration shape of oscillator of the present invention in a complete vibration period changes circumferentially deploying figure, vibration shape variation schematic diagram for cylinder six rank bending vibration modes, wherein Fig. 5 is the oscillator of the present invention vibration shape variation circumferentially deploying figure of one or four/one-period in a complete vibration period, Fig. 6 is the oscillator of the present invention vibration shape variation circumferentially deploying figure of two or four/one-period in a complete vibration period, Fig. 7 is the oscillator of the present invention vibration shape variation circumferentially deploying figure of three or four/one-period in a complete vibration period, and Fig. 8 is the oscillator of the present invention vibration shape variation circumferentially deploying figure of four or four/one-period in a complete vibration period.
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 1～Fig. 4, present embodiment comprises vertical curved composite sandwich transducer 1 and two cylinders 2, the inwall of described cylinder 2 is along a plurality of pectination driving gear of circumferential even distribution 2-1, and a plurality of pectination driving gear 2-1 are axially parallel with central axis along cylinder 2;
Described vertical curved composite sandwich transducer 1 is made up of two front end housing 1-1, the two first curved piezoelectric ceramic piece 1-21 that shake, two second curved shake piezoelectric ceramic piece 1-22, the two first longitudinal vibration piezoelectric ceramic piece 1-31, the two second longitudinal vibration piezoelectric ceramic piece 1-32, the two first electrode slice 1-41, two second electrode slice 1-42, two third electrode sheet 1-43, two the 4th electrode slice 1-44, flange 1-5, two double-screw bolt 1-6 and two insulating case 1-7;
Front end housing 1-1 makes one by cuboid and hexahedron two parts, the thickness of front end housing 1-1 equates with the height of cylinder 2, hexahedral large end face overlaps with the one side of cuboid, the outer surface of hexahedral small end face and cylinder 2 is made one, and hexahedron is tapered rectangle by large end face to the cross section of small end face; The end face center of cuboid one side of front end housing 1-1 has tapped blind hole;
The both sides at flange 1-5 center connect a double-screw bolt 1-6 respectively, each double-screw bolt 1-6 goes up from be connected with flange end socket a slice successively first longitudinal vibration piezoelectric ceramic piece 1-31, a slice first electrode slice 1-41, a slice second longitudinal vibration piezoelectric ceramic piece 1-32, a slice second electrode slice 1-42, a slice first curved shake piezoelectric ceramic piece 1-21, a slice third electrode sheet 1-43, a slice second curved shake piezoelectric ceramic piece 1-22, a slice the 4th electrode slice 1-44, and the other end of each double-screw bolt 1-6 is fixedlyed connected with a front end housing 1-1 by a tapped blind hole respectively; Each double-screw bolt 1-6 and the first longitudinal vibration piezoelectric ceramic piece 1-31, the first electrode slice 1-41, the second longitudinal vibration piezoelectric ceramic piece 1-32, the second electrode slice 1-42, first curved shake piezoelectric ceramic piece 1-21, the third electrode sheet 1-43, second curved the shaking are with an insulating case 1-7 respectively between piezoelectric ceramic piece 1-22 and the 4th electrode slice 1-44;
Described two first longitudinal vibration piezoelectric ceramic piece 1-31, two second longitudinal vibration piezoelectric ceramic piece 1-32, two first curved, and shake piezoelectric ceramic piece 1-21 and the two second curved piezoelectric ceramic piece 1-22 that shake polarize along thickness direction respectively, the first longitudinal vibration piezoelectric ceramic piece 1-31 on described each double-screw bolt 1-6 is opposite with the polarised direction of the second longitudinal vibration piezoelectric ceramic piece 1-32, the polarised direction of on each double-screw bolt 1-6 first curved shake the piezoelectric ceramic piece 1-21 and the second curved piezoelectric ceramic piece 1-22 that shakes is opposite, and a left side half sheet of the symmetrical cutting of every first curved shake the piezoelectric ceramic piece 1-21 and the second curved piezoelectric ceramic piece 1-22 that shakes is opposite with the polarised direction of right half sheet.
Operation principle: the first longitudinal vibration piezoelectric ceramic piece 1-31 is opposite with the second longitudinal vibration piezoelectric ceramic piece 1-32 polarised direction, can expand synchronously when applying vertical resonance frequency voltage or shrink, and excites extensional vibration; The polarised direction of first curved shake the piezoelectric ceramic piece 1-21 and the second curved piezoelectric ceramic piece 1-22 that shakes is opposite, the polarised direction of a left side half sheet of the symmetrical cutting of the every curved piezoelectric ceramic piece that shakes and right half sheet is opposite simultaneously, when applying the crooked syntony voltage to frequency, adjacent two curved piezoelectric ceramic pieces that shake are expanded respectively and shrink, excite flexural vibrations.The curved piezoelectric ceramic piece that shakes of the present invention is equal with longitudinal vibration piezoelectric ceramic piece employing amplitude, frequency is oscillator self resonance frequency, phase difference is ac voltage signal when excitation of+90 °, utilize the extensional vibration of longitudinal vibration piezoelectric ceramic piece in sandwich converter, to motivate extensional vibration and the flexural vibrations of bending the piezoelectric ceramic piece that shakes, and then be implemented in and motivate two amplitudes on each cylinder and equate, on time and space, all differ the bending vibration modes response of pi/2, two bending vibration modes responses are superimposed upon and form the row ripple on the cylinder, cylinder vibration shape circumferentially deploying figure such as Fig. 5～shown in Figure 8, driving gear surface particle produces elliptical trajectory, realizes the macroscopic motion output of rotor by the coupling of the friction between oscillator and the rotor.If adjusting the phase difference of excitation signals is-90 °, can change capable wave line of propagation, finally realize the rotor counter motion.Two cylinder upgoing wave directions are identical, make that the direction of rotation of two rotors is identical, when two rotors adopt crawler belt to connect, the driving wheel that the ultrasound electric machine that this longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor oscillator is formed can be used as wheeled robot uses, can realize direct driving, make the robot architecture be simplified greatly.
The longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor oscillator of present embodiment is when using, referring to shown in Figure 4, at the common port V of each front end housing 1-1 and second curved shake the 4th electrode slice 1-44 between the piezoelectric ceramic piece 1-22 and the second electrode slice 1-42 while between per two curved shake piezoelectric ceramic piece and the two longitudinal vibration piezoelectric ceramic pieces and driving power
0Connect; Lay respectively at first electrode slice 1-41 while and drive signal V between two longitudinal vibration piezoelectric ceramic pieces
1Connect; Lay respectively at two curved third electrode sheet 1-43 whiles and drive signal V of shaking between the piezoelectric ceramic piece
2Connect.
Embodiment two: the difference of present embodiment and execution mode one is that the cross section of the described first curved piezoelectric ceramic piece 1-21 that shakes, second curved shake piezoelectric ceramic piece 1-22, the first longitudinal vibration piezoelectric ceramic piece 1-31, the second longitudinal vibration piezoelectric ceramic piece 1-32 and flange 1-5 is rectangle simultaneously.Other composition and annexation are identical with execution mode one.
Embodiment three: the difference of present embodiment and execution mode one is that the cross section of the described first curved piezoelectric ceramic piece 1-21 that shakes, second curved shake piezoelectric ceramic piece 1-22, the first longitudinal vibration piezoelectric ceramic piece 1-31, the second longitudinal vibration piezoelectric ceramic piece 1-32 and flange 1-5 is simultaneously for circular.Other composition and annexation are identical with execution mode one.
Claims (3)
1. longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor oscillator, it comprises vertical curved composite sandwich transducer (1) and two cylinders (2), it is characterized in that:
The inwall of described cylinder (2) is along a plurality of pectination driving gears of circumferential even distribution (2-1), and a plurality of pectination driving gears (2-1) are axially parallel with central axis along cylinder (2);
Described vertical curved composite sandwich transducer (1) is by two front end housings (1-1), the two first curved piezoelectric ceramic pieces (1-21) that shake, the two second curved piezoelectric ceramic pieces (1-22) that shake, two first longitudinal vibration piezoelectric ceramic pieces (1-31), two second longitudinal vibration piezoelectric ceramic pieces (1-32), two first electrode slices (1-41), two second electrode slices (1-42), two third electrode sheets (1-43), two the 4th electrode slices (1-44), flange (1-5), two double-screw bolts (1-6) and two insulating cases (1-7) are formed;
Front end housing (1-1) is made one by cuboid and hexahedron two parts, the thickness of front end housing (1-1) equates with the height of cylinder (2), hexahedral large end face overlaps with the one side of cuboid, the outer surface of hexahedral small end face and cylinder (2) is made one, and hexahedron is tapered rectangle by large end face to the cross section of small end face; The end face center of cuboid one side of front end housing (1-1) has tapped blind hole;
The both sides at flange (1-5) center connect a double-screw bolt (1-6) respectively, each double-screw bolt (1-6) is gone up from end socket a slice successively first longitudinal vibration piezoelectric ceramic piece (1-31) that is connected with flange, a slice first electrode slice (1-41), a slice second longitudinal vibration piezoelectric ceramic piece (1-32), a slice second electrode slice (1-42), a slice first curved piezoelectric ceramic piece (1-21) that shakes, a slice third electrode sheet (1-43), a slice second curved piezoelectric ceramic piece (1-22) that shakes, a slice the 4th electrode slice (1-44), the other end of each double-screw bolt (1-6) are fixedlyed connected with a front end housing (1-1) by a tapped blind hole respectively; Each double-screw bolt (1-6) and the first longitudinal vibration piezoelectric ceramic piece (1-31), first electrode slice (1-41), the second longitudinal vibration piezoelectric ceramic piece (1-32), second electrode slice (1-42), the first curved piezoelectric ceramic piece (1-21) that shakes, third electrode sheet (1-43), second curved the shaking are with an insulating case (1-7) between piezoelectric ceramic piece (1-22) and the 4th electrode slice (1-44);
Described two first longitudinal vibration piezoelectric ceramic pieces (1-31), two second longitudinal vibration piezoelectric ceramic pieces (1-32), two first curved, and shake piezoelectric ceramic piece (1-21) and two second bend the piezoelectric ceramic pieces (1-22) that shake and polarize along thickness direction respectively, the first longitudinal vibration piezoelectric ceramic piece (1-31) on described each double-screw bolt (1-6) is opposite with the polarised direction of the second longitudinal vibration piezoelectric ceramic piece (1-32), the polarised direction of first on each double-screw bolt (1-6) curved the shake piezoelectric ceramic piece (1-21) and the second curved piezoelectric ceramic piece (1-22) that shakes is opposite, and a left side half sheet of the symmetrical cutting of every first curved the shake piezoelectric ceramic piece (1-21) and the second curved piezoelectric ceramic piece (1-22) that shakes is opposite with the polarised direction of right half sheet.
2. longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor oscillator according to claim 1 is characterized in that: the cross section of the described first curved piezoelectric ceramic piece (1-21) that shakes, second curved shake piezoelectric ceramic piece (1-22), the first longitudinal vibration piezoelectric ceramic piece (1-31), the second longitudinal vibration piezoelectric ceramic piece (1-32) and flange (1-5) is rectangle simultaneously.
3. longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor oscillator according to claim 1 is characterized in that: the cross section of the described first curved piezoelectric ceramic piece (1-21) that shakes, second curved shake piezoelectric ceramic piece (1-22), the first longitudinal vibration piezoelectric ceramic piece (1-31), the second longitudinal vibration piezoelectric ceramic piece (1-32) and flange (1-5) is simultaneously for circular.
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| CN2009100727000A CN101626206B (en) | 2009-08-19 | 2009-08-19 | Longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor vibrator |
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