CN113141126B - Three-leg rotary ultrasonic motor - Google Patents
Three-leg rotary ultrasonic motor Download PDFInfo
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- CN113141126B CN113141126B CN202110496604.XA CN202110496604A CN113141126B CN 113141126 B CN113141126 B CN 113141126B CN 202110496604 A CN202110496604 A CN 202110496604A CN 113141126 B CN113141126 B CN 113141126B
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- 239000000919 ceramic Substances 0.000 claims description 33
- 239000000758 substrate Substances 0.000 claims description 10
- 239000003822 epoxy resin Substances 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 3
- 229920000647 polyepoxide Polymers 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 18
- 238000005452 bending Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- 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
- H02N2/12—Constructional details
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- 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
- H02N2/14—Drive circuits; Control arrangements or methods
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a three-foot rotary ultrasonic motor, which comprises an upper end cover, a bearing, a stator retainer, a stator, a rotor and a lower end cover, wherein the bearing is arranged on the upper end cover; a bearing, a stator, a rotor and a stator retainer are arranged between the upper end cover and the lower end cover, the upper end cover and the lower end cover are connected through an assembly bolt, a central through hole and a bolt fixing hole which are consistent in position are arranged on the upper end cover and the lower end cover, and the central through hole is taken as a central point and is uniformly distributed in a circumference manner; rotating shafts are arranged at the centers of two end faces of the rotor, wherein the rotating shaft on one side penetrates through a central through hole of the lower end cover, the rotating shaft on the other side penetrates through the stator, the bearing and the stator retainer and finally penetrates through the central through hole of the upper end cover, and an assembling bolt is arranged between the bolt fixing holes of the upper end cover and the lower end cover; the stator is fixedly connected with the stator retainer through a fixing bolt; the stator holder comprises a central through hole and a bolt mounting hole, the position of the central through hole of the stator holder is consistent with that of the circular through hole of the stator, and the position of the bolt mounting hole on the stator holder is consistent with that of the bolt mounting hole on the stator.
Description
Technical Field
The invention belongs to the technical field of intelligent motors, and particularly relates to a three-leg rotary ultrasonic motor.
Background
The ultrasonic motor has the characteristics of quick response, high precision, large torque and the like, so the ultrasonic motor has wide application in the fields of medical instruments, intelligent manufacturing, aerospace and the like. The traditional rotary ultrasonic motor has the defects of small power output, low working efficiency, short service life and the like. The system integration needs the motor to have great actuation stroke and realize high-precision positioning, and realizes large thrust in small volume, so that the research of piezoelectric actuation of a new principle needs to be carried out, and the performance is obviously improved.
At the present stage, the ultrasonic motor is difficult to give consideration to the structural volume and the output performance, the ultrasonic motor with a small volume generally has low power and small output force, the ultrasonic motor capable of outputting large torque has large volume and weight and complicated structure and assembly, and therefore, the ultrasonic motor capable of realizing large force output in a limited space is designed, and the ultrasonic motor has important significance for the application and development of the ultrasonic motor.
Disclosure of Invention
In order to solve the problems, the invention discloses a three-leg rotary ultrasonic motor which is small and exquisite, light, low in noise, free of magnetic field interference and convenient to control and use.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention discloses a three-drive-foot rotary ultrasonic motor which comprises an upper end cover, a bearing, a stator retainer, a stator, a rotor and a lower end cover, wherein the bearing is arranged on the upper end cover; a bearing, a stator, a rotor and a stator retainer are arranged between the upper end cover and the lower end cover, the upper end cover and the lower end cover are connected through an assembly bolt, a central through hole and a bolt fixing hole which are consistent in position are arranged on the upper end cover and the lower end cover, and the central through hole is taken as a central point and is uniformly distributed in a circumference manner; rotating shafts are arranged at the centers of two end faces of the rotor, wherein the rotating shaft on one side penetrates through a central through hole of the lower end cover, the rotating shaft on the other side penetrates through the stator, the bearing and the stator retainer and finally penetrates through the central through hole of the upper end cover, and an assembling bolt is arranged between the bolt fixing holes of the upper end cover and the lower end cover; the stator is fixedly connected with the stator retainer through a fixing bolt; the stator holder comprises a central through hole and a bolt mounting hole, the position of the central through hole of the stator holder is consistent with that of the circular through hole of the stator, and the position of the bolt mounting hole on the stator holder is consistent with that of the bolt mounting hole on the stator. Therefore, the stator is firmly connected with the stator fixing frame through the fixing bolt.
Further, the bolt through hole sets up 3, and corresponding assembly bolt sets up 3. The arrangement of 3 bolts makes the installation more firm.
Further, the bolt mounting hole sets up 3, and the fixing bolt that corresponds sets up 3. The arrangement of 3 bolts makes the installation more firm.
Further, the diameter of the central through hole of the upper end cover is larger than or equal to that of the central through hole of the lower end cover.
Furthermore, the stator comprises a triangular elastic substrate and six piezoelectric ceramic sheets, the elastic substrate is an equilateral triangle, the top ends of three corners are respectively provided with a convex rectangular driving foot, each side edge is respectively provided with two long through hole grooves, the through hole grooves are parallel to the side edges, and the middle of the elastic substrate is provided with a circular through hole; the piezoelectric ceramic pieces are right-angled triangles and are adhered to the elastic base body through epoxy resin glue, each group of piezoelectric ceramic pieces comprises 3 groups of piezoelectric ceramic pieces, each group of piezoelectric ceramic pieces comprises two piezoelectric ceramic pieces which are symmetrically arranged, the symmetric line of the two piezoelectric ceramic pieces which are symmetrically arranged is the central line of a corner of the elastic base body, and each group of piezoelectric ceramic pieces is respectively distributed at three corners of the elastic base body.
Further, the size of the bevel edge of each piezoelectric ceramic piece is less than or equal to half of the bevel edge of the elastic base body. Meanwhile, the triangular elastic base body is provided with a bolt mounting hole, so that the stator and the stator retainer can be conveniently and fixedly connected.
Furthermore, the elastic matrix is an equilateral triangle with the side length of 26 mm.
Further, the diameter of the circular through hole of the elastic base body is 5 mm.
Further, the specific dimensions of the elongated through-hole slot are: the length is 4mm, the width is 1.5mm, and the distance between the central line of the through hole groove and the side edge is 1.5 mm.
The working principle of the invention is as follows: when excitation voltage is applied to the motor, the piezoelectric ceramics in each vertex angle area respectively do stretching and contracting motions, so that the top of the triangular base body is twisted, and the three driving feet horizontally swing towards the same direction; then, the piezoelectric ceramics in the top area all do contraction movement, and at the moment, because the stressed metal body on one side of the stator base body bends upwards, the three driving feet all move towards the stressed direction; then the piezoelectric ceramics do respectively perform telescopic motion in the opposite directions, and the feet are driven to continuously swing in the opposite directions; finally, the metal substrate is bent towards the unstressed side due to the expansion of the piezoelectric ceramics, and the three driving feet move towards the direction to form three complete elliptic motions. Due to the particularity of the motion pattern of the driving foot, the driving foot can form elliptical motion in two mutually perpendicular planes xy and yz respectively. Except that the two elliptical motions are in opposite directions.
Compared with the prior art, the invention has the beneficial effects that:
1. the utility model provides a new three-legged rotary ultrasonic motor, has remedied the defect of current motor, has small and exquisite slim and graceful, the noise is little, do not receive magnetic field interference, advantage such as convenient control use.
2. The ultrasonic motor has the advantages of long service life and safe and stable use.
3. The ultrasonic motor has the advantages of large torque output and stable operation.
4. The ultrasonic motor has higher output power and higher displacement precision.
Drawings
Fig. 1 is a view showing a structure of a stator according to the present invention.
Fig. 2 is a top view structural diagram of the stator of the present invention.
Fig. 3 is a bottom view of the stator of the present invention.
Fig. 4 is a bending mode vibration diagram of out-of-plane B10 according to the present invention.
Fig. 5 is a bending mode vibration diagram of the out-of-plane B03 of the present invention.
Fig. 6 is a diagram of the movement pattern of the present invention.
Fig. 7 is an exploded view of the motor assembly of the present invention.
Fig. 8 is a perspective view of the present invention.
List of reference numerals: 1. the stator comprises a lower end cover, a rotor, a stator and a stator retainer, wherein the lower end cover comprises 2 parts of a rotor, 3 parts of a stator and 4 parts of a stator retainer; 5. assembling a bolt; 6. an upper end cover; 7. fixing the bolt; 8. and a bearing.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention.
Example 1
As shown in fig. 7 and 8, the present invention discloses a three-driving-foot rotary type ultrasonic motor. The motor comprises an upper end cover 6, a bearing 8, a stator retainer 4, a stator 3, a rotor 2 and a lower end cover 1. Be equipped with bearing 8, stator 3, rotor 2, stator holder 4 between upper end cover 6 and the lower extreme lid 1, and be connected through assembly bolt 5 between upper end cover 6 and the lower extreme lid 1, be equipped with the central through-hole and the bolt fastening hole of position unanimity on upper end cover 6 and the lower extreme lid 1, the bolt through-hole sets up 3, and uses the central through-hole to be circumference evenly distributed as the central point. The diameter of the central through hole of the upper end cover 6 is larger than that of the central through hole of the lower end cover 1. The center of the two end faces of the rotor 2 is provided with a rotating shaft, wherein the rotating shaft on one face penetrates through the central through hole of the lower end cover, the rotating shaft on the other face penetrates through the stator 3, the bearing 8 and the stator holder 4 and finally penetrates through the central through hole of the upper end cover 6, and an assembling bolt 5 is arranged between the bolt fixing holes of the upper end cover 6 and the lower end cover 1. The stator 3 is fixedly connected with the stator holder 4 through a fixing bolt 7.
The stator holder 4 comprises a central through hole and a bolt mounting hole, the position of the central through hole of the stator holder 4 is consistent with the position of the circular through hole of the stator 3, and the position of the bolt mounting hole on the stator holder 4 is consistent with the position of the bolt mounting hole on the stator 3, so that the stator 3 is stably connected with the stator fixing frame 4 through a fixing bolt.
As shown in fig. 1, 2 and 3, the stator 3 of the motor is composed of a triangular elastic matrix and six piezoelectric ceramic plates. The elastic base body is an equilateral triangle, and the top ends of the three corners are respectively provided with a convex rectangular driving foot. Two long through hole grooves are respectively arranged at each side edge, and the through hole grooves are parallel to the side edges. A circular through hole is arranged in the middle of the elastic base body. The piezoelectric ceramic pieces are right-angled triangles and are adhered to the elastic base body through epoxy resin glue, the piezoelectric ceramic pieces comprise 3 groups, each group of piezoelectric ceramic pieces comprises two piezoelectric ceramic pieces which are symmetrically arranged, the symmetric line of the two piezoelectric ceramic pieces which are symmetrically arranged is the corner central line of the elastic base body, each group of piezoelectric ceramic pieces are respectively distributed at three corners of the elastic base body, and the size of the hypotenuse of each piezoelectric ceramic piece is smaller than or equal to half of the hypotenuse of the elastic base body. Meanwhile, the triangular elastic base body is provided with a bolt mounting hole, so that the stator and the stator retainer can be conveniently and fixedly connected.
In this embodiment, the elastomeric matrix is an equilateral triangle with a side length of 26 mm.
In this embodiment, the diameter of the circular through-hole of the elastic base body is 5 mm.
In this embodiment, the specific dimensions of the elongated through-hole slot are: the length is 4mm, the width is 1.5mm, and the distance between the central line of the through hole groove and the side edge is 1.5 mm.
The three-legged motor adopts a bending vibration mode of an out-of-plane B10 and a bending vibration mode of an out-of-plane B03, and specific vibration modes are shown in figures 4 and 5. The B10 bending vibration mode provides a displacement component in the vertical direction, the B03 bending vibration mode provides a horizontal displacement component, and when the phase difference between the two directions is 90 degrees, the three driving feet can simultaneously form synchronous elliptical motion to drive the rotor to rotate due to the fact that the stator is designed in a symmetrical structure.
Description of the mechanism of motion: when excitation voltage is applied to the motor, the piezoelectric ceramics in each vertex angle area respectively do stretching and contracting motions, so that the top of the triangular base body is twisted, and the three driving feet horizontally swing towards the same direction; then, the piezoelectric ceramics in the top area do contraction movement, and at the moment, because the stressed metal body on one side of the stator base body bends upwards, the three driving feet all move towards the stressed direction; then the piezoelectric ceramics do respectively perform telescopic motion in the opposite directions, and the feet are driven to continuously swing in the opposite directions; finally, the metal substrate is bent towards the unstressed side due to the expansion of the piezoelectric ceramics, and the three driving feet move towards the direction, so that three complete elliptical motions are formed. Due to the particularity of the motion pattern of the driving foot, the driving foot can form elliptical motion in two mutually perpendicular planes xy and yz respectively. Except that the two elliptical motions are in opposite directions, and the specific motion mode is shown in fig. 6.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (1)
1. A three-foot rotary ultrasonic motor comprises an upper end cover, a bearing, a stator retainer, a stator, a rotor and a lower end cover; a bearing, a stator, a rotor and a stator retainer are arranged between the upper end cover and the lower end cover, the upper end cover and the lower end cover are connected through an assembly bolt, a central through hole and a bolt fixing hole which are consistent in position are arranged on the upper end cover and the lower end cover, and the central through hole is taken as a central point and is uniformly distributed in a circumference manner; rotating shafts are arranged at the centers of two end faces of the rotor, wherein the rotating shaft on one side penetrates through a central through hole of the lower end cover, the rotating shaft on the other side penetrates through the stator, the bearing and the stator retainer and finally penetrates through the central through hole of the upper end cover, and an assembling bolt is arranged between the bolt fixing holes of the upper end cover and the lower end cover; the stator is fixedly connected with the stator retainer through a fixing bolt; the stator holder comprises a central through hole and a bolt mounting hole, the position of the central through hole of the stator holder is consistent with that of the circular through hole of the stator, and the position of the bolt mounting hole on the stator holder is consistent with that of the bolt mounting hole on the stator;
the stator comprises a triangular elastic substrate and six piezoelectric ceramic sheets, the elastic substrate is an equilateral triangle, the top ends of three corners are respectively provided with a convex rectangular driving foot, each side edge is respectively provided with two long through hole grooves, the through hole grooves are parallel to the side edges, and the middle of the elastic substrate is provided with a circular through hole; the piezoelectric ceramic pieces are right-angled triangles and are adhered to the elastic base body through epoxy resin glue, each group of piezoelectric ceramic pieces comprises 3 groups, each group of piezoelectric ceramic pieces comprises two piezoelectric ceramic pieces which are symmetrically arranged, the symmetric line of the two piezoelectric ceramic pieces which are symmetrically arranged is the corner central line of the elastic base body, and each group of piezoelectric ceramic pieces is respectively distributed at three corners of the elastic base body;
the number of the bolt through holes is 3, and the number of the corresponding assembling bolts is 3;
the number of the bolt mounting holes is 3, and the number of the corresponding fixing bolts is 3;
the diameter of the central through hole of the upper end cover is larger than or equal to that of the central through hole of the lower end cover;
the size of the bevel edge of each piezoelectric ceramic piece is less than or equal to half of the bevel edge of the elastic substrate;
the elastic substrate is an equilateral triangle with the side length of 26 mm;
the diameter of the circular through hole of the elastic base body is 5 mm;
the specific dimensions of the elongated through-hole slot are: the length is 4mm, the width is 1.5mm, and the distance between the central line of the through hole groove and the side edge is 1.5 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110496604.XA CN113141126B (en) | 2021-05-07 | 2021-05-07 | Three-leg rotary ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110496604.XA CN113141126B (en) | 2021-05-07 | 2021-05-07 | Three-leg rotary ultrasonic motor |
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| CN113141126A CN113141126A (en) | 2021-07-20 |
| CN113141126B true CN113141126B (en) | 2022-05-24 |
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| CN202110496604.XA Expired - Fee Related CN113141126B (en) | 2021-05-07 | 2021-05-07 | Three-leg rotary ultrasonic motor |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205249081U (en) * | 2015-12-14 | 2016-05-18 | 南京航空航天大学 | Four -footed off -resonance formula piezoelectricity rotating electrical machines |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7944129B2 (en) * | 2007-07-13 | 2011-05-17 | Konica Minolta Opto, Inc. | Ultrasonic actuator and magnetic recording apparatus using the same |
| CN101588144B (en) * | 2009-06-19 | 2010-12-29 | 东南大学 | Coaxial parallel type double stator double rotor ultrasonic motor |
| CN105207520A (en) * | 2015-09-21 | 2015-12-30 | 哈尔滨工业大学 | Rotating type traveling wave ultrasonic motor and stator and rotor pre-tightening method thereof |
| EP3319219A1 (en) * | 2016-11-02 | 2018-05-09 | Xeryon bvba | Ultrasonic actuator |
| CN110299867A (en) * | 2019-07-16 | 2019-10-01 | 太原科技大学 | A kind of four-footed driving rotary ultrasonic wave motor |
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- 2021-05-07 CN CN202110496604.XA patent/CN113141126B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205249081U (en) * | 2015-12-14 | 2016-05-18 | 南京航空航天大学 | Four -footed off -resonance formula piezoelectricity rotating electrical machines |
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Effective date of registration: 20220808 Address after: 332400 Sunrise Project Area of Xiushui County Industrial Park, Jiujiang City, Jiangxi Province Patentee after: Jiangxi Pengfei Mechanical and Electrical Manufacturing Co.,Ltd. Address before: No. 99 Jiangning Road, Nanjing District hirokage 210000 cities in Jiangsu Province Patentee before: JINLING INSTITUTE OF TECHNOLOGY |
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Granted publication date: 20220524 |