阅读说明：本技术 一种多定子并联直接驱动的超声电机 (Multi-stator parallel direct-drive ultrasonic motor ) 是由 牛瑞坤 朱华 于 2020-03-24 设计创作，主要内容包括：本发明公开一种多定子并联直接驱动的超声电机,底座均匀开设扇形卡槽；转子位于底座的中心,通过轴承与底座相连接；所述柔性约束保持架的形状与卡槽相适应,并在侧面与底座对应的位置分别设置螺纹孔,二者借助螺钉相固定；所述弧形定子整体呈圆弧形,由一片圆弧形磷青铜基体和上下两片分别为四个分区的圆弧形压电陶瓷片粘贴组成,基体的内侧面设有至少一个驱动足；各压电陶瓷片由十字形分隔为四个分区；所述弧形定子放置于柔性约束保持架上,二者形成间隙配合,通过调整螺钉为弧形定子与转子提供不同的预压力。此种结构采用多定子并联驱动方式,功耗更低,并且采用模块化驱动,方便拆卸和组装,灵活性更强。(The invention discloses an ultrasonic motor with multiple parallel stators and direct drive, wherein a base is uniformly provided with fan-shaped clamping grooves; the rotor is positioned in the center of the base and is connected with the base through a bearing; the shape of the flexible constraint retainer is adapted to the clamping groove, threaded holes are respectively arranged at the positions of the side surface corresponding to the base, and the flexible constraint retainer and the base are fixed by screws; the arc-shaped stator is integrally in an arc shape and is formed by sticking an arc-shaped phosphor bronze substrate and an upper arc-shaped piezoelectric ceramic plate and a lower arc-shaped piezoelectric ceramic plate which are respectively divided into four subareas, and at least one driving foot is arranged on the inner side surface of the substrate; each piezoelectric ceramic piece is divided into four subareas by a cross; the arc stator is placed on the flexible constraint retainer, the arc stator and the flexible constraint retainer form clearance fit, and different pre-pressures are provided for the arc stator and the rotor through the adjusting screw. The structure adopts a multi-stator parallel driving mode, has lower power consumption, adopts modular driving, is convenient to disassemble and assemble, and has stronger flexibility.)

1. The utility model provides a many stators connect ultrasonic motor of direct drive in parallel which characterized in that: the flexible restraining device comprises a base, a flexible restraining retainer, an arc-shaped stator and a rotor, wherein the base is uniformly provided with fan-shaped clamping grooves for placing the flexible restraining retainer; the rotor is positioned in the center of the base and is connected with the base through a bearing;

the shape of the flexible constraint retainer is adapted to the clamping groove, threaded holes are respectively arranged at the positions of the side surface corresponding to the base, and the flexible constraint retainer and the base are fixed by screws;

the arc-shaped stator is integrally in an arc shape and is formed by sticking an arc-shaped phosphor bronze substrate and an upper arc-shaped piezoelectric ceramic plate and a lower arc-shaped piezoelectric ceramic plate which are respectively divided into four subareas, wherein the inner side surface of the substrate is provided with at least one driving foot; each piezoelectric ceramic piece is divided into four subareas by a cross, the subareas are respectively two anodes and two cathodes, the same polarities are not adjacent, and the corresponding polarities of the upper piezoelectric ceramic piece and the lower piezoelectric ceramic piece are the same;

the arc stator is placed on the flexible constraint retainer, the arc stator and the flexible constraint retainer form clearance fit, and different pre-pressures are provided for the arc stator and the rotor by adjusting the front position and the rear position of the screw.

2. The multi-stator parallel direct drive ultrasonic motor of claim 1, wherein: the base is uniformly provided with 1-3 fan-shaped clamping grooves.

3. The multi-stator parallel direct drive ultrasonic motor of claim 1, wherein: the flexible restraint retainer comprises a body and a plurality of supporting frames, wherein the body is formed by an arc-shaped plate body and two ends of the arc-shaped plate body extend towards the direction of the circle center, the whole body is of a symmetrical structure, and the threaded holes are formed in the side surface of the arc-shaped plate body of the body; the supporting frames are U-shaped, evenly distributed and fixed at the bottom of the inner side of the body; the number of the flexible restraining retainers is the same as that of the arc stators, the shapes of the flexible restraining retainers are matched with the clamping grooves, the flexible restraining retainers are placed in the clamping grooves on the base and are in contact with the bottoms of the clamping grooves, and two ends of the flexible restraining retainers are parallel to two end faces inside the clamping grooves.

4. The multi-stator parallel direct drive ultrasonic motor of claim 3, wherein: the flexible restraint retainer is made of a non-metal material with plastic deformation performance.

5. The multi-stator parallel direct drive ultrasonic motor of claim 3, wherein: the support frame of the flexible constraint retainer is made of an insulating material.

6. The multi-stator parallel direct drive ultrasonic motor of claim 1, wherein: the number and the setting positions of the arc-shaped stator driving feet are obtained by calculating the vibration mode, and the corresponding wave crest positions are the optimal number and the optimal positions of the setting driving feet.

7. The multi-stator parallel direct drive ultrasonic motor of claim 1, wherein: the end face of the arc-shaped stator driving foot is arc-shaped.

Technical Field

The invention belongs to the technical field of motors, and particularly relates to an ultrasonic motor with multiple parallel stators and direct drive.

Background

Among the rotary motion platforms, the electromagnetic motor was developed at the earliest, and the rotary motion platform is characterized by high rotation speed, small torque and insufficient positioning accuracy. Later, some scientists developed a traveling wave type rotary ultrasonic motor which has a large torque and high positioning accuracy, but has relatively low electromechanical conversion efficiency and large power consumption and needs to be improved.

Disclosure of Invention

The invention aims to provide an ultrasonic motor with multiple parallel stators and direct drive, which has lower power consumption and stronger flexibility by adopting a multi-stator parallel drive mode and modular drive compared with a traveling wave type rotary ultrasonic motor.

In order to achieve the above purpose, the solution of the invention is:

a multi-stator parallel direct-driven ultrasonic motor comprises a base, a flexible constraint retainer, an arc-shaped stator and a rotor, wherein the base is uniformly provided with fan-shaped clamping grooves for placing the flexible constraint retainer; the rotor is positioned in the center of the base and is connected with the base through a bearing;

the shape of the flexible constraint retainer is adapted to the clamping groove, threaded holes are respectively arranged at the positions of the side surface corresponding to the base, and the flexible constraint retainer and the base are fixed by screws;

the arc-shaped stator is integrally in an arc shape and is formed by sticking an arc-shaped phosphor bronze substrate and an upper arc-shaped piezoelectric ceramic plate and a lower arc-shaped piezoelectric ceramic plate which are respectively divided into four subareas, wherein the inner side surface of the substrate is provided with at least one driving foot; each piezoelectric ceramic piece is divided into four subareas by a cross, the subareas are respectively two anodes and two cathodes, the same polarities are not adjacent, and the corresponding polarities of the upper piezoelectric ceramic piece and the lower piezoelectric ceramic piece are the same;

the arc stator is placed on the flexible constraint retainer, the arc stator and the flexible constraint retainer form clearance fit, and different pre-pressures are provided for the arc stator and the rotor by adjusting the front position and the rear position of the screw.

The base is uniformly provided with 1-3 fan-shaped clamping grooves.

The flexible restraint retainer comprises a body and a plurality of support frames, wherein the body is formed by an arc-shaped plate body and two ends of the arc-shaped plate body extend towards the direction of the circle center, the whole body is of a symmetrical structure, and the threaded holes are formed in the side surface of the arc-shaped plate body of the body; the supporting frames are U-shaped, evenly distributed and fixed at the bottom of the inner side of the body; the number of the flexible restraining retainers is the same as that of the arc stators, the shapes of the flexible restraining retainers are matched with the clamping grooves, the flexible restraining retainers are placed in the clamping grooves on the base and are in contact with the bottoms of the clamping grooves, and two ends of the flexible restraining retainers are parallel to two end faces inside the clamping grooves.

The flexible restraining retainer is made of a non-metal material with plastic deformation performance.

The support frame of the flexible constraint retainer is made of insulating materials.

The number and the setting positions of the arc-shaped stator driving feet are obtained by calculating the vibration mode, and the corresponding wave crest positions are the optimal number and the optimal positions of the setting driving feet.

The end face of the arc-shaped stator driving foot is arc-shaped.

After adopting the scheme, the invention has the following characteristics:

(1) the motor stator completes the conversion from electric energy to mechanical energy by using an in-plane vibration mode, the electromechanical conversion efficiency is higher, the system response is fast, the transmission precision is high, and the interference of the surrounding magnetic field environment is avoided;

(2) the invention can use three arc stators to drive in parallel at most, and the motor can obtain larger torque;

(3) the number of stators can be arranged according to the requirement, so that different torque effects are generated, and the application flexibility is improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the construction of the flexible restraining cage of the present invention;

fig. 3 is a schematic structural view of an arc stator in the present invention.

Detailed Description

The present invention will be described in detail with reference to the drawings and specific embodiments, which are illustrative of the present invention and are not to be construed as limiting the present invention.

As shown in fig. 1, the present invention provides a multi-stator parallel direct-drive ultrasonic motor, which comprises a base 1, a flexible constraint holder 3, an arc-shaped stator 4 and a rotor 5, which are described below.

The base 1 is uniformly provided with 1-3 fan-shaped clamping grooves which are arranged on the base 1 and used for placing the flexible constraint retainer 3.

The rotor 5 is located in the center of the base 1 and connected with the base 1 through a bearing.

The flexible restraint holder 3 is of an arc-shaped structure and is made of a non-metal material with good plastic deformation, the structure of the flexible restraint holder is shown in fig. 2, and the flexible restraint holder comprises a body 31 and a plurality of support frames 32 (the support frames are made of an insulating material without requirements), wherein the body 31 is formed by an arc-shaped plate body and extending towards the direction of the circle center from two ends, the whole body is of a symmetrical structure, and the side surface of the arc-shaped plate body of the body 31 is also provided with a threaded hole; the supporting frames 32 are U-shaped, evenly distributed and fixed at the bottom of the inner side of the body 31; the number of the flexible restraining retainers is the same as that of the arc-shaped stators 4, the shapes of the flexible restraining retainers are matched with the clamping grooves, the flexible restraining retainers are placed in the clamping grooves in the base 1 and are in contact with the bottoms of the clamping grooves, two ends of the flexible restraining retainers 3 are parallel to two end faces inside the clamping grooves, threaded holes are formed in the base 1 and the flexible restraining retainers 3 at corresponding positions of the threaded holes, and the base 1 and the flexible restraining retainers 3 are fixed through screws 2.

The arc-shaped stator 4 is integrally in an arc shape and is formed by sticking an arc-shaped phosphor bronze substrate 41 and an upper arc-shaped piezoelectric ceramic plate 42 and a lower arc-shaped piezoelectric ceramic plate 42 which are respectively four subareas, wherein the inner side surface of the substrate 41 is provided with at least one driving foot 43, the number and the setting position of the driving feet 43 can be obtained by calculating a vibration mode, the corresponding peak position is the optimal number and the optimal position of the driving feet, and the end surface of the driving feet is in an arc shape; each piezoelectric ceramic piece 42 is divided into four subareas by a cross, wherein the subareas are two anodes and two cathodes respectively, the two subareas have the same polarity and are not adjacent, and the corresponding polarities of the upper piezoelectric ceramic piece and the lower piezoelectric ceramic piece are the same.

The arc stators 4 are placed on the support frames 32 of the flexible constraint retainer 3, the number of the arc stators 4 can be set to be 1-3 according to the requirement on torque, the arc stators 4 and the flexible constraint retainer 3 form clearance fit, and the flexible constraint retainer 3 can be driven to freely move back and forth together so as to prevent the arc stators from contacting with the rotor; in the present embodiment, each arc stator 4 has two driving feet 43, the driving feet 43 are respectively contacted with the middle rotor 5, the rotor 5 is driven to rotate by generating friction force, and different pre-pressures can be provided for the arc stators 4 and the rotor 5 by adjusting the front and back positions of the screw 2.

After the structure is adopted, the arc-shaped stator 4 is placed on the flexible restraining holder 3, the driving feet 43 on the arc-shaped stator 4 are in contact with the rotor 5, pre-pressure is provided through the screws 2 on the flexible restraining holder 3, and the driving feet 43 of the arc-shaped stator 4 and the rotor 5 are always in a pressing contact state. When voltages with signal phase difference of 90 degrees are applied to the arc-shaped stator 4, the two driving feet of the arc-shaped stator 4 generate alternate elliptical motion, so that the rotor 5 is driven to generate rotary motion by generating contact friction with the rotor 5.

The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention.