Ultrasonic motor clamping and positioning device and method

Abstract

The present invention discloses an ultrasonic motor clamping and positioning device and method, belonging to the technical field of clamping. It includes: a base for supporting other parts; a Y-axis sliding assembly, which is arranged on the upper surface of the base along the Y-axis; a flexible constraint, which is arranged on the upper surface of the base and the motor base, and is arranged between the Y-axis sliding assembly and the flexible constraint; the flexible constraint is used to provide different pre-pressures to the ultrasonic motor, and the Y-axis sliding assembly converts the micro-vibration of the ultrasonic motor into macroscopic linear motion. The present invention provides power for the mover slider through the high-frequency vibration of the linear ultrasonic motor, has a large force output, and has a high-precision positioning function.

Description

Technical Field

[0001] The present invention belongs to the technical field of clamping, and particularly relates to an ultrasonic motor clamping and positioning device and method. Background Art

[0002] The linear ultrasonic motor is a new type of micromotor. It uses the inverse piezoelectric effect of piezoelectric elements and the ultrasonic vibration of elastic bodies. Through the friction between the stator and the mover, it converts the micro-vibration of the elastic body into the macroscopic linear motion of the mover, and directly drives the load. It has the advantages of compact structure, low speed and high torque, fast response, high positioning accuracy and electromagnetic compatibility, so it has broad application prospects in aerospace, weapons and equipment, precision drive and other fields.

[0003] The clamping state of the linear ultrasonic motor stator is an important factor affecting its stability and output efficiency. At present, there are various clamping structures for linear ultrasonic motors, and if they are not set properly, they will produce unnecessary movement and rotation, which cannot guarantee the normal operation of the motor. At the same time, the processing is time-consuming, the assembly is complicated, and the performance effect is not ideal. Summary of the invention

[0004] The present invention designs a brand-new ultrasonic motor clamping and positioning device, which has a simple structure and is easy to process and assemble, improves the stability of the motor structure, optimizes the previous clamping device, and has better force output.

[0005] The present invention is implemented by the following technical scheme: an ultrasonic motor clamping and positioning device, comprising:

[0006] Base, used to support other components;

[0007] A Y-axis sliding assembly is arranged on the upper surface of the base along the Y-axis;

[0008] A flexible restraining member, disposed on the upper surface of the base;

[0009] The motor base is arranged between the Y-axis sliding assembly and the flexible constraint member; the flexible constraint member is used to provide different pre-pressures to the ultrasonic motor, and the micro-vibration of the ultrasonic motor is converted into macroscopic linear motion through the Y-axis sliding assembly.

[0010] In a further embodiment,

[0011] Flexible restraints include:

[0012] A first bracket, vertically fixed on the base;

[0013] A flexible restraining frame, sleeved on the first bracket;

[0014] The connecting piece passes through the flexible restraining frame and the first bracket in sequence; the connecting piece is connected to the flexible restraining frame and the first bracket through internal and external threads.

[0015] In a further embodiment,

[0016] The Y-axis sliding assembly comprises:

[0017] A second bracket, vertically fixed on the base;

[0018] A fixing block, fixed on the second bracket;

[0019] The slide rail is interference-fitted with the fixing block.

[0020] In a further embodiment,

[0021] Also includes:

[0022] There are eight piezoelectric ceramic sheets, which are respectively attached to the four vertex corners on both sides of the motor base.

[0023] In a further embodiment,

[0024] The connecting piece is a bolt,

[0025] It also includes: a compression spring, which is sleeved on the stud of the bolt and located between the flexible constraint frame and the nut.

[0026] In a further embodiment,

[0027] A reserved space is provided on the side of the flexible restraining frame close to the motor base, and the reserved space is used to accommodate the driving foot on the motor base and provide a vibration space for the driving foot;

[0028] The driving foot is also connected to the Y-axis sliding assembly.

[0029] In a further embodiment,

[0030] Also includes:

[0031] The X-axis sliding assembly is arranged on the base and is used to provide sliding support force and guidance for the flexible constraint member.

[0032] In a further embodiment,

[0033] The X-axis sliding assembly comprises:

[0034] A slider is fixed to the flexible restraining member; a slide groove is provided on the bottom surface of the slider

[0035] A guide rail is installed on the base; the guide rail and the slide groove are interference fit;

[0036] The width of the slide groove is greater than the width of the guide rail.

[0037] The positioning method of the ultrasonic motor clamping positioning device specifically includes the following steps: four piezoelectric ceramic sheets are attached to each side of the linear ultrasonic motor substrate, the piezoelectric ceramic sheets are energized, and a certain excitation signal voltage is applied, the piezoelectric ceramic sheets will drive the substrate to perform telescopic vibration, and the driving foot will generate a slight vibration of an elliptical motion trajectory in the reserved space. The driving foot is also connected to the slide rail in the Y-axis sliding assembly, and a certain pre-pressure is applied through the pre-pressure device, and the linear ultrasonic motor will convert the microscopic vibration into macroscopic linear motion through contact friction.

[0038] Beneficial effects of the present invention: The present invention provides power for the mover slider through the high-frequency vibration of the linear ultrasonic motor, has a large force output, and has a high-precision positioning function.

[0039] The working principle of the present invention is as follows: four piezoelectric ceramic sheets are attached to each side of the linear ultrasonic motor substrate. When the piezoelectric ceramic sheets are powered on and a certain excitation signal voltage is applied, the piezoelectric ceramic sheets will drive the substrate to perform telescopic vibrations, and the driving foot will generate a slight vibration with an elliptical motion trajectory in the reserved space. The driving foot is also connected to the slide rail in the Y-axis sliding assembly. A certain pre-pressure is applied through the pre-pressure device, and the linear ultrasonic motor will convert the microscopic vibration into macroscopic linear motion through contact friction. Because of the contact friction, the device can be self-locking when the power is off, has a large thrust, and has a very high positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The figure is a schematic diagram of the structure of an ultrasonic motor clamping and positioning device.

[0041] Figure 2 The figure is a front view of an ultrasonic motor clamping and positioning device.

[0042] Figure 3 The figure is a top view of an ultrasonic motor clamping and positioning device.

[0043] Figure 4 It is a structural schematic diagram of the flexible constraint frame.

[0044] Figure 5 This is a schematic diagram of the structure of the motor base.

[0045] Figures 1 to 5 The labels in the figure are: base 1, motor base 2, first bracket 3, fixing block 4, slide rail 5, second bracket 6, flexible constraint frame 7, bolt 8, compression spring 9, piezoelectric ceramic sheet 10, driving foot 11, reserved space 12, slider 13, guide rail 14. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings and embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] The purpose to be achieved by the present invention is to increase the output force of the ultrasonic motor while achieving accurate positioning.

[0048] The present invention achieves the above object through the following technical solutions:

[0049] An ultrasonic motor clamping and positioning device comprises: a base 1, a motor base 2, a first bracket 3, a fixing block 4, a slide rail 5, a second bracket 6, a flexible constraint frame 7, a bolt 8, a compression spring 9, a piezoelectric ceramic sheet 10, a driving foot 11, a reserved space 12, a slider 13, and a guide rail 14.

[0050] like Figure 1 As shown, the base 1 is used to support various components. For the convenience of describing this embodiment, the length direction of the base 1 is defined as the X-axis direction, and the width direction is defined as the Y-axis direction.

[0051] The upper surface of the base 1 is provided with a Y-axis sliding assembly and a flexible constraint, and a motor base 2 is provided between the Y-axis sliding assembly and the flexible constraint. The Y-axis sliding assembly is arranged along the Y-axis. The flexible constraint is used to provide different pre-pressures to the ultrasonic motor, and the Y-axis sliding assembly converts the micro-vibration of the ultrasonic motor into macroscopic linear motion.

[0052] Preferably, the flexible constraint member includes: a first bracket 3, the first bracket 3 is vertically fixed on the base 1, and in order to facilitate fixing and use, the first bracket 3 is an L-shaped bracket, which is fixed by bolts 8 or welding. It also includes: a flexible constraint frame 7, which is sleeved on the first bracket 3. In order not to affect the movement of the flexible constraint frame 7 in the X-axis direction, the bottom plate of the L-shaped bracket is arranged back to back with the Y-axis sliding assembly. The flexible constraint frame 7 is designed to provide prestress to the motor base 2, and therefore, a connecting member is also provided, and the connecting member passes through the flexible constraint frame 7 and the first bracket 3 in turn; the connecting member is connected to the flexible constraint frame 7 and the first bracket 3 by internal and external threads.

[0053] Preferably, in this embodiment, the connecting member is a bolt 8, which includes a threaded column and a nut fixed on one end face of the threaded column. In order to facilitate the adjustment of the position of the flexible constraint frame and to facilitate rebound and compression, a compression spring 9 is provided on the threaded column, and the compression spring 9 is located between the flexible constraint frame 7 and the nut.

[0054] In this embodiment, the flexible restraining frame 7 is a movable frame with an open structure at the top and the bottom.

[0055] Preferably, the specific structure of the Y-axis sliding assembly is as follows: it includes a first bracket 3 fixed on the base 1. For ease of fixing and use, the second bracket 6 is an L-shaped bracket and is fixed by bolts 8 or welding. In order not to affect normal operation during fixing, the bottom plate of the L-shaped bracket is arranged in reverse to the Y-axis sliding assembly. The Y-axis sliding assembly also includes: a fixing block 4 fixed on the inner side wall of the L-shaped bracket, a slide groove is provided on the inner side of the fixing block 4, and a slide rail 5 is arranged inside the slide groove.

[0056] The connection relationship between the motor base 2 and the Y-axis sliding assembly is as follows: First, piezoelectric ceramic sheets 10 are attached to the four corners of the two sides of the motor base 2. An integrally formed driving foot 11 is provided at the corner of the motor base 2, and one end of the driving foot 11 is fixedly connected to the slide rail 5 in the Y-axis sliding assembly.

[0057] In order to realize the transmission connection between the motor base 2 and the flexible constraint frame 7, the flexible constraint frame 7 (moving frame) is provided with a reserved space 12 corresponding to the driving foot 11 on one side surface close to the motor base 2, and the above correspondence includes the position relationship and quantity. The reserved space 12 is used to accommodate the driving foot 11 on the motor base 2, and at the same time provides a vibration space for the driving foot 11, that is, a slot is formed on one side of the flexible constraint frame 7 for the driving foot to vibrate inside and move a short distance.

[0058] In the above structure, the flexible constraint frame 7 will move a short distance in the X-axis direction under the adjustment of the bolt 8 or the action of the ultrasonic motor. In order to increase the stability of the mechanism, the present embodiment also includes an X-axis sliding assembly, which is arranged on the base 1 and is used to provide sliding support force and guidance to the flexible constraint frame 7.

[0059] Preferably, the X-axis sliding assembly includes: a slider 13 and a guide rail 14. The slider 13 is fixed to the bottom of the flexible constraint frame 7 (moving frame). A slide groove is provided on the bottom surface of the slider 13; the guide rail 14 is installed on the base 1; the guide rail 14 and the slide groove are interference fit; the width of the slide groove is greater than the width of the guide rail 14.

[0060] The working principle of the present invention is as follows: four piezoelectric ceramic sheets 10 are attached to each side of the linear ultrasonic motor substrate. When the piezoelectric ceramic sheets 10 are powered on and a certain excitation signal voltage is applied, the piezoelectric ceramic sheets 10 will drive the substrate to perform telescopic vibration, and the driving foot 11 will generate a slight vibration of an elliptical motion trajectory in the reserved space 12. The driving foot 11 is also connected to the slide rail 5 in the Y-axis sliding assembly. Through the pre-pressure device, a certain pre-pressure is applied, and the linear ultrasonic motor will convert the microscopic vibration into macroscopic linear motion through contact friction. Because of the contact friction, the device can be self-locking when the power is off, has a large thrust, and has a high positioning accuracy.

[0061] In the above process, the pre-pressure is set by adjusting the position of the bolt 8 with the compression spring 9 to provide different pre-pressures to the ultrasonic motor. The high-frequency vibration of the linear ultrasonic motor is used to provide power to the movable slider 13, which has a large force output and a high-precision positioning function.

[0062] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An ultrasonic motor clamping and positioning device, characterized in that: include: Base, used to support other components; A Y-axis sliding assembly is arranged on the upper surface of the base along the Y-axis; A flexible restraining member, disposed on the upper surface of the base; The motor base is arranged between the Y-axis sliding assembly and the flexible constraint member; the flexible constraint member is used to provide different pre-pressures to the ultrasonic motor, and the micro-vibration of the ultrasonic motor is converted into macroscopic linear motion through the Y-axis sliding assembly; Flexible restraints include: A first bracket, vertically fixed on the base; A flexible restraining frame, sleeved on the first bracket; A connecting piece passes through the flexible restraining frame and the first bracket in sequence; the connecting piece is connected to the flexible restraining frame and the first bracket through internal and external threads; The Y-axis sliding assembly comprises: A second bracket, vertically fixed on the base; A fixing block, fixed on the second bracket; The slide rail is interference-fitted with the fixing block.

2. The ultrasonic motor clamping and positioning device according to claim 1, characterized in that: Also includes: There are eight piezoelectric ceramic sheets, which are respectively attached to the four vertex corners on both sides of the motor base.

3. The ultrasonic motor clamping and positioning device according to claim 1, characterized in that: The connecting piece is a bolt, It also includes: a compression spring, which is sleeved on the threaded column of the bolt and located between the flexible constraint frame and the nut.

4. The ultrasonic motor clamping and positioning device according to claim 1, characterized in that: A reserved space is provided on the side of the flexible restraining frame close to the motor base, and the reserved space is used to accommodate the driving foot on the motor base and provide a vibration space for the driving foot; The driving foot is also connected to the Y-axis sliding assembly.

5. The ultrasonic motor clamping and positioning device according to claim 1, characterized in that: Also includes: The X-axis sliding assembly is arranged on the base and is used to provide sliding support force and guidance for the flexible constraint member.

6. The ultrasonic motor clamping and positioning device according to claim 5, characterized in that: The X-axis sliding assembly comprises: A slider is fixed to the flexible restraining member; a sliding groove is provided on the bottom surface of the slider; A guide rail is installed on the base; the guide rail and the slide groove are interference fit; The width of the slide groove is greater than the width of the guide rail.

7. A positioning method based on the ultrasonic motor clamping and positioning device according to any one of claims 1 to 6, characterized in that: The specific steps include: Four piezoelectric ceramic sheets are attached to each side of the linear ultrasonic motor substrate. When the piezoelectric ceramic sheets are powered on and a certain excitation signal voltage is applied, the piezoelectric ceramic sheets drive the substrate to stretch and vibrate, and the driving foot will generate a slight vibration with an elliptical motion trajectory in the reserved space. The driving foot is also connected to the slide rail in the Y-axis sliding assembly. By applying pre-pressure through the pre-pressure device, the linear ultrasonic motor will convert the microscopic vibration into macroscopic linear motion through contact friction.

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