Abstract:
A vibration wave driven motor includes a vibrator, a plurality of driving electro-mechanical energy conversion element portions disposed in the direction of lamination relative to the vibrator, frequency signals of different phases being applied to the conversion element portions, and a monitoring electro-mechanical energy conversion element provided in the vibrator in the direction of lamination relative to the conversion element portions.

Description:
This application is a continuation of application Ser. No. 07/680,233 filed Apr. 3, 1991 now abandoned. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     This invention relates to a motor generating mechanical power without resorting to electromagnetic power, and more particularly to a bar-shaped ultrasonic motor (vibration wave driven motor) which utilizes circular motion excited in a vibrator by the combination of expansive and contractive vibrations in the axial direction to rotate a driven member fitted coaxially with the vibrator by frictional driving. 
     2. Related Background Art 
     A motor as shown for example in FIG. 13 of the accompanying drawings has heretofore been proposed as an ultrasonic motor (vibration type motor) of this type in U.S. patent application Ser. No. 586,303. 
     In FIG. 13, the reference numeral 1 designates a vibration member comprising a metallic round bar having a small-diametered shaft portion 1a forming a fore end portion, a large diametered shaft portion 1b forming a rear end portion, and a horn-shaped horn portion 1c formed between the small-diametered shaft portion 1a and the large-diametered shaft portion 1b and having a diameter progressively decreasing toward the fore end portion, the reference numeral 2 denotes a keep member comprising a metallic round bar formed to the same outer diameter as the large-diametered shaft portion 1b of the vibration member 1 and having a bolt insertion hole 2a formed along the axis thereof, the reference numerals 3 and 4 designate circular ring-shaped piezo-electric element plates formed to the same outer diameter as the large-diametered shaft portion 1b, and the reference numeral 5 denotes the electrode plate of the piezo-electric element plates 3 and 4. The piezo-electric element plates 3 and 4 with the electrode plate 5 interposed therebetween are disposed between the vibration member 1 and the keep member 2, and the keep member 2 is fixed to the vibration member 1 by a bolt 6, whereby the piezo-electric element plates 3 and 4 are fixed between the vibration member 1 and the keep member 2 to thereby constitute a vibrator A. The bolt 6 has its head in contact with the keep member 2 with a circular ring-shaped insulator 7 interposed therebetween and has its shank portion held in non-contact with respect to the piezo-electric element plates 3, 4 and the electrode plate 5. 
     The piezo-electric element plates 3 and 4 each have on one surface thereof two electrodes (plus electrode a and minus electrode b) differing in the direction of polarization from each other and polarized in the direction of thickness, said two electrodes being symmetrically formed on the opposite sides of an insulating portion d formed on the center line, and have formed on the other surface thereof an electrode c common to the plus electrode a and the minus electrode b, and are disposed with a positional phase difference of 90° therebetween with respect to the axis of the vibrator A. The polarized electrodes (the plus electrode a and the minus electrode b) of the piezo-electric element plate 3 are in contact with the rear end surface of the vibration member 1 which is an electrical conductor, and the piezoelectric element plate 4 is in contact with the front end surface of the keep member 2 which is an electrical conductor. 
     An AC voltage V 1  is applied to between the electrode plate 5 and the vibration member 1 and an AC voltage V 2  is applied to between the electrode plate 5 and the keep member 2, whereby the vibrator A is vibrated by the combination of vibration caused by the expansive and contractive displacement of the piezo-electric element plate 3 in the direction of thickness thereof and vibration caused by the expansive and contractive displacement of the piezo-electric element plate 4 in the direction of thickness thereof. 
     The AC voltage V 1  and the AC voltage V 2 , as shown in FIG. 14 of the accompanying drawings, are identical in amplitude and frequency and have a difference of 90° in time and spatial phases therebetween. 
     Thus, the vibrator A makes circular motion like that of the rope used in rope skipping (hereinafter referred to as the rope-skipping) about the axis thereof. The principle on which such circular motion occurs is described in detail in the above mentioned U.S. application Ser. No. 586,303, etc. and therefore need not be described herein. 
     As shown in FIG. 15 of the accompanying drawings, a rotor 8 is fitted coaxially with the axis l of the vibrator A, and the rear end portion (hereinafter referred to as the frictional contact portion) 8b of the inner diameter portion of the rotor 8 extends to a location corresponding to a sliding portion B, and the frictional contact portion 8b is brought into contact with the sliding portion B of the horn portion 1c. The horn portion is provided to obtain an appropriate frictional force in the sliding portion B by being subjected to an axial pressure force. This sliding portion B provides the loop of the rope-skipping in the vibration member 1. 
     The bore of the inner diameter portion 8a of the rotor 8 is of such structure that in the vibration member 1, it contacts with the position of the mode of the rope-skipping with a member 8d of low coefficient of friction interposed therebetween, and the rotor 8 is provided with an escape 8c to prevent the inner diameter portion from contacting with any vibration created in the other portions than the sliding portion B and producing of sounds. 
     The frictional contact portion 8b of the rotor 8 diverges into such a shape that the inner diameter thereof conforms to the outer peripheral shape of the sliding portion B, which progressively increases, and surface-contacts with the sliding portion B during the rope skipping motion of the vibration member 1. 
     The rotor 8 is pushed for example, in the direction of arrow in FIG. 15 by a spring or the like, not shown, through a thrust bearing, not shown, thereby producing a predetermined frictional force in the portion of contact between the frictional contact portion 8b and the sliding portion B by the sliding portion having the aforedescribed appropriate progressively increasing diameter, and also is permitted axially rotate by the thrust bearing. 
     From the above-described structure, there is realized an ultrasonic motor (a vibration wave driven motor) in which the vibration of the vibration member 1 is transmitted as a rotational force to the frictional contact portion 8b of the rotor to thereby rotate the rotor. 
     Generally, however, the ultrasonic motor (vibration type motor) of this kind has a resonance frequency of the order of several tens of kilohertz, and unless it is driven in the vicinity of this frequency, a great amplitude will not be obtained and such motor will not operate as a motor. Also, the resonance frequency of the motor fluctuates depending on environmental conditions such as temperature and humidity and load conditions. 
     This leads to the problem that the number of rotations become unstable if the motor is driven at a predetermined frequency. 
     SUMMARY OF THE INVENTION 
     One aspect of the application is to provide a bar-shaped ultrasonic motor (vibration wave driven motor) in which an AC electric field is applied to an electro-mechanical energy conversion element disposed on a bar-shaped vibrator, whereby the bar-shaped vibrator is caused to excite vibrations of bending modes of the same shape having a phase difference in terms of time therebetween in a plurality of planes, thereby causing the surface particles of a vibration member to make circular to elliptical motion and creating relative motion by frictional driving between the vibration member and a member pressed against the vibration member, and wherein the vibrator is provided with a vibration detecting electro-mechanical energy conversion element, whereby the vibrated state can be detected. 
     One aspect of the application is to provide under the above object a motor in which said vibration detecting conversion elements are disposed in an annular shape at a position in the direction of thickness of the bar-shaped vibrator. 
     One aspect of the application is to provide under the above object an apparatus in which said annular conversion element is bisected and the bisected elements are polarized in different directions to monitor the vibrated state. 
     One aspect of the application is to provide a motor in which said conversion element is laminated in a plurality of directions of thickness so that a detection signal may be taken out. 
     Other objects of the present invention will become apparent from the following detailed description of some embodiments of the invention taken in conjunction with the accompanying drawings. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is an exploded perspective view showing a first embodiment of the present invention. 
     FIG. 2 is a graph showing the relation between a vibration detection signal and a frequency in the first embodiment. 
     FIG. 3 is a graph showing the phase difference vs. frequency relation between the vibration detection signal and an input voltage in the first embodiment. 
     FIG. 4 is a block diagram of a control circuit in the first embodiment of the present invention. 
     FIG. 5 is an exploded perspective view showing a second embodiment of the present invention. 
     FIG. 6 is a graph showing the phase difference vs. frequency relation between a vibration detection signal and an input voltage in the second embodiment. 
     FIG. 7 is an exploded perspective view showing a third embodiment of the present invention. 
     FIG. 8 is a graph showing the phase difference vs. frequency relation between a vibration detection signal and an input voltage in the third embodiment. 
     FIG. 9 is a side view showing a fourth embodiment of the present invention. 
     FIG. 10 is a side view showing a fifth embodiment of the present invention. 
     FIGS. 11(a)-11(d) show the electrode patterns of a vibration detecting piezo-electric element used in the motor of the present invention. 
     FIG. 12 shows a system incorporating the bar-shaped ultrasonic motor of the present invention therein. 
     FIG. 13 is an exploded perspective view showing a motor according to the prior application. 
     FIG. 14 shows the waveforms of AC voltages applied to piezo-electric element plates. 
     FIG. 15 is an assembly side view of the ultrasonic motor shown in FIG. 13. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     First Embodiment 
     FIG. 1 is an exploded perspective view of a vibration wave driven motor according to a first embodiment of the present invention. In FIG. 1, the reference numerals 1-8 are similar in significance to those in FIG. 13. 
     The reference numeral 9 designates a piezo-electric element as a vibration detecting element, the reference numeral 10 denotes an electrode plate for supplying electric power to the driving piezo-electric element 3, the reference numeral 11 designates an electrode plate for grounding the piezo-electric element 9, and the reference numeral 12 denotes an insulating member for holding the electrode plates 10 and 11 in a non-contact state. 
     The piezo-electric element 9 is of the same structure as the piezo-electric elements 3 and 4, and is disposed so that the positional phase thereof may coincide with that of the piezo-electric element 3. 
     The principle of driving is the same as that of the example shown in FIG. 13 and therefore need not be described. 
     FIG. 2 shows the frequency in the vicinity of a resonance frequency fr in the first embodiment versus the amplitude of the output signal of the piezo-electric element 9. 
     The output signal of the piezo-electric element 9 becomes maximum at the resonance frequency fr and decreases before and after it. 
     Consequently, it would occur to mind as a method of finding the resonance frequency fr to choose a frequency at which the amplitude of the output signal of the piezo-electric element 9 is maximum. 
     FIG. 3 shows the phase difference relation between the frequency vs. input voltage V 1  in the vicinity of the resonance frequency in the first embodiment and the output signal of the vibration detecting piezo-electric element 9. 
     As can be seen from FIG. 3, the phase difference between the input voltage V 1  and the output signal V S  of the vibration detecting piezo-electric element 9 is 0° for a frequency higher than the resonance frequency, and gradually increases as the frequency approaches the resonance frequency, and becomes 90° for the resonance frequency fr, and increases to 180° for a frequency lower than the resonance frequency fr. 
     As regards said phase difference, the same phase relation is obtained in both cases of the clockwise direction of rotation CW and the counter-clockwise direction of rotation CCW because the piezo-electric element and the vibration detecting piezo-electric element 9 are disposed in a positional phase 0°. CW is a case where V 1  is advanced by 90° in terms of time with respect to V 2 , and CCW is a case where V 1  is delayed with respect to V 2 . 
     From the above-described phase relation, the frequency can be adjusted to the resonance frequency by controlling the frequency so that the phase difference between the input voltage V 1  to the piezo-electric element 3 and the output signal of the vibration detecting piezo-electric element 9 may become 90°. 
     FIG. 4 shows a block diagram of a control circuit in the above-described bar-shaped ultrasonic motor (vibration wave driven motor). 
     As oscillator 17 oscillates at a frequency determined by a signal generated by a frequency designator 24, and the output signal of the oscillator 17, together with a signal phase-shifted by 90° (or 270°) by phase shifter circuits 18 and 19, is amplified as two phases by amplifiers 20 and 21, whereafter it is input to the electrode plate 10 and the keep member 2. At this time, the keep member 2 must be an electrical conductor. 
     A signal from the vibration detecting piezo-electric element 9 is obtained from the electrode plate 11, and the phase difference thereof from the signal V 1  from the amplifier 20 is found in a phase difference detector 22. 
     Subsequently, how far said signal is from the resonance frequency fr is calculated by a calculation circuit 23, and the frequency designator 24 is varied. 
     The above-described operation is repeated, whereby it becomes possible to drive the motor with the frequency kept at the resonance frequency. 
     Also, the piezo-electric element 9 is circular and therefore can be provided with the resonance frequencies of vibrations in two directions kept coincident with each other, and the outer diameter thereof is equal to that of the vibrator or other driving piezo-electric element and therefore, by making uniform the outer diameter during assembly, it is easy to keep the coaxial relationship with other parts. Further, the piezo-electric element 9 used is the same as the driving piezo-electric element and therefore, it is not necessary to make a discrete part as the vibration detecting piezo-electric element and thus, an increase in cost can be minimized. 
     Second Embodiment 
     FIG. 5 is an exploded perspective view of a vibration wave driven motor according to a second embodiment of the present invention. 
     In FIG. 5, the vibration detecting piezo-electric element 9 is disposed at a position which is positionally 90° out of phase with respect to the piezo-electric element 3. That is, it lies at a position of positional phase 0° with respect to the piezo-electric element 4. In the other points, the construction of the second embodiment is the same as that of the first embodiment. 
     In this embodiment, the amplitude of the frequency vs. the output of the piezo-electric element 9 is the same as that in the first embodiment. 
     FIG. 6 shows the relation of the phase difference θ A-S  between the frequency vs. input voltage V 1  in the vicinity of the resonance frequency in the second embodiment and the output signal V S  of the vibration detecting piezo-electric element. 
     As shown in FIG. 6, the phase difference θ A-S  between the input voltage V 1  to the piezo-electric element 3 and the output signal of the vibration detecting piezo-electric element 9 describes such a curve that it becomes 0° for the resonance frequency fr and in the case of CW (-180° in the case of CCW). 
     Consequently, when it is to be adjusted to the resonance frequency, the frequency can be controlled so that the phase difference θ A-S  may be 0° (-180° in the case of CCW). 
     Also, the area of the phase difference θ A-S  entirely differs between CW and CCW and therefore, CW or CCW can be known from θ A-S . 
     The first and second embodiments have been respectively shown with respect to a case where the vibration detecting piezo-electric element 9 is positionally 0° out of phase with respect to the piezo-electric element 3 and a case where the vibration detecting piezo-electric element 9 is positionally 90° out of phase with respect to the piezo-electric element 3, but even in the case of any other positional relation, there is obtained a certain definite relation for the phase difference θ A-S  between the input voltage V 1  and the output signal of the vibration detecting piezo-electric element 9. 
     Third Embodiment 
     FIG. 7 shows a third embodiment of the present invention. 
     In FIG. 7, the driving piezo-electric elements 3 and 4 each are laminated into two-sheet construction. It is known that if the driving piezo-electric elements are thus increased, the area used for the driving of the piezo-electric elements increases and low-voltage driving becomes possible. 
     The vibration detecting piezo-electric element 9 is also constructed of two sheets, and with regard to the positional phase thereof, one sheet is disposed at a position which is 0° out of phase with respect to the piezo-electric element 3 and the other sheet is disposed at a position which is 90° out of phase with respect to the piezo-electric element 3. 
     The phase difference θ A-S  between the output signal from the piezo-electric element 9 obtained from the electrode plate 15 at this time and the input voltage V 1  is such as shown in FIG. 8. 
     As can be seen from FIG. 8, the phase difference θ A-S  between the input signal V 1  and the output signal of the vibration detecting piezo-electric element 9 describes such a curve that it becomes +45° for the resonance frequency fr in the case of CW (+135° in the case of CCW). 
     Such a curve is the same as the curve when the vibration detecting piezo-electric element is one sheet and the positional phase thereof with respect to the driving piezo-electric element 3 is 45° out of phase. However, it differs in amplitude. 
     As described above, the vibration detecting piezo-electric element may be composed of a plurality of sheets, and in such case, various ways of taking out the output signal are possible depending on the way of determining the positional phase thereof. 
     Also, as compared with the case where the vibration detecting piezo-electric element is one sheet, a great output voltage can be taken out. 
     Moreover, if the driving and vibration detecting piezo-electric elements each are comprised of 2n sheets (n =1, 2, . . . ), there is the advantage that the insulator is unnecessary and moreover power supply can all be effected through the electrode plate. 
     Fourth Embodiment 
     FIG. 9 is a side view of a bar-shaped ultrasonic motor (vibration wave driven motor) according to a fourth embodiment of the present invention. 
     The reference numeral 16 designates a vibration detecting element formed, for example, of polyvinylidene fluoride and secured to the horn portion 1c of the vibration member 1 by an adhesive. 
     As in the above-described embodiments, a signal of a certain amplitude and in a certain phase relation is obtained from the vibration detecting element 16, and the relation thereof is determined by the location on which the vibration detecting element 16 is adhered. 
     The location where the vibration detecting element as described above is to be adhered may desirably be near the portion of contact between the vibration member and the movable member (rotor). 
     Alternatively, the vibration detecting element may be adhered on the rotor side. 
     In such case, the phase relation does not coincide with the signal being input to the stator for driving. 
     Consequently, such a control method that the amplitude becomes maximum would occur to mind. 
     Fifth Embodiment 
     FIG. 10 is a side view of a bar-shaped ultrasonic motor (vibration wave driven motor) according to a fifth embodiment of the present invention. 
     In this embodiment, the vibration detecting piezo-electric element 9 is provided in a portion of different diameter from the driving piezo-electric elements 3 and 4. 
     Where as shown in FIG. 10, the vibration detecting piezo-electric element 9 is provided in a portion of small diameter, the electrode area is small as compared with that in the first embodiment, etc. and therefore, the output voltage also becomes small. 
     Consequently, where in the first embodiment, etc., the vibration detection output voltage is too great and must be made small on the circuit side, the vibration detecting piezo-electric element 9 can be provided in a small-diametered portion of the vibration member. 
     Also, where conversely the vibration detection output voltage is small, a great output voltage will be obtained if the vibration detecting piezo-electric element is provided in a large-diametered portion of the vibration member. 
     Also, if in this case, a piezo-electric element of the same electrode pattern and having an outer diameter smaller than the inner diameter of the driving piezo-electric element or having an inner diameter greater than the outer diameter of the driving piezo-electric element is used for vibration detection, a driving piezo-electric element and a vibration detection piezo-electric element can be taken out from one sheet. 
     Sixth Embodiment 
     FIG. 11 shows various examples of the electrode pattern of the vibration detecting piezo-electric element 9. 
     The piezo-electric element 9 in the above-described first embodiment is of a doughnut-like shape having an electrode pattern as shown in FIG. 11D wherein two halves are polarized to plus (+) and minus (-), whereas where use is made of a piezo-electric element having an electrode pattern as shown in FIG. 11A, the output voltage can be made small to thereby obtain an effect similar to that of the above-described fifth embodiment because the electrode area is small. 
     The electrode pattern of FIG. 11B is an electrode pattern having, in addition to the above-described effect, a stress distribution which will hardly hamper the vibration of the vibration member. 
     The electrode pattern of FIG. 11C is polarized only in one half thereof, and has the advantage that the polarization of one half is only required when the piezo-electric element is made. 
     FIG. 12 shows the construction of a system which uses the motor according to the present invention to drive the lens barrel or the like of an optical lens. 
     The reference numeral 25 designates a spring post portion, the reference numeral 26 denotes a rotation insulating member such as a bearing, and the reference numeral 27 designates a coil spring. The rotor 8 is pressed by the spring post portion 25 and the coil spring 27. The rotation of the rotor is insulated by the rotation insulating member 26, and the spring post portion 25 does not rotate. 
     The reference numeral 28 denotes a gear joined coaxially with the rotor 8. The gear 28 transmits a rotational output to a gear 29 to rotate a lens barrel 30 having a gear meshing with the gear 29. 
     An optical type encoder slit plate 31 is disposed coaxially with the gear 29 to detect the rotated positions and rotational speeds of the rotor 8 and the lens barrel 30, and the positions and speeds are detected by a photocoupler 32. 
     The piezo-electric element as an electro-mechanical energy conversion element in each embodiment may be replaced by an electrostrictive element.