JPH0667228B2 - Device that causes movement in one direction from a standing wave - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention provides a method of converting standing wave energy into rotary motion or linear motion and applying it to an ultrasonic motor (oscillation wave motor) or the like. A device for producing directional movement.

[Conventional technology]

It is known that ultrasonic vibration generated by applying an alternating voltage to an electrostrictive element or a piezoelectric element can be converted into rotational movement or linear movement, and ultrasonic waves that use the movement thus obtained as a driving force. Various motors have been proposed.

Since this ultrasonic motor does not require a winding coil, it has the advantages that it has a simple structure and can be downsized as compared with conventional electromagnetic motors, and it can obtain high torque even at low speed rotation. ing.

The representatives of this type of ultrasonic motor are as follows.

(1) A motor using a traveling wave that vibrates a rod-shaped vibrating body and moves in the length direction.

(2) A motor in which two types of standing waves having different phases in time and space are generated in a ring-shaped vibrating body, and these standing waves are combined into a traveling wave.

(3) A motor that combines vertical vibration and torsional vibration, or vertical vibration and lateral vibration of a vibrating element.

[Problems to be solved by the invention]

In the motor of (1), it is necessary to provide an absorber at the end of the rod-shaped vibrating body and cancel the reflection of the traveling wave at the end or provide an energy feedback system. However, even if an absorber is provided at the end of the vibrating body, the vibration absorbed by the absorber changes to heat, and the efficiency cannot be improved. Further, the structure becomes complicated when the energy feedback system is provided.

The motor of (2) requires special consideration such as superimposing two types of standing waves, and has a complicated structure, which makes it difficult to control efficiently.

The motor of (3) also had to synthesize two types of vibrations, and had a complicated structure and poor efficiency.

[Object of the Invention]

The present invention is based on a principle different from a method using a traveling wave and a vibration synthesizing method which have been conventionally performed, and a standing wave capable of efficiently converting a standing wave given to a vibrating body into a rotational motion or a linear motion. It is an object of the present invention to provide a method and an apparatus for producing more unidirectional movement.

[Means for solving problems]

According to the conventional idea of traveling wave motors, a standing wave is a superposition of waves traveling in opposite directions, so if the strength of both waves is equal, move the object in a specific direction. I can't.

However, as a result of experiments, standing waves have movement abilities in different directions, and it is possible to move an object in a particular direction by selecting only the movement abilities in that particular direction. Do you get it.

That is, when a bending standing wave is excited in a vibrating body such as an elastic body, its abdomen vibrates in a direction perpendicular to the vibrating body,
The node vibrates in a direction parallel to the vibrating body, but the abdomen,
It is experimentally deduced that there are kinetic forces opposite to each other with the node as a boundary, and that kinematic abilities in the same direction exist between an arbitrary point in one plane of the vibrating body and a point on the back side thereof.

Therefore, the present invention locates an extractor that selects a motion component in the node direction from the antinode of the standing wave between the node and the antinode of the standing wave generated in the vibrating body to be excited, and one direction from the standing wave. It was designed to cause the movement of.

[First Embodiment] A first embodiment of the present invention will be described below with reference to the drawings.

As described above, the standing wave has a partially different direction of motion ability, and the inventor has learned that an object can be moved or driven by selecting only the motion ability of the specific direction. The experiment will be described.

As shown in FIG. 1, a vibrating body such as a plate-shaped elastic body (thickness: 15 mm,
A brass rod with a width of 10 mm and a length of 250 mm is vibrated by a vibration source 2 such as a Langevin vibrator (for example, an excitation frequency of 43.2 KH).
z), a bending standing wave is generated in the elastic body 1, and the extractor, for example, the roller 3 is pressed against the elastic body 1, and the relationship between the rotation direction and the position is examined.

As a result, as shown in FIGS. 2A and 2B, A to H and A'to
It was found that the rotation direction changes alternately at the position H '.

On the other hand, the wavelength λ of the bending wave will be calculated from the equation λ ² = 4π ² (E / 12ρ) ^1/2 · b / ω. Here, E is Young's modulus, ρ is the density of the rod, b is the thickness of the rod, and ω is the angular frequency. Therefore, (E / ρ) ^1/2 = 3480 × 10 ³ (vertical vibration speed of the bar) b = 5 ω = 2π × 4.32 × 10 ⁴ , and thus λ = 26.9 [mm].

Comparing this value with FIG. 1, it can be seen that the central portion of the elastic body 1 has a pitch of approximately 13 mm, which is close to λ / 2.

From this, the position where the rotation direction of the roller 3 changes is considered to be the node or antinode of the standing wave, and can be described as follows.

The rotation direction of the roller 3 is opposite between the front and back of the elastic body 1, and the rotation is the same in the region of λ / 4 from the node to the antinode,
The rotation directions are opposite to each other in the adjacent areas.

Here, a stationary consideration is given to the above.

If the vibration of a plate with a thickness of 2e exists as a traveling wave Uy = A · sin (ωt−kx) (k = 2π / λ) in the thickness direction, the wave is a traveling direction component Ux = −e · Uy ′ = e · A・ Each part of the traveling wave makes an elliptic motion with k · cos (ωt−kx).

Now, assuming that a standing wave is excited in the plate, and the vibration in the thickness direction is Uy = Asinωt · sinkx…, the equation is accompanied by the vibration in the X direction as in the case of the traveling wave, and Ux = −e ・Uy ′ = − e · A · k · sinωt · coskx ...

According to the equation, the standing wave of the plate is different from the standing wave of the string (e = 0), and it can be seen that the node of Uy = 0 vibrates in the X direction at −e · A · k · sinωt. Also, from Uy / Ux =-(1 / ek) tankx, it follows that each part of the plate is performing linear vibration with an inclination of (-tankx) / (ek). (Fig. 3) Considering the vibration pattern of the standing wave of the plate based on the above consideration, it becomes as shown in Fig. 4.

Comparing FIG. 4 with the above experiment, it can be seen that the rotation direction and the vibration direction of the roller 3 correspond to each other.

Considering the case where a traveling wave is excited in an annular elastic body assuming the above results, the above results will be examined. When exciting a traveling wave in an annular elastic body, a sine wave standing wave with a phase shift of π / 2 is synthesized from a spatial position shift of λ / 4.

sin (ωt−θ) = sinωt · cosθ−cosωt · sinθ = sinωt · cosθ + sin (ωt + π / 2) · cos (θ + π / 2) Overlaying on a standing wave with a wavelength shifted by λ / 4 means the third In the figure, the right half is superimposed on the left half, and the same kind of longitudinal vibration and transverse vibration are superimposed on the node and antinode. However, at that point, two vibrations that are not necessarily orthogonal are superimposed.

Since the two vibrations are out of phase with each other by π / 2 in time, it can be seen that the nodes and antinodes have the same elliptical motion with a phase difference of π, but other points also have the same elliptic motion as shown below. I know that

X component at any point; -e-A-k-sin ωt-coskx-e-A-k-sin (ω
t + π / 2) · cos (kx + π / 2) = − e · A · k · sin (ωt−kx) Y component at any point; Asinωt · sinkx + Asin (ωt + π / 2) · sin (kx + π / 2) = Acos ( ωt−kx) That is, even if an equation is assumed as a bending standing wave, the synthesis of traveling waves by two types of standing waves is explained, and the equation is considered to be close to the actual vibration.

Conventional ultrasonic motors, whether of the traveling wave type or the vibration synthesis type, have been devised so that the contact point with the contact body (movable body) makes an elliptical motion. In the motor, the vibration is considered to drive the contact body by the linear vibration as shown in FIG.

The reason why the contact body can be driven by the linear vibration as shown in FIG. 3 is that the contact body cannot completely follow the vibration because the acceleration of ultrasonic vibration is extremely large. It also appears in the phenomenon of friction reduction due to vibration.

From the above, the standing wave has movement capabilities partially different in rotation direction, and it is possible to move the object in a specific direction by selecting only the specific direction.

Therefore, as shown in FIG. 5 or FIG. 6, the node of the standing wave S generated in the metallic elastic body 1 such as stainless steel or spring material excited by the vibration source 2 such as a piezoelectric ceramic or a vibrator. Between N and antinode L, in an area of odd multiples or even multiples of 1/4 wavelength (for example, 1 wavelength or 1/2 wavelength),
An extractor for selecting a motion component in the node direction from the antinode of the standing wave is provided with a convex portion 4 such as a protrusion, and the motion component selected by the convex portion 4 is placed on the convex portion 4, for example, stainless steel or paper, It is transmitted to the contact body 5 such as a plastic sheet, and the contact body 5 is moved in a specific direction.

Also, one convex portion 4 is provided for each λ / 2, and one even wavelength section a2, a4 (the first section λ / 4 section a1, a2, a3, a4, which is obtained by dividing one wavelength λ into four equal parts) (Fig. 5), or odd-numbered section a1,
It is located at a3 (Fig. 6).

The convex portion 4 has a width of ¼ wavelength or less of the standing wave.

According to the first embodiment described above, according to the conventional traveling wave motor, since the standing wave is a wave in which waves traveling in opposite directions are superposed, the strengths of both waves are equal. For example, the object cannot be moved in a specific direction.

However, according to the experiment, the standing wave has the ability to move partially in different directions, and the standing wave has a 1 / wave position between the node and the antinode (1/4 wavelength) of the bending standing wave generated in the elastic body. By providing the convex portions 4 in the regions of odd multiples or even multiples of four wavelengths, the motion component of the bending standing wave in the specific direction can be selected.

Therefore, when the object contacts the convex portion 4, the object can be moved or driven by the selected motion component.

Further, as shown in FIGS. 5 and 6, it is possible to rotate or move in the opposite direction by changing the position of the convex portion 4 or changing the wavelength.

[Second Embodiment] A second embodiment of the present invention (an ultrasonic motor rotating in one direction) will be described below.

As shown in FIG. 7, the ultrasonic motor of this embodiment has a contact body, such as a rotor 41, rotatable about an axis (not shown).
And a vibrating body such as an elastic ring 43, a vibrating source such as a piezoelectric ring 45, and a high frequency power source 47.

The rotor 41 is a disc or ring formed of a synthetic resin such as acrylic or plastic or a metal plate such as aluminum or iron, and is in pressure contact with the elastic ring 43.

The elastic ring 43 is made of, for example, metal such as brass or aluminum / stainless steel, and as shown in FIG.
49 (width: α) is excited at a position between the node of the bending standing wave and the antinode (between the quarter wavelengths) at every odd multiple or even multiple of the quarter wavelength, eg, excited. A plurality of standing waves are provided at equal intervals (β in terms of angle) of ½ wavelength.
(It may be provided for each wavelength.) The elastic ring 43 has a ring length that is an integral multiple of the wavelength of the standing wave. The width of the convex portion 49 is set to be equal to or less than a quarter wavelength of the standing wave.

As shown in FIG. 9, the piezoelectric ring 45 is attached with piezoelectric ceramics polarized in opposite directions alternately at equal intervals as the intervals of the convex portions 49 of the elastic ring 43 and attached to the elastic ring 43. Incidentally, as shown in FIG. 7, the attachment position is such that the node of the standing wave is located near the convex portion 49.

Therefore, when a sinusoidal wave voltage is applied to the piezoelectric ring 45 by the high frequency power source 47 to cause bending vibration in the elastic ring 43, for example, when excited so that the ring length becomes a standing wave of 9 wavelengths, a standing wave of 1 A node of a standing wave is generated in the vicinity of the convex portion 49 of the elastic ring 43 arranged at equal intervals for every / 2 wavelength. Therefore, the motion component of the standing wave in the specific direction is transmitted to the plurality of convex portions 49, and the rotor 41 rotates in one direction.

According to the second embodiment described above, at the position between the node and the antinode of the bending standing wave generated in the elastic ring 43 (between the quarter wavelengths), an odd multiple or even multiple of the quarter wavelength is obtained. Convex part in each area
Since 49 is provided, the motion component in the specific direction of the bending standing wave can be selected from the motion components generated in the opposite direction for each quarter wavelength, and the rotor 41 can be rotated in one direction. Therefore, it is possible to realize a rotary type ultrasonic motor with a standing wave having a simple structure.

When a bending traveling wave is excited in a ring-shaped elastic body,
In order to make the standing wave as small as possible, special consideration is required, such as superimposing two types of standing waves. However, this is not necessary in this ultrasonic motor that positively uses the standing wave.

Further, since it is not necessary to generate and synthesize two kinds of ultrasonic waves as in the conventional case, an ultrasonic motor can be realized by using only one kind of high frequency power source 47.

[Third Embodiment] A third embodiment of the present invention (a forward / reverse rotating ultrasonic motor) will be described below.

As shown in FIG. 10, the ultrasonic motor of this embodiment has a contact body rotatable about an axis (not shown), such as a rotor 41.
And a vibrating body such as an elastic ring 43, a vibrating source such as a piezoelectric ring 45, and a high frequency power source 47.

The rotor 41 is a disc or ring formed of a synthetic resin such as acrylic or a metal plate, and is in pressure contact with the elastic ring 43.

The elastic ring 43 is made of metal such as brass or aluminum,
As shown in FIG. 11, an extractor for selecting a specific direction of motion of a bending standing wave, for example, a projection 49 such as a protrusion (width is an angle α) is located between the node of the bending standing wave and the antinode ( A plurality of quarter wavelengths are provided at an odd multiple or even multiple of the quarter wavelength, for example, at equal intervals at a half wavelength of the standing wave to be excited (β in angle). Has been.

The elastic ring 43 has a ring length that is an integral multiple of the wavelength of the standing wave. Moreover, the width of the convex portion 49 is set to be equal to or less than a quarter wavelength of the standing wave.

The piezoelectric ring 45 is an annular piezoelectric ceramic having a region of two compartments A and B polarized in opposite directions for every ½ wavelength as shown in FIG. 12, and is attached to the elastic ring 43. .

The sticking position is such that when standing waves are excited in each section as shown in FIG. 10, the nodes of each standing wave come near the opposite side of the convex portion 49 of the elastic ring 43. Position.

In addition, the piezoelectric ring 45 having a region of two sections is selectively energized by a selection means such as a switch.

Therefore, when a sinusoidal voltage is applied to the portion A of the piezoelectric ring 45 by the high frequency power source 47 to cause bending vibration in the elastic ring 43 and excite the standing wave of 9 wavelengths in the elastic ring 45,
A node of the bending standing wave is generated at a position slightly deviated from the convex portion 49 of the elastic ring 43 in the clockwise direction, and the rotor 41 pressed and rotated rotates in the clockwise direction. When the same sine voltage is applied to the portion B of the piezoelectric ring 45 to cause it to resonate, a node of a standing wave of the same wavelength occurs slightly off counterclockwise from the convex portion 49, and the rotor 41 rotates counterclockwise. Rotate in the direction.

According to the third embodiment described above, the standing wave generated in the elastic body ring 43 vibrates in the direction orthogonal to the elastic body ring 43 at its antinode, and the knotted portion makes it to the elastic body ring 43. Although they vibrate in parallel directions, there are kinetic forces opposite to each other with the abdomen and the node as boundaries.

Therefore, the piezoelectric ring 45 is divided into two sections and only one kind of high frequency power source 47 is used, and a simple ultrasonic motor having a structure capable of forward and reverse rotation is obtained without changing the position of the convex portion 49. be able to.

When a bending traveling wave is excited in a ring-shaped elastic body,
In order to make the standing wave as small as possible, special consideration such as superimposing two kinds of standing waves is necessary, but this ultrasonic wave using the standing wave positively as in the second embodiment. The motor does not need that.

[Fourth Embodiment] A fourth embodiment of the present invention (an ultrasonic motor moving in one direction) will be described below.

As shown in FIG. 13, the ultrasonic motor of this embodiment has a contact body such as a slider 141, a vibrating body having an end portion such as a rod-shaped elastic body 143, a vibration source such as a piezoelectric body 145, and a high frequency power source.
It has 147 and.

The slider 141 is formed of a synthetic resin such as acrylic or a metal plate, and is in pressure contact with the rod-shaped elastic body 143.

The rod-shaped elastic body 143 is made of, for example, metal such as brass or aluminum, and the vibrating portion has a length that is an integral multiple of 1/2 wavelength.
As shown in the figure, at a position between the node of the standing wave and the antinode (between the quarter wavelengths), an area for every odd or even multiple of the quarter wavelength, for example, for each half wavelength, the extract, for example, a protrusion Convex portions 149 are provided on both sides. The width of the convex portion 149 is 1/4 of the standing wave.
It is less than or equal to the wavelength.

The piezoelectric body 145 is, for example, as shown in FIG. 15, a piezoelectric ceramic which is polarized in opposite directions at every 1/2 wavelength.

Therefore, when a sinusoidal voltage is applied to the piezoelectric body 145 by the high frequency power source 147, a standing wave is excited in the rod-shaped elastic body 143. At this time, nodes of the bending standing wave are generated in the vicinity of the convex portions 149 of the rod-shaped elastic body 143 arranged at equal intervals for each half wavelength of the standing wave. Since the relationship is as shown in FIG. 14, the slider 141 moves from the convex portion 149 to a node in the vicinity thereof, that is, to the left in the drawing.

According to the fourth embodiment described above, at the position between the node and the antinode of the bending standing wave generated in the rod-shaped elastic body 143 (between the quarter wavelengths), an odd multiple or even multiple of the quarter wavelength is obtained. Convex part in each area
Since 149 is provided, it is possible to select the motion component in the specific direction of the bending standing wave among the motion components generated in the opposite direction for each quarter wavelength, and to move the slider 141 in one direction. Therefore, it is possible to realize a linear ultrasonic motor with a standing wave having a simple structure.

In addition, when a bending traveling wave is excited in a rod-shaped elastic body, it is necessary to suppress reflection of the traveling wave by the absorber unless an energy feedback system is provided, which causes heat loss.

However, an ultrasonic wave is reflected at the end of the rod-shaped elastic body 143 to generate a standing wave in the rod-shaped elastic body 143, and a motion component from the antinode of the standing wave to the node direction is generated between the node and the antinode of the standing wave. Since the convex portion 149 for selecting is located, it is not necessary to provide an ultrasonic energy feedback system at the end portion of the rod-shaped elastic body 143, and the slider 141 is driven by a standing wave with a simple structure and efficient driving with less heat loss. It can be performed.

[Fifth Embodiment] A fifth embodiment of the present invention (an ultrasonic motor capable of moving forward and backward) will be described below.

As shown in FIG. 16, the ultrasonic motor of this embodiment has a contact body, for example, a slider 141, a vibrating body having an end portion, for example, a rod-shaped elastic body 143, and a vibration source provided on both ends of the rod-shaped elastic body 143. For example, it includes piezoelectric bodies 145 and 146, a high frequency power source 147 and a switch 151 connected to the piezoelectric body 145, and a high frequency power source 148 and a switch 155 connected to the piezoelectric body 146.

The slider 141 is formed of a synthetic resin such as acrylic or a metal plate, and is in pressure contact with the rod-shaped elastic body 143.

The rod-shaped elastic body 143 is made of metal such as brass or aluminum,
The vibrating part has a length that is an integral multiple of 1/2 wavelength, and is located at a position between the node and the antinode of the standing wave (between the 1/4 wavelengths) at odd multiples or even multiples of the 1/4 wavelength. , For example, standing wave for backward movement (B)
For one wavelength, and 1 / for the standing wave (A) for forward movement
Extraction book so that there are two wavelength intervals.
9 are provided. The width of the convex portion 149 is 1/4 of the standing wave.
It is less than or equal to the wavelength.

The piezoelectric bodies 145 and 146 are, for example, piezoelectric ceramics for exciting the standing wave (B) for backward movement and the standing wave (A) for forward movement, respectively, and are polarized in opposite directions for each 1/2 wavelength as shown in FIG. There is.

The power source 147 is a backward high frequency power source, and the power source 148 is a forward high frequency power source.

The switches 151 and 155 are selection means for selectively energizing the two piezoelectric bodies 145 and 146.

Therefore, the switch 151 is turned on to turn on the high frequency power source 147 and the piezoelectric body.
When a bending standing wave as shown in FIG. 16B is excited in the elastic body 143 by the 145, the positional relationship between the node of the standing wave and the convex portion 149 of the elastic body 143 is as shown in FIG. So slider 141
Moves (retracts) to the piezoelectric body 145 side.

Meanwhile, the switch 155 is turned on to turn on the high frequency power source 148 and the piezoelectric body 14.
When the bending standing wave as shown in FIG. 16A is excited in the elastic body 143 by 6, the node of the standing wave moves to the opposite side of the convex portion 149 with respect to the position in the case of FIG. The slider 141 moves (forwards) in a direction away from the piezoelectric body 146.

According to the fifth embodiment described above, ultrasonic waves are reflected at the ends of the rod-shaped elastic body 143 to generate a standing wave in the rod-shaped elastic body 143, and the standing wave is located between the node and the antinode. Since the convex portion 149 that selects the motion component in the node direction from the antinode of the wave is located, it is not necessary to provide an energy return system for the ultrasonic wave at the end of the rod-shaped elastic body 143, and the slider 141 can be easily formed by the standing wave. It can be driven efficiently by the structure.

In addition, two piezoelectric bodies 14 excited in opposite directions for each 1/2 wavelength that excite two types of standing waves with a wavelength of 1: 2.
5,146 are provided, and two piezoelectric bodies 145,
Since the 146 is selectively energized, the slider 141 can be moved forward and backward without changing the position of the convex portion 149.

[Sixth Embodiment] A sixth embodiment of the present invention (an ultrasonic motor that moves two contact bodies in opposite directions) will be described below with reference to FIGS. 18 and 19.

The elastic body ring 243 of this embodiment includes an extraction body for selecting a specific moving direction of the bending standing wave, for example, a convex portion such as a protrusion.
249 and 250 are located in front of and behind the node of the bending standing wave, and between the node of the bending standing wave and the antinode (between quarter wavelengths),
A plurality of regions are provided at odd multiples or even multiples of ¼ wavelength, for example, a plurality of regions are equally spaced at intervals of ½ wavelength of the standing wave to be excited.

The elastic ring 243 has a ring length that is an integral multiple of the wavelength of the standing wave. The widths of the convex portions 249 and 250 are set to ¼ wavelength or less of the standing wave.

Further, contact bodies, such as rotors 241, 242, which contact the convex portions 249, 250, respectively, are provided on the concentric circles.

Therefore, when flexural vibration is caused in the elastic ring 243 and the ring is excited so as to have a standing wave of 9 wavelengths, for example, the elastic ring arranged at equal intervals of 1/2 wavelength of the standing wave. Nodes of standing waves are generated near the convex portions 249 and 250 of 243.
Therefore, the motion components in the opposite directions of the standing wave are transmitted to the plurality of convex portions 249 and 250, and the rotors 241 and 242 can rotate in the opposite directions.

[Seventh Embodiment] A seventh embodiment of the present invention (an ultrasonic motor in which the moving speeds of two contact bodies are different) will be described below with reference to FIGS. 20 and 21.

The vibrating portion of the rod-shaped elastic body 343 of this embodiment has a length that is an integral multiple of ½ wavelength, and is between the node of the standing wave and the antinode (1 /
At positions (between four wavelengths), convex portions 349 and 350 such as extractors, for example, protrusions are provided for each odd-numbered or even-numbered multiple of 1/4 wavelength, for example, for each 1/2 wavelength. The widths of the convex portions 349 and 350 are not more than a quarter wavelength of the standing wave, and the widths of the both portions 349 and 350 are different.

Further, sliders 341 and 342 are provided in contact with the convex portions 349 and 350, respectively.

Therefore, when a standing wave is excited in the rod-shaped elastic body 343, the rod-shaped elastic bodies 34 arranged at equal intervals every ½ wavelength of the standing wave.
A bending standing wave node is generated in the vicinity of the convex portions 349 and 350 of 3.
At that time, since the widths of the convex portions 349 and 350 are different,
The amount of motion components extracted in one direction is different from that of 350. Therefore, it is possible to change the moving speed while moving the slider 341 and the slider 342 in the same direction.

[Modification]

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and the following modifications can be made.

(1) In the above embodiment, the example in which the contact body in contact with the extract body moves has been described, but the contact body may be fixed and the vibrating body may move. That is, it is sufficient that the vibrating body and the contact body move relative to each other.

(2) Although the convex portion and the roller are shown as the extractor, they may be corrugated irregularities.

(3) In the above-mentioned embodiment, the extract bodies are positioned in the even-numbered or odd-numbered quarter-wavelength sections and are arranged at 1 / 2-wavelength intervals. However, if the even-numbered or odd-numbered rule is met, It is not always necessary to arrange at intervals of ½ wavelength, and for example, as shown in FIG. 22, the interval P of the extraction bodies 269 provided on the vibrating body 263 may be set for each wavelength λ. Further, the extract bodies 269 may not be provided at equal intervals except for problems such as efficiency. That is, irregular intervals may be used.

(4) As shown in FIG. 23, in principle, the extractor 279 on the surface of the vibrating body 273 is desirably provided in a portion that does not include the node N and the antinode L in the quarter wavelength section of the standing wave. As shown by 279 ', a shape slightly protruding to the belly L (or node N) is also allowed. Of course, in this case, the protruding portion from the belly L or the node N becomes a loss.

(5) The extractor 289 of FIG. 24 partially protrudes from a predetermined quarter wavelength section, but of course, this structure is included in the concept of the present invention. That is, in the extractor 289, the coupling portion C with the vibrating body 283 may be substantially 1/4 wavelength or less.
This structure may be effective because the contact area with the contact body that contacts the extract body 289 is increased and the frictional force is increased.

(6) Although the Langevin oscillator or the piezoelectric ceramic is shown as the excitation source in the above embodiment, a magnetostrictive oscillator or the like may be used. Further, the vibrating body may be vibrated by using a permanent magnet or an electromagnetic magnet.

(7) In the third embodiment, the piezoelectric ring 45 is divided into two sections, and each of them is polarized in the opposite direction for each ½ wavelength to rotate the rotor 41 in the forward and reverse directions. In the fifth embodiment, the wavelength is changed. Instead, the slider 141 was moved forward and backward, but the extractor was separated from the vibrating body so that the position of the extractor could be changed, and the position of the extractor was changed by operating the selection means such as a lever to reverse the normal direction. Alternatively, it may be moved forward or backward.

(8) The sixth embodiment can be applied to a linear type ultrasonic motor. The seventh embodiment can also be applied to a rotary type ultrasonic motor. Furthermore, a combination of both is also possible. For example, three extractors may be provided, three sliders may be provided, and the first and second sliders may move in the same direction but different speeds, and the third slider may move in the opposite direction.

(9) In the above embodiments, the ultrasonic motor is shown as a device that causes movement in one direction from a standing wave. However, electronics that use magnetic recording media, such as focus adjustment of an autofocus camera and tape recorders and floppy disk drive devices. It can also be applied to precision positioning devices such as products, industrial robots, machine tools and XY plotters.

Further, in the above-mentioned embodiment, the ultrasonic motor provided with the rotor as the contact body is shown, but as the device for causing the movement in one direction from the standing wave, the contact body may not be necessarily provided, and the paper or the card may be used. It is also possible to bring the extract into contact with something that needs to be rotated, and rotate the extract.

Therefore, in this case, the paper or the card corresponds to the contact body.
Therefore, it can be applied to a paper feeding device, a card feeding device, and the like.

〔The invention's effect〕

The present invention provides a vibrating source that generates a vibration of a specific frequency, a vibrating body that is excited by the vibrating source, and the vibrating body and the contact body between a node and an antinode of a standing wave that is generated in the vibrating body. An extractor which is provided in contact with the vibrating body and which selects a motion component in the node direction from the antinode of the standing wave generated in the vibrating body and transmits it to the contact body. In a device that causes a motion in one direction from a standing wave that relatively moves in one direction, the extractor is provided in a plurality of rows with respect to the vibrating body, and the contact body is provided with respect to the extractors in the plurality of rows. The plurality of contact bodies can be driven in one direction because they are provided for each row.

[Brief description of drawings]

FIGS. 1 to 6 are views for explaining the first embodiment of the present invention, and FIGS. 1 and 2 (A) and (B) show a roller when an elastic body is excited by a standing wave. Of the relationship between the rotation direction and the position of Fig. 3, Fig. 3 and Fig. 4 are waveform diagrams showing the vibration pattern of the standing wave, and Fig. 5 and Fig. 6 are diagrams showing the state in which the contact body is placed. is there. 7 to 9 are diagrams showing a second embodiment of the present invention.
FIG. 7 is a view showing the structure of the ultrasonic motor, FIG. 8 is a view showing the structure of the elastic ring, and FIG. 9 is a view showing the structure of the piezoelectric ring. 10 to 12 are views showing a third embodiment of the present invention. FIG. 10 is a view showing the structure of an ultrasonic motor, FIG. 11 is a view showing the structure of an elastic ring, and FIG. The figure shows the structure of the piezoelectric ring. 13 to 15 are views showing a fourth embodiment of the present invention, FIG. 13 is a view showing the structure of an ultrasonic motor, FIG. 14 is a view showing the structure of a rod-shaped elastic body, and FIG. The figure is a diagram showing the structure of the piezoelectric body. 16 and 17 are views showing a fifth embodiment of the present invention, FIG. 16 is a view showing the structure of an ultrasonic motor, and FIG. 17 is a view showing the structure of a piezoelectric body. 18 and 19 are diagrams showing a sixth embodiment of the present invention. 20 and 21 are views showing a seventh embodiment of the present invention. 22 to 24 are views showing a modified example of the present invention. 1 ... Elastic body, 2 ... Vibration source, 3 ... Roller, 4 ... Convex part, 5 ... Contact body, 41 ... Rotor, 43 ... Elastic ring, 45 ... Piezo ring, 47 ... … High frequency power source, 49… Convex part, 141… Slider, 143… Rod-shaped elastic body, 145,146…
… Piezoelectric body, 147,148 …… High frequency power supply, 149 …… Convex part, 151,
155 …… Switch, 241,242 …… Slider, 243 …… Elastic ring, 249,250 …… Convex section, 341,342 …… Slider, 34
3 ... Rod-shaped elastic body, 349, 350 ... Convex part

Claims (1)

[Claims] 1. A vibrating body that generates a vibration of a specific frequency, a vibrating body that is excited by the vibrating body, and a node and an antinode of a standing wave that is generated in the vibrating body. And an extractor which is provided in contact with and which transmits a moving component in the node direction from the antinode of the standing wave generated in the vibrating body and transmits it to the contacting body. In a device that causes movement in one direction from a standing wave that moves in one direction relative to each other, the extractor is provided in a plurality of rows with respect to the vibrating body, and the contact body is provided in the plurality of rows of extractors. On the other hand, a device that causes movement in one direction from a standing wave, which is provided for each row.