CN114884396A

Movatterモバイル変換

Info

Publication number: CN114884396A
Application number: CN202210817630.2A
Authority: CN
Inventors: 刘晓亮
Original assignee: Binzhou University
Current assignee: Shandong University Of Aeronautics And Astronautics
Priority date: 2022-07-13
Filing date: 2022-07-13
Publication date: 2022-08-09
Anticipated expiration: 2042-07-13
Also published as: CN114884396B

Abstract

Translated fromChinese

本申请公开了一种超声电机及海洋环境监测装置，超声电机包括定子以及转子，摩擦件位于定子与转子之间，增加定子与转子间的摩擦力，以提高定子与转子间的能量转换率；摩擦件安装于转子，且摩擦件靠近定子的一侧设置有凹坑织构，定子与凹坑织构对应的位置设有凸起；或者摩擦件安装于定子，且摩擦件靠近转子的一侧设置有凹坑织构，转子与凹坑织构对应的位置设有凸起；凸起与凹坑织构的边界在机械切削以及嵌合作用下，可增加摩擦件与定子（或是转子）间的摩擦力，进而提高摩擦件与定子（或是转子）间接触界面的摩擦系数，以提高接触界面的能量转换效率，且可防止转子与定子间的转动产生延迟，以提高转子的响应速度，进而提高超声电机的响应速度。

The application discloses an ultrasonic motor and a marine environment monitoring device. The ultrasonic motor includes a stator and a rotor, and a friction member is located between the stator and the rotor to increase the friction force between the stator and the rotor, so as to improve the energy conversion rate between the stator and the rotor; The friction piece is installed on the rotor, and the side of the friction piece close to the stator is provided with a pit texture, and the position corresponding to the pit texture is provided with a protrusion; or the friction piece is mounted on the stator, and the side of the friction piece close to the rotor The pit texture is provided, and the position corresponding to the rotor and the pit texture is provided with a protrusion; the boundary between the protrusion and the pit texture can increase the friction member and the stator (or the rotor) under the action of mechanical cutting and fitting. The friction force between the friction parts and the stator (or rotor) is improved, so as to improve the energy conversion efficiency of the contact interface, and can prevent the rotation between the rotor and the stator from being delayed, so as to improve the response speed of the rotor. , thereby improving the response speed of the ultrasonic motor.

Description

Translated fromChinese

超声电机及海洋环境监测装置Ultrasonic motor and marine environment monitoring device

技术领域technical field

本申请涉及海洋环境监测领域，尤其涉及一种超声电机及海洋环境监测装置。The present application relates to the field of marine environment monitoring, in particular to an ultrasonic motor and a marine environment monitoring device.

背景技术Background technique

海洋环境监测的任务包括海洋环境监测、海洋环境风险监测、海洋环境监管监测以及公益服务监测四个方面，以作用于海洋生态环境的保护。海洋环境监测装置通常具有遥感载荷以及保持遥感载荷稳定工作的驱动电机；但是，相关技术中，驱动电机的响应速度较低，不能满足海洋环境监测的需求。The tasks of marine environment monitoring include four aspects: marine environment monitoring, marine environment risk monitoring, marine environment supervision monitoring and public service monitoring, so as to protect the marine ecological environment. The marine environment monitoring device usually has a remote sensing load and a drive motor that keeps the remote sensing load working stably; however, in the related art, the response speed of the drive motor is low, which cannot meet the needs of marine environment monitoring.

发明内容SUMMARY OF THE INVENTION

本申请实施例提供了一种超声电机及海洋环境监测装置，能够提高海洋环境监测装置中驱动电机的响应速度，以满足海洋环境监测的需求。The embodiments of the present application provide an ultrasonic motor and a marine environment monitoring device, which can improve the response speed of the driving motor in the marine environment monitoring device to meet the needs of marine environment monitoring.

第一方面，本申请的提供了一种超声电机，包括：In a first aspect, the present application provides an ultrasonic motor, comprising:

振动组件，包括压电陶瓷以及位于所述压电陶瓷一侧的定子；a vibration component, including a piezoelectric ceramic and a stator on one side of the piezoelectric ceramic;

移动组件，包括转子以及摩擦件，所述转子位于所述定子远离所述压电陶瓷的一侧，所述摩擦件位于所述定子与所述转子之间，所述摩擦件安装于所述转子，且所述摩擦件靠近所述定子的一侧设置有凹坑织构，所述定子与所述凹坑织构对应的位置设有凸起，所述凸起嵌入所述凹坑织构内；或者所述摩擦件安装于所述定子，且所述摩擦件靠近所述转子的一侧设置有所述凹坑织构，所述转子与所述凹坑织构对应的位置设有所述凸起，所述凸起嵌入所述凹坑织构内。A moving assembly includes a rotor and a friction member, the rotor is located on the side of the stator away from the piezoelectric ceramic, the friction member is located between the stator and the rotor, and the friction member is mounted on the rotor , and the side of the friction member close to the stator is provided with a pit texture, the stator is provided with a protrusion at the position corresponding to the pit texture, and the protrusion is embedded in the pit texture ; or the friction piece is installed on the stator, and the side of the friction piece close to the rotor is provided with the dimple texture, and the rotor is provided with the dimple texture at the position corresponding to the dimple texture The protrusions are embedded in the dimple texture.

在其中一些实施例中，所述摩擦件的材料为改性聚酰亚胺基复合材料。In some of the embodiments, the material of the friction member is a modified polyimide-based composite material.

在其中一些实施例中，超声电机还包括：In some of these embodiments, the ultrasonic motor further includes:

底座，所述压电陶瓷固定于所述底座；a base, the piezoelectric ceramic is fixed on the base;

壳体，所述壳体与所述底座围设形成容纳空间，所述振动组件以及所述移动组件位于所述容纳空间内，且所述壳体开设有第一通孔；a housing, wherein the housing and the base are enclosed to form an accommodating space, the vibration component and the moving component are located in the accommodating space, and the housing is provided with a first through hole;

所述移动组件还包括转动轴，所述转动轴包括主体轴以及挡位板，所述挡位板连接于所述主体轴的周侧，所述主体轴与所述转子动力连接，所述主体轴的一端穿出所述第一通孔，所述挡位板位于所述容纳空间内，且所述挡位板的一侧抵压于所述壳体，另一侧抵压于所述转子。The moving assembly further includes a rotating shaft, the rotating shaft includes a main body shaft and a gear plate, the gear plate is connected to the peripheral side of the main body shaft, the main body shaft is connected with the rotor power, and the main body shaft is connected to the rotor. One end of the shaft passes through the first through hole, the gear plate is located in the accommodating space, and one side of the gear plate is pressed against the casing, and the other side is pressed against the rotor .

在其中一些实施例中，所述转子上开设有第二通孔，所述定子上开设有第三通孔，所述底座上开设有第四通孔，所述第二通孔、所述第三通孔以及所述第四通孔三者的轴线均与所述第一通孔的轴线共线，所述转动轴远离所述壳体的一端依次穿设于所述第二通孔、所述第三通孔以及所述第四通孔，且与所述第一通孔、所述第二通孔、所述第三通孔以及所述第四通孔间隙配合。In some embodiments, a second through hole is formed on the rotor, a third through hole is formed on the stator, a fourth through hole is formed on the base, the second through hole, the first through hole The axes of the third through hole and the fourth through hole are all collinear with the axis of the first through hole. The third through hole and the fourth through hole are in clearance fit with the first through hole, the second through hole, the third through hole and the fourth through hole.

在其中一些实施例中，所述移动组件还包括压力垫片，所述压力垫片位于所述挡位板与所述转子之间。In some of these embodiments, the moving assembly further includes a pressure washer located between the gear plate and the rotor.

在其中一些实施例中，所述转子与所述定子间的法向预压力为200N-300N。In some of the embodiments, the normal pre-pressure between the rotor and the stator is 200N-300N.

在其中一些实施例中，所述摩擦件上的凹坑织构为圆形，且所述凹坑织构的面积密度为7.06%。In some of the embodiments, the dimple texture on the friction member is circular, and the area density of the dimple texture is 7.06%.

在其中一些实施例中，所述定子配置有定子主体以及多个定子齿，所述定子齿凸设于所述定子主体靠近所述转子的一侧，且所述的定子齿围设形成一圆环状；In some of the embodiments, the stator is configured with a stator body and a plurality of stator teeth, the stator teeth are protruded on a side of the stator body close to the rotor, and the stator teeth are surrounded to form a circle ring;

所述转子配置有转子主体以及抵接环，所述抵接环凸设于所述转子主体靠近所述定子齿的一侧，所述摩擦件安装于所述抵接环远离所述转子主体的一侧，所述抵接环通过所述摩擦件抵压于所述定子齿。The rotor is provided with a rotor body and an abutment ring, the abutment ring is protruded on the side of the rotor body close to the stator teeth, and the friction member is installed on the abutment ring away from the rotor body. On one side, the abutting ring is pressed against the stator teeth through the friction member.

在其中一些实施例中，所述移动组件还包括轴承，所述轴承套设在所述主体轴的周侧；In some of the embodiments, the moving assembly further includes a bearing sleeved on the peripheral side of the main body shaft;

所述壳体设有容置槽，部分所述轴承位于所述容置槽内，所述轴承的一端与所述挡位板抵接，另一端与所述壳体抵接。The housing is provided with an accommodating groove, part of the bearing is located in the accommodating groove, one end of the bearing is abutted with the baffle plate, and the other end is abutted with the housing.

第二方面，本申请的提供了一种海洋环境监测装置，包括:In a second aspect, the application provides a marine environment monitoring device, comprising:

监测组件，包括遥感载荷、基座、横滚框架、俯仰框架以及方位框架，所述遥感载荷安装于所述基座，所述横滚框架沿X轴安装于所述基座，所述俯仰框架沿Y轴安装于所述横滚框架，所述方位框架沿Z轴安装于所述俯仰框架，所述X轴、所述Y轴以及所述Z轴两两相互垂直；及A monitoring assembly includes a remote sensing load, a base, a roll frame, a pitch frame and an azimuth frame, the remote sensing load is mounted on the base, the roll frame is mounted on the base along the X axis, and the pitch frame is mounted on the roll frame along the Y axis, the azimuth frame is mounted on the pitch frame along the Z axis, and the X axis, the Y axis and the Z axis are perpendicular to each other; and

上述的超声电机，所述超声电机包括第一超声电机、第二超声电机以及第三超声电机，所述第一超声电机安装于所述基座，所述第一超声电机与所述横滚框架连接并能够驱动所述横滚框架绕X轴旋转，所述第二超声电机安装于所述横滚框架，所述第二超声电机与所述俯仰框架连接并能够驱动所述俯仰框架绕Y轴旋转，所述第三超声电机安装于所述俯仰框架，所述第三超声电机与所述方位框架连接并能够驱动所述方位框架绕Z轴旋转。The above ultrasonic motor, the ultrasonic motor includes a first ultrasonic motor, a second ultrasonic motor and a third ultrasonic motor, the first ultrasonic motor is mounted on the base, the first ultrasonic motor and the rolling frame Connected and capable of driving the roll frame to rotate around the X axis, the second ultrasonic motor is mounted on the roll frame, the second ultrasonic motor is connected to the pitch frame and can drive the pitch frame to rotate around the Y axis Rotating, the third ultrasonic motor is mounted on the pitching frame, the third ultrasonic motor is connected with the azimuth frame and can drive the azimuth frame to rotate around the Z axis.

基于本申请实施例中提供的超声电机，转子在定子表面产生的行波作用下进行转动，摩擦件位于定子与转子之间，增加定子与转子之间的摩擦力，以提高定子与转子间的能量转换率；摩擦件安装于转子，且摩擦件靠近定子的一侧设置有凹坑织构，定子与凹坑织构对应的位置设有凸起，凸起嵌入凹坑织构内；或者摩擦件安装于定子，且摩擦件靠近转子的一侧设置有凹坑织构，转子与凹坑织构对应的位置设有凸起，凸起嵌入凹坑织构内；凸起与凹坑织构的边界在机械切削以及嵌合作用下，可增加摩擦件与定子（或是转子）间的摩擦力，进而提高摩擦件与定子（或是转子）间接触界面的摩擦系数，以提高接触界面的能量转换效率，且可防止转子与定子间的转动产生延迟，以提高转子的响应速度，进而提高超声电机的响应速度。Based on the ultrasonic motor provided in the embodiment of the present application, the rotor rotates under the action of traveling waves generated on the surface of the stator, and the friction member is located between the stator and the rotor to increase the friction force between the stator and the rotor, so as to improve the friction between the stator and the rotor. Energy conversion rate; the friction part is installed on the rotor, and the side of the friction part close to the stator is provided with a pit texture, and the position corresponding to the stator and the pit texture is provided with a protrusion, and the protrusion is embedded in the pit texture; or friction The friction piece is installed on the stator, and the side of the friction piece close to the rotor is provided with a pit texture, and the position corresponding to the rotor and the pit texture is provided with a protrusion, and the protrusion is embedded in the pit texture; the protrusion and pit texture Under the action of mechanical cutting and fitting, the boundary of the friction part can increase the friction force between the friction part and the stator (or rotor), thereby increasing the friction coefficient of the contact interface between the friction part and the stator (or rotor), so as to improve the contact interface. Energy conversion efficiency, and can prevent the rotation between the rotor and the stator from being delayed, so as to improve the response speed of the rotor, thereby improving the response speed of the ultrasonic motor.

附图说明Description of drawings

为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

图1为本申请一种实施例中的超声电机的整体结构示意图；1 is a schematic diagram of the overall structure of an ultrasonic motor in an embodiment of the application;

图2为图1中沿A-A方向的剖切示意图；Fig. 2 is the cutaway schematic diagram along the A-A direction in Fig. 1;

图3为本申请一种实施例中的超声电机的爆炸示意图；3 is an exploded schematic diagram of an ultrasonic motor in an embodiment of the application;

图4为本申请一种实施例中的压电陶瓷的结构示意图；4 is a schematic structural diagram of a piezoelectric ceramic in an embodiment of the application;

图5为本申请一种实施例中的摩擦件的输出性能示意图；5 is a schematic diagram of the output performance of a friction member in an embodiment of the application;

图6为本申请一种实施例中的海洋环境监测装置的结构示意图；6 is a schematic structural diagram of a marine environment monitoring device in an embodiment of the application;

图7为本申请一种实施例中的海洋环境监测装置的另一角度的结构示意图。FIG. 7 is a schematic structural diagram of another angle of the marine environment monitoring device in an embodiment of the present application.

标记说明：Tag Description:

100、超声电机；10、振动组件；11、压电陶瓷；111、压电陶瓷片；12、定子；121、第三通孔；122、定子主体；123、定子齿；100, ultrasonic motor; 10, vibration component; 11, piezoelectric ceramic; 111, piezoelectric ceramic sheet; 12, stator; 121, third through hole; 122, stator body; 123, stator teeth;

20、移动组件；21、转子；211、第二通孔；212、转子主体；213、抵接环；22、摩擦件；23、转动轴；231、主体轴；232、挡位板；24、压力垫片；25、轴承；20, moving assembly; 21, rotor; 211, second through hole; 212, rotor body; 213, abutment ring; 22, friction part; 23, rotating shaft; 231, main body shaft; 232, gear plate; 24, Pressure gasket; 25. Bearing;

30、底座；31、第四通孔；32、置物槽；30, the base; 31, the fourth through hole; 32, the storage slot;

40、壳体；41、第一通孔；42、容置槽；40, housing; 41, first through hole; 42, accommodating groove;

50、容纳空间；50. Accommodating space;

61、遥感载荷；62、基座；63、横滚框架；64、俯仰框架；65、方位框架；61, remote sensing load; 62, base; 63, roll frame; 64, pitch frame; 65, azimuth frame;

71、A相；72、B相。71, A phase; 72, B phase.

具体实施方式Detailed ways

为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

为了解决上述问题，第一方面，请参见图1至图3，本申请提供了一种超声电机100，超声电机100可包括振动组件10以及移动组件20，振动组件10可包括压电陶瓷11以及设置在压电陶瓷11一侧的定子12；移动组件20可包括转子21以及摩擦件22，转子21位于定子12远离压电陶瓷11的一侧，摩擦件22位于定子12与转子21之间。In order to solve the above problems, in the first aspect, please refer to FIG. 1 to FIG. 3, the present application provides anultrasonic motor 100, theultrasonic motor 100 may include avibration component 10 and a movingcomponent 20, thevibration component 10 may includepiezoelectric ceramics 11 and The stator 12 is arranged on one side of thepiezoelectric ceramic 11 ; the movingcomponent 20 may include arotor 21 and afriction member 22 .

请结合图4，压电陶瓷11可包括多个压电陶瓷片111，压电陶瓷片111的表面镀银，银材质可作为压电陶瓷片111的电极以与外界电路连通，外界电路可为压电陶瓷片111提供交流电；同时银的电阻率（常温下）较低，导电性能较好，进而可提高压电陶瓷片111的响应速度，同时也可提高电能的利用率。Please refer to FIG. 4 , thepiezoelectric ceramic 11 may include a plurality of piezoelectricceramic sheets 111 , the surface of the piezoelectricceramic sheet 111 is plated with silver, and the silver material can be used as the electrode of the piezoelectricceramic sheet 111 to communicate with the external circuit, and the external circuit may be The piezoelectricceramic sheet 111 provides alternating current; at the same time, the resistivity of silver (at room temperature) is relatively low, and the electrical conductivity is better, thereby improving the response speed of the piezoelectricceramic sheet 111 and improving the utilization rate of electric energy.

压电陶瓷片111可设置为环状，请参见图4，且每一压电陶瓷片111的其中一个表面可进行二分区，其中的一个分区可进行正向极化（图中的黑色填充部分），另一个分区进行反向极化。极化后的压电陶瓷片111受到电场的作用，可产生形变；具体来说，极化方向与电场方向相同的分区，压电陶瓷片111可产生伸长变形；极化方向与电场的方向相反的分区，压电陶瓷片111可产生压缩变形；进而每一压电陶瓷片111在交流电场的作用下，就可使压电陶瓷片111产生横向弯曲振动。The piezoelectricceramic sheet 111 can be arranged in a ring shape, see FIG. 4 , and one surface of each piezoelectricceramic sheet 111 can be divided into two partitions, one of which can be forward polarized (the black filled part in the figure). ), the other partition is reverse polarized. The polarized piezoelectricceramic sheet 111 can be deformed by the action of the electric field; specifically, the piezoelectricceramic sheet 111 can be elongated and deformed in the zone where the polarization direction is the same as the electric field direction; the polarization direction and the direction of the electric field On the contrary, the piezoelectricceramic sheet 111 can be compressed and deformed; and each piezoelectricceramic sheet 111 can generate transverse bending vibration of the piezoelectricceramic sheet 111 under the action of the AC electric field.

以四片压电陶瓷片111为例进行展开，请参加图4，四片压电陶瓷片111设置为两组，且将第一组称为A相71，第二组称为B相72。Taking four piezoelectricceramic sheets 111 as an example, please refer to FIG. 4 , the four piezoelectricceramic sheets 111 are arranged in two groups, and the first group is calledA phase 71 , and the second group is calledB phase 72 .

A相71包括第一压电陶瓷片以及第二压电陶瓷片，第一压电陶瓷片包括正向极化区以及反向极化区，正向极化区与反向极化区关于环形的第一压电陶瓷片所在平面的中心点对称；第二压电陶瓷片中的正向极化区以及反向极化区相较于第一压电陶瓷片中的正向极化区以及反向极化区的排布方向绕中心点沿顺时针方向转动180度；B相72包括第三压电陶瓷片以及第四压电陶瓷片，第三压电陶瓷片中的正向极化区以及反向极化区相较于第二压电陶瓷片中的正向极化区以及反向极化区的排布方向绕中心点沿逆时针方向转动90度，第四压电陶瓷片中的正向极化区以及反向极化区相较于第三压电陶瓷片中的正向极化区以及反向极化区的排布方向绕中心点沿逆时针方向转动180度。TheA phase 71 includes a first piezoelectric ceramic sheet and a second piezoelectric ceramic sheet. The first piezoelectric ceramic sheet includes a forward polarization region and a reverse polarization region, and the forward polarization region and the reverse polarization region are about a ring shape. The center point of the plane where the first piezoelectric ceramic sheet is located is point-symmetric; the forward polarized area and the reverse polarized area in the second piezoelectric ceramic sheet are compared with the forward polarized area and the reverse polarized area in the first piezoelectric ceramic sheet The arrangement direction of the reverse polarization zone is rotated 180 degrees clockwise around the center point; theB phase 72 includes a third piezoelectric ceramic sheet and a fourth piezoelectric ceramic sheet, and the forward polarization in the third piezoelectric ceramic sheet Compared with the forward polarization region and the reverse polarization region in the second piezoelectric ceramic sheet, the arrangement direction of the region and the reverse polarization region is rotated 90 degrees counterclockwise around the center point, and the fourth piezoelectric ceramic sheet Compared with the forward polarization region and the reverse polarization region in the third piezoelectric ceramic sheet, the arrangement direction of the forward polarization region and the reverse polarization region is rotated 180 degrees counterclockwise around the center point.

进一步地，A相71通以sinωt（sinωt的振动频率等于定子12的弯曲共振频率）交流电压时，定子12将产生左右弯曲共振；B相72通以与A相同频率、同幅度的cosωt交变电压，定子12产生的前后弯曲共振。需要说明的是，定子12的弯曲共振频率取决于定子12的材料，可根据定子12的弯曲共振的频率，调整A相71以及B相72通以交流电的振动频率。Further, when the A-phase 71 is connected to the alternating voltage of sinωt (the vibration frequency of sinωt is equal to the bending resonance frequency of the stator 12), the stator 12 will generate left and right bending resonance; voltage, the front and rear bending resonance generated by the stator 12. It should be noted that the bending resonance frequency of the stator 12 depends on the material of the stator 12 , and the vibration frequency at which the A-phase 71 and the B-phase 72 are supplied with alternating current can be adjusted according to the bending resonance frequency of the stator 12 .

A相71通以sinωt交流电压，同时B相72通以cosωt交流电压，A相71的左右弯曲共振与B相72的前后弯曲共振进行合成，以使定子12产生旋转弯曲的模态，以使定子12远离压电陶瓷11的一侧产生行波，进而可使定子12远离压电陶瓷11的一侧上的任一质子可产生椭圆运动。The A-phase 71 is connected to the sinωt AC voltage, while the B-phase 72 is connected to the cosωt AC voltage. The left and right bending resonances of the A-phase 71 and the front and rear bending resonances of the B-phase 72 are synthesized, so that the stator 12 generates a rotating bending mode, so that the The side of the stator 12 away from the piezoelectric ceramic 11 generates traveling waves, so that any proton on the side of the stator 12 away from the piezoelectric ceramic 11 can generate elliptical motion.

进一步地，请参见图3，转子21可设置为圆盘状，且圆盘状的转子21的轴线与环状的压电陶瓷11的轴线共线，以便于转子21在行波的作用下做转动，且可使转子21转动角度以及转动速度较为均匀。Further, please refer to FIG. 3 , therotor 21 can be set in a disc shape, and the axis of the disc-shapedrotor 21 is collinear with the axis of the annular piezoelectric ceramic 11, so that therotor 21 can operate under the action of traveling waves. The rotation angle and rotation speed of therotor 21 can be made more uniform.

摩擦件22安装于转子21，在定子12与摩擦件22间的界面摩擦力的作用下，定子12表面做椭圆运动的质子可推动转子21沿与定子12表面的行波方向相反的方向转动；摩擦件22用于增加定子12与转子21间的摩擦力，以使转子21在行波的作用下，增加定子12与转子21间的能量转换率。同时摩擦件22可设置为环状，且与压电陶瓷11的位置对应；摩擦件22的内径以及外径不做具体限制，可与压电陶瓷11的内径以及外径相同也可不同，需根据实际需求进行设置。Thefriction piece 22 is installed on therotor 21, and under the action of the interface friction force between the stator 12 and thefriction piece 22, the protons in the elliptical motion on the surface of the stator 12 can push therotor 21 to rotate in the opposite direction to the traveling wave direction on the surface of the stator 12; Thefriction member 22 is used to increase the friction force between the stator 12 and therotor 21 , so that therotor 21 can increase the energy conversion rate between the stator 12 and therotor 21 under the action of traveling waves. At the same time, thefriction member 22 can be arranged in a ring shape, and corresponds to the position of the piezoelectric ceramic 11; the inner diameter and outer diameter of thefriction member 22 are not specifically limited, and can be the same as or different from the inner diameter and outer diameter of the piezoelectric ceramic 11. Set according to actual needs.

在一些实施例中，摩擦件22也可安装固定于定子12，以使转子21与摩擦件22间产生界面摩擦力。摩擦件22与转子21（或者定子12）间的安装方式可为粘接、卡接以及螺接等，可根据实际的需求进行设置。In some embodiments, thefriction member 22 can also be installed and fixed on the stator 12 to generate an interface friction force between therotor 21 and thefriction member 22 . The installation method between thefriction member 22 and the rotor 21 (or the stator 12 ) can be bonding, clamping, screwing, etc., which can be set according to actual needs.

定子12可设置为板状，具体的形状不做具体限制，本申请以定子12为圆形板状为例，圆形板状的定子12的边缘位置的振幅较大，可较为有效地驱动转子21进行转动。摩擦件22的轴线与定子12的中心轴线共线，以使摩擦件22与定子12的组装体较为规整。The stator 12 can be set in a plate shape, and the specific shape is not specifically limited. The present application takes the stator 12 as a circular plate shape as an example. The circular plate shape of the stator 12 has a larger amplitude at the edge position, which can drive the rotor more effectively. 21 to make a turn. The axis of thefriction member 22 is collinear with the central axis of the stator 12 , so that the assembly of thefriction member 22 and the stator 12 is relatively regular.

为了进一步地提高定子12与转子21间的能量转换效率，摩擦件22的表面可采用激光微细加工技术加工出凹坑织构；凹坑向内凹陷以与定子12表面（或者是转子21表面）的凸起相互嵌合，以提高摩擦件22的界面摩擦系数，进而提高摩擦件22与定子12间的摩擦力；通过增加定子12与摩擦件22间的摩擦系数，防止摩擦件22与定子12间的转动产生延迟，以提高转子21的响应速度，进而提高超声电机100的响应速度。In order to further improve the energy conversion efficiency between the stator 12 and therotor 21 , the surface of thefriction member 22 can be processed with a laser micromachining technology to produce a dimple texture; The protrusions of the friction parts are fitted with each other to increase the interface friction coefficient of thefriction part 22, thereby increasing the friction force between thefriction part 22 and the stator 12; by increasing the friction coefficient between the stator 12 and thefriction part 22, thefriction part 22 There is a delay between the rotations, so as to improve the response speed of therotor 21 , thereby increasing the response speed of theultrasonic motor 100 .

在一些实施例中，凹坑织构的形状可为圆状，也可为其他形状，需根据实际的需求设置，本申请中不做限定。In some embodiments, the shape of the pit texture may be circular, or may be other shapes, which need to be set according to actual requirements, which are not limited in this application.

需要说明的是，定子12表面的凸起是由于定子12表面的表面粗糙度而产生的凸起，利用凸起与凹坑织构配合，凸起与凹坑织构的边界在机械切削以及嵌合作用下，可增加摩擦件22与定子12（或是转子21）间的摩擦力，进而提高摩擦件22与定子12（或是转子21）间接触界面的摩擦系数，以提高接触界面的能量转换效率，且可防止转子21与定子12间的转动产生延迟，以提高转子21的响应速度，进而提高超声电机100的响应速度。It should be noted that the protrusions on the surface of the stator 12 are the protrusions generated by the surface roughness of the surface of the stator 12. By using the texture of the protrusions and the pits, the boundaries between the protrusions and the texture of the pits are used in mechanical cutting and embedding. Under the cooperative action, the friction force between thefriction member 22 and the stator 12 (or the rotor 21 ) can be increased, thereby increasing the friction coefficient of the contact interface between thefriction member 22 and the stator 12 (or the rotor 21 ), so as to increase the energy of the contact interface. The conversion efficiency can be improved, and the rotation delay between therotor 21 and the stator 12 can be prevented, so as to improve the response speed of therotor 21 and the response speed of theultrasonic motor 100 .

需要说明的是，在一些情况下，可通过对定子12（或者转子21）的靠近摩擦件22的表面进行研磨以使定子12（或者转子21）的表面达到所需的粗糙度需求，即是在此种粗糙度下，定子12表面的凸起能够较好地与凹坑织构配合。It should be noted that, in some cases, the surface of the stator 12 (or the rotor 21 ) close to thefriction member 22 can be ground to make the surface of the stator 12 (or the rotor 21 ) meet the required roughness requirements, that is, Under such roughness, the protrusions on the surface of the stator 12 can better match the pit texture.

进一步地，超声电机依靠定子12与设置在转子21上的摩擦件22间的摩擦界面的摩擦力输出力矩，同时转子21通常质量小，可使转子21的惯性小且响应快，以实现断电自锁，同时超声电机的位移分辨率高，可实现微米级的控制精度。Further, the ultrasonic motor relies on the frictional force of the friction interface between the stator 12 and thefriction element 22 arranged on therotor 21 to output torque, and therotor 21 is usually small in mass, so that the inertia of therotor 21 is small and the response is fast, so as to realize power failure. Self-locking, and the displacement resolution of the ultrasonic motor is high, which can achieve micron-level control accuracy.

为了提高定子12以及转子21两者的强度以及使用寿命，定子12的材料可为磷青铜材质，转子21的材料可为铝合金材质；在一些实施例中，定子12以及转子21两者的材料可根据实际情况设置，在本申请中不做具体限制。In order to improve the strength and service life of both the stator 12 and therotor 21, the material of the stator 12 may be phosphor bronze, and the material of therotor 21 may be aluminum alloy; in some embodiments, the material of both the stator 12 and therotor 21 It can be set according to the actual situation, and no specific limitation is made in this application.

摩擦件22的材料可为改性聚酰亚胺基复合材料，可通过添加功能填料，例如碳纤维、聚四氟乙烯和石墨固体润滑剂以及对位聚苯酚，以获得改性聚酰亚胺基复合材料；改性聚酰亚胺基复合材料可改善摩擦件22的各向异性（各向异性是指物质的全部或部分化学、物理等性质随着方向的改变而有所变化，在不同的方向上呈现出差异的性质）、耐磨性和热稳定性；进一步也可通过调整功能填料的比例，提高摩擦件22的弹性模量以及摩擦系数。本申请中的改性聚酰亚胺基复合材料的摩擦件22的弹性模量为9.39GPa，界面等效平均摩擦系数可达到0.28，玻璃化温度为243℃。The material of thefriction member 22 can be a modified polyimide-based composite material, and a modified polyimide-based composite material can be obtained by adding functional fillers, such as carbon fiber, polytetrafluoroethylene and graphite solid lubricants and para-polyphenol. Composite material; modified polyimide-based composite material can improve the anisotropy of friction member 22 (anisotropy means that all or part of the chemical, physical and other properties of the substance change with the change of direction, and in different It shows different properties in the direction), wear resistance and thermal stability; furthermore, the elastic modulus and friction coefficient of thefriction member 22 can be improved by adjusting the proportion of functional fillers. The elastic modulus of thefriction member 22 of the modified polyimide-based composite material in the present application is 9.39 GPa, the equivalent average friction coefficient of the interface can reach 0.28, and the glass transition temperature is 243°C.

进一步地，超声电机还包括底座30以及壳体40，壳体40与底座30围设形成容纳空间50，振动组件10以及移动组件20位于容纳空间50内，以防止振动组件10以及移动组件20受到外界因素的影响。Further, the ultrasonic motor further includes abase 30 and acasing 40 , thecasing 40 and the base 30 are surrounded to form anaccommodation space 50 , and thevibration assembly 10 and the movingassembly 20 are located in theaccommodation space 50 to prevent thevibration assembly 10 and the movingassembly 20 from being damaged. the influence of external factors.

压电陶瓷11安装固定于底座30，底座30的形状不做具体的限制，可根据实际的需求进行设置。本申请中以底座30的形状为正方形板状为例进行展开，且压电陶瓷11的中心轴线与底座30的中心轴线共线；一方面，底座30可为压电陶瓷11提供安装的承载体；另一方面，以使压电陶瓷11与底座30的组装体较为规整。进一步地，具体的安装方式可为粘接、卡接或是螺接等连接方式，具体可根据实际的需求进行设置。The piezoelectric ceramic 11 is installed and fixed on thebase 30 , and the shape of thebase 30 is not specifically limited, and can be set according to actual needs. In this application, the shape of thebase 30 is taken as an example of a square plate, and the central axis of the piezoelectric ceramic 11 is collinear with the central axis of thebase 30 ; on the one hand, thebase 30 can provide a mounting body for the piezoelectric ceramic 11 ; On the other hand, to make the assembly of the piezoelectric ceramic 11 and the base 30 more regular. Further, the specific installation method may be a connection method such as bonding, clamping or screwing, which may be set according to actual needs.

移动组件20还包括转动轴23，转动轴23用于将转子21的转动运动传递至待驱动件。转动轴23包括主体轴231以及挡位板232，主体轴231与转子21动力连接，挡位板232连接于主体轴231的周侧，挡位板232可设置为环状，环状的挡位板232的截面可为L状，且L状的竖直边可与主体轴231抵接，增加挡位板232与主体轴231的接触面积，进而增加挡位板232与主体轴231连接的牢固性；具体的连接方式可为粘接、螺接以及卡接等，需根据实际的需求进行设置。The movingassembly 20 also includes arotating shaft 23 for transmitting the rotating motion of therotor 21 to the to-be-driven member. The rotatingshaft 23 includes amain shaft 231 and agear plate 232. Themain shaft 231 is dynamically connected to therotor 21. Thegear plate 232 is connected to the peripheral side of themain shaft 231. The cross section of theplate 232 can be L-shaped, and the vertical side of the L-shaped can be in contact with themain shaft 231 to increase the contact area between thegear plate 232 and themain shaft 231 , thereby increasing the firmness of the connection between thegear plate 232 and themain shaft 231 The specific connection methods can be bonding, screwing and clamping, etc., which need to be set according to actual needs.

请结合图1，壳体40开设有第一通孔41，主体轴231的一端穿出第一通孔41，挡位板232位于容纳空间50内，且挡位板232的一侧抵压于壳体40，另一侧抵压于转子21，进而可利用挡位板232与转子21间的摩擦力，以使挡位板232与转子21靠摩擦传动的方式连接，进而以使转子21可带动转动轴23转动。Referring to FIG. 1 , thecasing 40 defines a first throughhole 41 , one end of themain shaft 231 passes through the first throughhole 41 , thestop plate 232 is located in theaccommodating space 50 , and one side of thestop plate 232 is pressed against the first throughhole 41 . The other side of thecasing 40 is pressed against therotor 21, and the friction force between thegear plate 232 and therotor 21 can be used to connect thegear plate 232 and therotor 21 by frictional transmission, so that therotor 21 can be connected. The rotatingshaft 23 is driven to rotate.

在一些实施例中，转动轴23的一端也可直接与转子21固定连接，且使转动轴23的轴线与转子21的轴线共线，进而可使转子21带动转动轴23直接转动；此时，转动轴23与转子21的连接方式可为粘接、卡接、螺接等方式，也可利用连接销（连接销的连接方式较为常见，此处不做具体展开）进行固定连接。In some embodiments, one end of therotating shaft 23 can also be directly and fixedly connected to therotor 21, and the axis of therotating shaft 23 and the axis of therotor 21 are collinear, so that therotor 21 can drive the rotatingshaft 23 to rotate directly; at this time, The connection method between therotating shaft 23 and therotor 21 can be bonding, clamping, screwing, etc., or can be fixedly connected by connecting pins (connecting pins are relatively common, and will not be specifically expanded here).

转子21上可开设有第二通孔211，定子12上可开设有第三通孔121，底座30上开设有第四通孔31，第二通孔211、第三通孔121以及第四通孔31三者的轴线均与第一通孔41的轴线共线，转动轴23远离壳体40的一端依次穿设于第二通孔211、第三通孔121以及第四通孔31，且与第一通孔41、第二通孔211、第三通孔121以及第四通孔31间隙配合。进而转动轴23一端穿设于第一通孔41，另一端通过第二通孔211以及第三通孔121与第四通孔31间隙配合，且壳体40与底座30的位置相对固定，可为转动轴23起到径向支撑以及定位的作用。A second throughhole 211 may be opened on therotor 21 , a third throughhole 121 may be opened on the stator 12 , a fourth throughhole 31 may be opened on thebase 30 , the second throughhole 211 , the third throughhole 121 and the fourth throughhole 121 The axes of the threeholes 31 are all collinear with the axis of the first throughhole 41 , and the end of therotating shaft 23 away from thehousing 40 passes through the second throughhole 211 , the third throughhole 121 and the fourth throughhole 31 in sequence, and Clearly fit with the first throughhole 41 , the second throughhole 211 , the third throughhole 121 and the fourth throughhole 31 . Further, one end of therotating shaft 23 is penetrated through the first throughhole 41 , and the other end is in clearance fit with the fourth throughhole 31 through the second throughhole 211 and the third throughhole 121 , and the positions of thehousing 40 and the base 30 are relatively fixed, so that the It plays the role of radial support and positioning for therotating shaft 23 .

进一步地，移动组件20还包括压力垫片24，压力垫片24可设置为环状，围设在主体轴231的周侧，且位于挡位板232与转子21之间。同时挡位板232的一侧抵压于壳体40，通过调整挡位板232与定子12间的压力垫片24的厚度，就可调节定子12与转子21之间的压力。Further, the movingassembly 20 further includes apressure washer 24 , and thepressure washer 24 may be arranged in a ring shape, surrounded on the peripheral side of themain body shaft 231 , and located between thegear plate 232 and therotor 21 . At the same time, one side of thegear plate 232 is pressed against thecasing 40 . By adjusting the thickness of thepressure pad 24 between thegear plate 232 and the stator 12 , the pressure between the stator 12 and therotor 21 can be adjusted.

压力垫片24可包括多个垫片，每一垫片均具有一定的厚度。在转动轴23的轴线方向上，通过增加或减少挡位板232与定子12间的垫片数量，以增加或是减小转子21与定子12间的法向预压力。具体来说，挡位板232与定子12间的垫片的数量增加，定子12与转子21间的法向预压力增加，使定子12与转子21间的摩擦力增加，提高定子12与转子21间的能量传递效率，进而提高定子12输出的能量利用率。挡位板232与定子12间的垫片数量减少，定子12与转子21间的法向预压力减小，则定子12与转子21间的摩擦力减小。Thepressure gasket 24 may include a plurality of gaskets, each gasket having a certain thickness. In the axial direction of therotating shaft 23 , the normal preload between therotor 21 and the stator 12 is increased or decreased by increasing or decreasing the number of spacers between theshift plate 232 and the stator 12 . Specifically, the number of spacers between thegear plate 232 and the stator 12 is increased, the normal pre-pressure between the stator 12 and therotor 21 is increased, the friction force between the stator 12 and therotor 21 is increased, and the stator 12 and therotor 21 are increased. The energy transfer efficiency between the two, thereby improving the energy utilization rate of the output of the stator 12 . The number of spacers between theshift plate 232 and the stator 12 is reduced, the normal pre-pressure between the stator 12 and therotor 21 is reduced, and the frictional force between the stator 12 and therotor 21 is reduced.

通过调节垫片的数量，以使施加在定子12与转子21间的压力在200N-300N的范围内，同时压电陶瓷11片的激振频率在41-42kHz范围内可调。By adjusting the number of spacers, the pressure applied between the stator 12 and therotor 21 is in the range of 200N-300N, and the excitation frequency of thepiezoelectric ceramics 11 is adjustable in the range of 41-42kHz.

本申请以定子12与转子21间的法向预压力为240N，压电陶瓷11片的激振频率为41.45kHz为例，请参见图5，压电陶瓷11接入交流电的瞬间，转动轴23的输出转速为160r/min，且转动轴23的堵转力矩可达到1.3N·m；输出力矩为1.0N·m时的输出转速可以达到116.1r/min，同时摩擦件22与定子12间的摩擦界面的能量转换效率大于40%的有效输出力矩范围为0.5N·m至1.15N·m，输出的效率值为44.29%，输出转速可为126.7r/min，输出力矩可为0.8N·m。In this application, the normal pre-pressure between the stator 12 and therotor 21 is 240N, and the excitation frequency of thepiezoelectric ceramics 11 is 41.45kHz. Please refer to FIG. The output speed is 160r/min, and the stall torque of therotating shaft 23 can reach 1.3N·m; when the output torque is 1.0N·m, the output speed can reach 116.1r/min. At the same time, the friction between thefriction member 22 and the stator 12 The energy conversion efficiency of the friction interface is greater than 40%, and the effective output torque range is 0.5N·m to 1.15N·m, the output efficiency value is 44.29%, the output speed can be 126.7r/min, and the output torque can be 0.8N·m .

为了进一步地提高转子21与定子12间的能量转换效率，可通过增加摩擦件22表面上的凹坑织构的面积密度，以增加摩擦件22与定子12间的摩擦力；需要说明的是，摩擦件22上的凹坑织构的面积密度是指摩擦件22表面上的凹坑织构的面积与摩擦件22表面的面积的比值。摩擦件22上的凹坑织构的面积密度可为7.06%，摩擦件22与定子12间的接触界面间等效平均摩擦系数可达到0.34，转动轴23的堵转力矩可达到1.45N·m，输出力矩为1.0N·m时的输出转速提高到121.3r/min，最高能量转换效率可达到47.12%，效率值大于40%的有效输出力矩的范围为0.5N·m至1.15N·m，进而可使超声电机的综合输出性能得到进一步地提升。In order to further improve the energy conversion efficiency between therotor 21 and the stator 12, the friction force between thefriction member 22 and the stator 12 can be increased by increasing the area density of the dimple texture on the surface of thefriction member 22; it should be noted that, The area density of the dimple texture on thefriction member 22 refers to the ratio of the area of the dimple texture on the surface of thefriction member 22 to the area of the surface of thefriction member 22 . The area density of the pit texture on thefriction member 22 can be 7.06%, the equivalent average friction coefficient between the contact interface between thefriction member 22 and the stator 12 can reach 0.34, and the stall torque of therotating shaft 23 can reach 1.45N·m , when the output torque is 1.0N·m, the output speed is increased to 121.3r/min, the maximum energy conversion efficiency can reach 47.12%, and the effective output torque with an efficiency value greater than 40% is in the range of 0.5N·m to 1.15N·m, Thus, the comprehensive output performance of the ultrasonic motor can be further improved.

进一步地，请参见图2至图3，定子12配置有定子主体122以及多个定子齿123，定子齿123凸出设置于定子主体122靠近转子21的一侧，且的定子齿123围设形成一圆环状；转子21配置有转子主体212以及抵接环213，转子主体212可设置为圆状，以便于在行波的驱动下做转动；抵接环213凸设于转子主体212的边缘处，且与圆环状的定子齿123对应设置；进而以使抵接环213通过摩擦件22抵压于定子齿123，定子齿123的设置可调节定子12的固有模态，获得与压电陶瓷11较佳的共振频率以及使定子12达到较大的振幅，以提高行波的能量。Further, referring to FIGS. 2 to 3 , the stator 12 is configured with astator body 122 and a plurality ofstator teeth 123 , thestator teeth 123 are protrudingly disposed on the side of thestator body 122 close to therotor 21 , and thestator teeth 123 are formed around the Therotor 21 is provided with arotor body 212 and anabutment ring 213. Therotor body 212 can be set in a circular shape to facilitate rotation under the driving of traveling waves; theabutment ring 213 is protruded from the edge of therotor body 212 and corresponding to theannular stator teeth 123; further, theabutment ring 213 is pressed against thestator teeth 123 through thefriction member 22, and the setting of thestator teeth 123 can adjust the natural mode of the stator 12, so as to obtain a piezoelectric The better resonant frequency of the ceramic 11 and the larger amplitude of the stator 12 are used to increase the energy of the traveling wave.

移动组件20还包括轴承25，轴承25套设在主体轴231的周侧；壳体40开设有容置槽42，轴承25位于容置槽42内，轴承25的一端与挡位板232抵接，另一端与壳体40抵接；同时轴承25与主体轴231过盈配合，轴承25可对主体轴231起到径向支撑以及定位的作用；同时可减小主体轴231的周侧与第一通孔41间的摩擦力，进而可利用轴承25的转动，以使转动轴23较为顺畅的转动，进而可提高转动轴23的输出效率；进一步地，容置槽42的设置可减小容纳空间50的尺寸，以使产生超声电机小型化，同时减小超声电机的重量。The movingassembly 20 further includes abearing 25 , which is sleeved on the peripheral side of themain shaft 231 ; thehousing 40 is provided with anaccommodating groove 42 , thebearing 25 is located in theaccommodating groove 42 , and one end of thebearing 25 is in contact with thestop plate 232 , the other end is in contact with thehousing 40; at the same time, thebearing 25 is in an interference fit with themain shaft 231, and thebearing 25 can radially support and position themain shaft 231; The frictional force between a throughhole 41 can be used to rotate thebearing 25 to make therotating shaft 23 rotate more smoothly, thereby improving the output efficiency of therotating shaft 23; further, the setting of theaccommodating groove 42 can reduce the capacity The size of thespace 50 is to miniaturize the generated ultrasonic motor while reducing the weight of the ultrasonic motor.

进一步地，底座30上也可开设有置物槽32，且置物槽32的开口形状为圆状，且置物槽32的轴线与第四通孔31的轴线共线；进而可使轴承25安装于主体轴231的周侧，且与主体轴231过盈配合，轴承25放置于置物槽32内，且轴承25的周侧与置物槽32的内壁间过盈配合，以使轴承25较为稳固地安装于置物槽32内，进而轴承25可对主体轴231起到径向支撑以及定位的作用；Further, thebase 30 can also be provided with astorage slot 32, and the shape of the opening of thestorage slot 32 is circular, and the axis of thestorage slot 32 is collinear with the axis of the fourth throughhole 31; and thebearing 25 can be installed on the main body. The peripheral side of theshaft 231 is in an interference fit with themain shaft 231, thebearing 25 is placed in thestorage slot 32, and the peripheral side of thebearing 25 is in an interference fit with the inner wall of thestorage slot 32, so that thebearing 25 is relatively stably installed in thestorage slot 32. In thestorage groove 32, and thebearing 25 can radially support and position themain shaft 231;

传统驱动方式包括直流电机、传动机构以及减速机构，超声电机相较于传统驱动方式，略去了传动机构以及减速机构，可实现转动轴23的直接驱动待驱动件，进而可减小驱动系统的体积以及重量，以提高超声电机的续航能力；同时也可提高超声电机的传动效率；进一步地，可降低超声电机产生的误差以及延时，以提高超声电机的响应速度。The traditional driving method includes a DC motor, a transmission mechanism and a deceleration mechanism. Compared with the traditional driving method, the ultrasonic motor omits the transmission mechanism and the deceleration mechanism, which can realize the direct drive of therotating shaft 23 and the to-be-driven part, thereby reducing the drive system. The volume and weight of the ultrasonic motor can be improved to improve the endurance of the ultrasonic motor; the transmission efficiency of the ultrasonic motor can also be improved; further, the error and delay generated by the ultrasonic motor can be reduced to improve the response speed of the ultrasonic motor.

第二方面，请参见图6至图7，本申请提供了一种海洋环境监测装置，海洋环境监测装置包括监测组件以及上述的超声电机100，监测组件包括遥感载荷61、基座62、横滚框架63、俯仰框架64以及方位框架65，遥感载荷61固定安装于基座62，安装方式可为粘接、卡接以及螺接等，具体可根据实际的情况进行设置。In the second aspect, please refer to FIG. 6 to FIG. 7 , the present application provides a marine environment monitoring device, the marine environment monitoring device includes a monitoring component and the above-mentionedultrasonic motor 100 , and the monitoring component includes aremote sensing load 61 , abase 62 , a roll Theframe 63 , thepitch frame 64 and theazimuth frame 65 , and theremote sensing load 61 are fixedly installed on thebase 62 .

基座62可设置为框架结构，横滚框架63沿X轴安装在基座62上，绕X轴旋转；俯仰框架64沿Y轴安装在横滚框架63上，绕Y轴旋转；方位框架65沿Z轴安装在俯仰框架64上，绕Z轴旋转；X轴、Y轴以及Z轴两两相互垂直，进而可使横滚框架63和俯仰框架64跟踪海洋的地理水平，方位框架跟踪飞行航向。The base 62 can be set as a frame structure, theroll frame 63 is mounted on thebase 62 along the X axis and rotates around the X axis; thepitch frame 64 is mounted on theroll frame 63 along the Y axis and rotates around the Y axis; theazimuth frame 65 It is installed on thepitch frame 64 along the Z axis and rotates around the Z axis; the X axis, the Y axis and the Z axis are perpendicular to each other, so that theroll frame 63 and thepitch frame 64 can track the geographical level of the ocean, and the azimuth frame can track the flight heading .

超声电机100可包括第一超声电机、第二超声电机以及第三超声电机，第一超声电机安装于基座62，且第一超声电机的转动轴23与横滚框架63连接，第一超声电机驱动横滚框架63绕X轴旋转，调整横滚框架63的转动角度，以控制海洋环境监测装置X轴方向的自由度；第二超声电机安装于横滚框架63，且第二超声电机的转动轴23与俯仰框架64连接，第二超声电机驱动俯仰框架64绕Y轴旋转，调整俯仰框架64的转动角度，以控制海洋环境监测装置Y轴方向的自由度；第三超声电机安装于俯仰框架64，且第三超声电机的转动轴23与方位框架65连接，第三超声电机驱动方位框架65绕Z轴旋转，调整方位框架65的转动角度，以控制海洋环境监测装置Z轴方向的自由度。Theultrasonic motor 100 may include a first ultrasonic motor, a second ultrasonic motor, and a third ultrasonic motor. The first ultrasonic motor is mounted on thebase 62, and therotating shaft 23 of the first ultrasonic motor is connected to the rollingframe 63. The first ultrasonic motor Theroll frame 63 is driven to rotate around the X-axis, and the rotation angle of theroll frame 63 is adjusted to control the degree of freedom in the X-axis direction of the marine environment monitoring device; the second ultrasonic motor is installed on theroll frame 63, and the rotation of the second ultrasonic motor Theshaft 23 is connected with thepitching frame 64, the second ultrasonic motor drives thepitching frame 64 to rotate around the Y-axis, and adjusts the rotation angle of thepitching frame 64 to control the degree of freedom in the Y-axis direction of the marine environment monitoring device; the third ultrasonic motor is installed on thepitching frame 64, and therotating shaft 23 of the third ultrasonic motor is connected with theazimuth frame 65, the third ultrasonic motor drives theazimuth frame 65 to rotate around the Z-axis, and adjusts the rotation angle of theazimuth frame 65 to control the degree of freedom of the Z-axis direction of the marine environment monitoring device .

横滚框架63、俯仰框架64以及方位框架65三者的回转轴正交于一点，以使底座30的位置相对稳定，进而使安装在底座30上的遥感载荷61的位置稳定，便于安装在底座30的遥感载荷61进行海洋环境的监测。The rotation axes of theroll frame 63, thepitch frame 64 and theazimuth frame 65 are orthogonal to one point, so that the position of thebase 30 is relatively stable, thereby making the position of theremote sensing load 61 installed on the base 30 stable, which is convenient for installation on the base Theremote sensing payload 61 of 30 conducts monitoring of the marine environment.

相较于传统的海洋环境监测装置的驱动系统：直流电机、传动机构以及减速机构的驱动方式，超声电机100的驱动更为直接，进而可有效提高驱动精度以及响应速度。Compared with the traditional driving system of the marine environment monitoring device: the driving mode of the DC motor, the transmission mechanism and the deceleration mechanism, the driving of theultrasonic motor 100 is more direct, which can effectively improve the driving accuracy and response speed.

同时摩擦件22的材料为改性聚酰亚胺基复合材料，改性聚酰亚胺基复合材料具备较好的热稳定性以及抗腐蚀性，可有效改善海洋环境监测装置的环境适应性以及应用范围。At the same time, the material of thefriction member 22 is a modified polyimide-based composite material. The modified polyimide-based composite material has good thermal stability and corrosion resistance, which can effectively improve the environmental adaptability of the marine environment monitoring device and Scope of application.

在一些实施例中，遥感载荷也可为相应的功能监测组件，也可进行海域测绘、海洋参数反演、海事监管和突发情况应急响应等。In some embodiments, the remote sensing load can also be a corresponding functional monitoring component, and can also perform sea area mapping, marine parameter inversion, maritime supervision, and emergency response to emergencies.

本实施例的附图中相同或相似的标号对应相同或相似的部件；在本申请的描述中，需要理解的是，若有术语“上”、“下”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此附图中描述位置关系的用语仅用于示例性说明，不能理解为对本专利的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。The same or similar numbers in the drawings of this embodiment correspond to the same or similar components; in the description of this application, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. structure and operation, so the terms describing the positional relationship in the accompanying drawings are only used for exemplary illustration, and should not be construed as a limitation on this patent, and those of ordinary skill in the art can understand the specific meanings of the above terms according to specific situations.

以上仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. Inside.