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Justia Patents Eliptical Motion At Fixed Point (i.e., Walking) Or Ratchet And Pawl MotorUS Patent Application for Ultrasonic Motor Patent Application (Application #20090051249)
Ultrasonic Motor
Provided is an ultrasonic motor capable of realizing high torque. When two terminals are selected from a first terminal (31t), a second terminal (32t), and a third terminal (33t) of a vibrator (3), and AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through both of those two terminals, vibration is generated in the stator vibration body (S), and elliptical vibration in a plane corresponding to the selected two terminals is generated at each of a step (9) of a first stator (2) and a corner (11) of a second stator (10), which are in contact with a rotor (6). Since the first stator (2) and the second stator (10) form the single stator vibration body (S), the step (9) of the first stator (2) and the corner (11) of the second stator (10) vibrate in the same vibration mode, rotational force is transmitted from both the step (9) of the first stator (2) and the corner (11) of the second stator (10), and the rotor (6) rotates with high torque.
The present invention relates to an ultrasonic motor, in particular, to a motor which rotates a rotor while holding it in press contact with a stator.
BACKGROUND ART
In recent years, an ultrasonic motor which rotates a rotor by utilizing ultrasonic vibration has been proposed and put into practical use. In this ultrasonic motor, progressive wave is generated on the surface of a stator by using a piezoelectric element, and the stator is held in press contact with a rotor, whereby the rotor is moved by virtue of a frictional force therebetween.
For example, Patent Document 1 discloses a multiple-degree-of-freedom ultrasonic motor in which a rotor is held in press contact with a stator by applying a preload to the rotor by means of a spring through a bearing, and, in this state, a drive voltage is applied to a plurality of piezoelectric element plates superimposed one upon the other to generate ultrasonic vibration in the stator, thereby rotating the rotor. Here, the term "preload" means a pressure with which the rotor is pressed against the stator at least in a state in which no electricity is being supplied to the piezoelectric elements.
Patent Document 1: JP 2004-312809 A
DISCLOSURE OF THE INVENTION Problem to be Solved by the Invention
However, since the bearing is held in contact with the rotor so as to apply the preload, there is involved a reduction in torque due to frictional loss.
The present invention has been made with a view to solve the above problem in the related art. It is therefore an object of the present invention to provide an ultrasonic motor capable of realizing high torque.
Means for Solving the Problems
An ultrasonic motor according to a first aspect of the present invention includes: a plurality of stators arranged so as to be opposed to each other; a substantially spherical rotor held by the plurality of stators; and a single stator vibration means provided commonly for the plurality of stators and vibrating the plurality of stators so as to generate driving forces in the same direction to rotate the rotor.
An ultrasonic motor according to a second aspect of the present invention includes: a stator; a rotor held in contact with and supported by the stator; a stator vibration means that vibrates the stator to rotate the rotor; a preload member arranged so as to be held in contact with a surface of the rotor at least when the ultrasonic motor is at rest; and a preload member vibration means for preloading the rotor with respect to the stator by vibrating the preload member.
An ultrasonic motor according to a third aspect of the present invention includes: a stator; a substantially spherical rotor held in contact with and supported by the stator; a stator vibration means that vibrates the stator to rotate the rotor; a preload member opposed to the surface of the rotor; and a preload member vibration means for vibrating the preload member at least when rotating the rotor to generate a preloading force for preloading the rotor with respect to the stator by a radiation pressure from the preload member.
Effect of the Invention
According to the present invention, it is possible to obtain an ultrasonic motor capable of realizing high torque.
FIG. 1 is a sectional view showing an ultrasonic motor according to Embodiment 1 of the present invention.
FIG. 2 is a plan view showing the ultrasonic motor of Embodiment 1.
FIG. 3 is a partial sectional view showing the construction of a vibrator used in Embodiment 1.
FIG. 4 is a perspective view showing the polarizing directions of three pairs of piezoelectric element plates of the vibrator used in Embodiment 1.
FIG. 5 is a partial enlarged sectional view showing the ultrasonic motor of Embodiment 1.
FIG. 6 is a plan sectional view showing the stator configuration in a modification of Embodiment 1.
FIG. 7 is a sectional view showing an ultrasonic motor according to Embodiment 2.
FIG. 9 is a side view showing an ultrasonic motor according to Embodiment 4.
FIG. 10 is a plan view showing the ultrasonic motor of Embodiment 4.
FIG. 11 is a partial sectional view showing the construction of a vibrator in Embodiment 4.
FIG. 12 is a sectional view showing an ultrasonic motor according to Embodiment 5.
FIG. 14 is a partial enlarged sectional view showing the ultrasonic motor of Embodiment 5.
FIG. 15 is a plan sectional view showing the configuration of a preload member in a modification of Embodiment 5.
FIG. 18 is a partial sectional view showing the construction of a vibrator used in Embodiment 7.
FIG. 19 is a plan view showing an ultrasonic motor according to a modification of Embodiment 7.
FIG. 21 is a sectional view showing an ultrasonic motor according to Embodiment 9 of the present invention.
FIG. 23 is a perspective view showing the configuration of a ring member of Embodiment 9.
FIG. 24 is a partial sectional view showing the ring member of Embodiment 9.
FIG. 26 is a plan view showing an ultrasonic motor according to Embodiment 10.
FIG. 27 is a partial enlarged sectional view showing an ultrasonic motor according to a modification of Embodiment 10.
FIG. 28 is a sectional view showing an ultrasonic motor according to Embodiment 11.
FIG. 29 is a plan view showing the ultrasonic motor of Embodiment 11.
FIG. 30 is a partial sectional view showing the construction of a vibrator used in Embodiment 11.
BEST MODES FOR CARRYING OUT THE INVENTION
In the following, embodiments of the present invention will be described with reference to the accompanying drawings.
FIGS. 1 and 2 show a multi-degree-of-freedom ultrasonic motor according to Embodiment 1 of the present invention. A cylindrical vibrator 3 constituting a stator vibrating means is held between a base block 1 and a first stator 2, and the base block 1 and the first stator 2 are connected to each other by a connection bolt 4 passed through the vibrator 3. The multi-degree-of-freedom ultrasonic motor as a whole exhibits a substantially columnar outward appearance. Here, for the sake of convenience in illustration, the central axis of the columnar outer configuration extending from the base block 1 toward the first stator 2 will be referred to as Z-axis; an X-axis extends perpendicularly to the Z-axis, and a Y-axis extends perpendicularly to the Z-axis and the X-axis.
The vibrator 3 has flat-plate-like first to third piezoelectric element portions 31 to 33 situated in the XY-plane and superimposed one upon the other; the piezoelectric element portions 31 to 33 are insulated from the stator 2 and the base block 1 and from each other through insulation sheets 34 to 37.
On the side of the first stator 2 opposite to the surface thereof in contact with the vibrator 3, there is formed a recess 5, in which a substantially spherical rotor 6 is accommodated. The recess 5 includes a small diameter portion 7 whose inner diameter is smaller than the diameter of the rotor 6 and a large diameter portion 8 whose inner diameter is larger than the diameter of the rotor 6. At the boundary portion between the small diameter portion 7 and the large diameter portion 8, there is formed an annular step 9 situated in the XY-plane.
Further, an annular second stator 10 is arranged on top of the first stator 2 so as to be adjacent thereto in the Z-axis direction, and an annular corner 11 situated in the XY-plane is formed at the inner peripheral edge of the second stator 10. The second stator 10 is firmly fixed to the first stator 2 by means of a large number of, for example, twelve, fixation bolts 12, and the first stator 2 and the second stator 10 form a single stator vibration body S vibrating in the same vibration mode with respect to a vibration imparted from the vibrator 3.
The rotor 6 is held between the step 9 in the recess 5 and the corner 11 of the second stator 10 while in contact with both, and is supported rotatably.
For example, the base block 1, the first stator 2, and the second stator 10 are formed of duralumin, and the multi-degree-of-freedom ultrasonic motor as a whole is formed as a substantially columnar body having a diameter of 40 mm and a height of approximately 100 mm. A steel ball having a diameter of 25.8 mm is used as the rotor 6.
As shown in FIG. 3, the first piezoelectric element portion 31 of the vibrator 3 has a construction in which an electrode plate 31a, a piezoelectric element plate 31b, an electrode plate 31c, a piezoelectric element plate 31d, and an electrode plate 31e, all in a disc-like configuration, are successively superimposed one upon the other. Similarly, the second piezoelectric element portion 32 has a construction in which an electrode plate 32a, a piezoelectric element plate 32b, an electrode plate 32c, a piezoelectric element plate 32d, and an electrode plate 32e, all in a disc-like configuration, are successively superimposed one upon the other. The third piezoelectric element portion 33 has a construction in which an electrode plate 33a, a piezoelectric element plate 33b, an electrode plate 33c, a piezoelectric element plate 33d, and an electrode plate 33e, all in a disc-like configuration, are successively superimposed one upon the other.
As shown in FIG. 4, each of the pair of piezoelectric element plates 31b and 31d of the first piezoelectric element portion 31 is divided in the Y-axis direction into two portions of opposite polarities; they are polarized so as to perform opposite deformation behaviors of expansion and contraction in the Z-axis direction (thickness direction), with the piezoelectric element plates 31b and 31d being arranged so as to be reversed with respect to each other.
None of the pair of piezoelectric element plates 32b and 32d of the second piezoelectric element portion 32 is divided into two portions; they are polarized so as to perform as a whole deformation behavior of expansion or contraction in the Z-axis direction (thickness direction), with the piezoelectric element plates 32b and 32d being arranged so as to be reversed with respect to each other.
Each of the pair of piezoelectric element plates 33b and 33d of the third piezoelectric element portion 33 is divided in the X-axis direction into two portions of opposite polarities; they are polarized so as to perform opposite deformation behaviors of expansion and contraction in the Z-axis direction (the thickness direction), with the piezoelectric element plates 33b and 33d being arranged so as to be reversed with respect to each other.
As shown in FIGS. 1 and 3, the electrode plate 31a and the electrode plate 31e arranged at both surface portions of the first piezoelectric element portion 31, the electrode plate 32a and the electrode plate 32e arranged at both surface portions of the second piezoelectric element portion 32, and the electrode plate 33a and the electrode plate 33e arranged at both surface portions of the third piezoelectric element portion 33, are respectively electrically grounded. Further, a first terminal 31t is led out from the electrode plate 31c arranged between the pair of piezoelectric element plates 31b and 31d of the first piezoelectric element portion 31, a second terminal 32t is led out from the electrode plate 32c arranged between the pair of piezoelectric element plates 32b and 32d of the second piezoelectric element portion 32, and a third terminal 33t is led out from the electrode plate 33c arranged between the pair of piezoelectric element plates 33b and 33d of the third piezoelectric element portion 33.
Next, the operation of the multi-degree-of-freedom ultrasonic motor of Embodiment 1 will be described.
First, when an AC voltage of a frequency approximate to the natural frequency of the stator vibration body S formed by the first stator 2 and the second stator 10 is applied through the first terminal 31t to the vibrator 3, the portions of the pair of piezoelectric element plates 31b and 31d of the first piezoelectric element portion 31 divided into two alternately repeat expansion and contraction in the Z-axis direction, and flexural vibration in the Y-axis direction is generated in the stator vibration body S. When an AC voltage of a frequency approximate to the natural frequency of the stator vibration body S is applied through the second terminal 32t, the pair of piezoelectric element plates 32b and 32d of the second piezoelectric element portion 32 repeat expansion and contraction in the Z-axis direction, and longitudinal vibration in the Z-axis direction is generated in the stator vibration body S. When an AC voltage of a frequency approximate to the natural frequency of the stator vibration body S is applied through the third terminal 33t, the portions of the pair of piezoelectric element plates 33b and 33d of the third piezoelectric element portion 33 divided into two alternately repeat expansion and contraction in the Z-axis direction, and flexural vibration in the X-axis direction is generated in the stator vibration body S.
Thus, when AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through both the first terminal 31t and the second terminal 32t, flexural vibration in the Y-axis direction and longitudinal vibration in the Z-axis direction are combined, and elliptical vibration in the YZ-plane is generated at the step 9 of the first stator 2 and the corner 11 of the second stator 10, which are in contact with the rotor 6, with the result that the rotor 6 rotates around the X-axis due to frictional force.
Similarly, when AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through both the second terminal 32t and the third terminal 33t, flexural vibration in the X-axis direction and longitudinal vibration in the Z-axis direction are combined, and elliptical vibration in the XZ-plane is generated at the step 9 of the first stator 2 and the corner 11 of the second stator 10, which are in contact with the rotor 6, with the result that the rotor 6 rotates around the Y-axis due to frictional force.
Further, when AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through both the first terminal 31t and the third terminal 33t, flexural vibration in the X-axis direction and flexural vibration in the Y-axis direction are combined, and elliptical vibration in the XY-plane is generated at the step 9 of the first stator 2 and the corner 11 of the second stator 10, which are in contact with the rotor 6, with the result that the rotor 6 rotates around the Z-axis due to frictional force.
In this way, when two terminals are selected from the first terminal 31t, the second terminal 32t, and the third terminal 33t of the vibrator 3, and AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through both of those two terminals, vibration is generated in the stator vibration body S and, as indicated by the arrow dashed lines of FIG. 5, elliptical vibration in a plane corresponding to the selected two terminals is generated at each of the step 9 of the first stator 2 and the corner 11 of the second stator 10, which are in contact with the rotor 6.
At this time, since the first stator 2 and the second stator 10 form the single stator vibration body S, the step 9 of the first stator 2 and the corner 11 of the second stator 10 vibrate in the same vibration mode. Thus, rotational force is transmitted from both the step 9 of the first stator 2 and the corner 11 of the second stator 10, and the rotor 6 rotates with high torque.
Thus, by mounting an arm, an image pick-up device or the like (not shown) to the surface portion of the rotor 6 exposed through the annular second stator 10, it is possible to realize a multi-degree-of-freedom actuator, a camera for wide field range or the like.
The number of the fixation bolts 12 for fixing the second stator 10 to the first stator 2 is not restricted to twelve; there are no limitations regarding the number of the fixation bolts 12 as long as it is possible to fix the second stator 10 so as to form a single stator vibration body S in which the first stator 2 and the second stator 10 vibrate in the same vibration mode. Further, if it is possible to fix the second stator 10 to the first stator 2 while holding the rotor 6, a fixation means other than bolts, such as adhesion can be adopted. However, in order to form a single stator vibration body S, it is desirable to effect adhesion or the like utilizing the entire contact area of the first stator 2 and the second stator 10.
Further, it is also possible to adopt a construction in which at least one of the step 9 of the first stator 2 and the corner 11 of the second stator 10 is not in contact with the rotor 6 over the entire periphery thereof but, as shown in FIG. 6, is in contact therewith solely at a plurality of, e.g., four, peripheral positions thereon. This makes it possible to achieve a reduction in frictional loss due to the contact of the rotor 6 with the first stator 2 and/or the second stator 10, thereby enabling to realize a still higher torque. In this case, it is desirable for the plurality of contact portions C on the first stator 2 or the second stator 10 held in contact with the surface of the rotor 6 to be at positions symmetrical with respect to the rotor 6.
FIG. 7 shows a multi-degree-of-freedom ultrasonic motor according to Embodiment 2 of the present invention. In this multi-degree-of-freedom ultrasonic motor, the multi-degree-of-freedom ultrasonic motor of Embodiment 1 shown in FIG. 1 is modified such that, instead of the second stator 2 having the annular corner 11 at the inner peripheral edge, there is used a second stator 13 having an annular plate spring 13a. The annular plate spring 13a has elasticity so as to hold the rotor 6, and an inner peripheral edge 13b of the plate spring 13a is situated in the XY-plane to be in contact with the surface of the rotor 6.
As in the multi-degree-of-freedom ultrasonic motor of Embodiment 1, the second stator 13 is firmly fixed to the first stator 2 by twelve fixation bolts 12, and the first stator 2 and the second stator 13 form a single stator vibration body S in which the first stator 2 and the second stator 13 vibrate in the same vibration mode.
In Embodiment 2 also, two terminals are selected from the first terminal 31t, the second terminal 32t, and the third terminal 33t of the vibrator 3, and AC voltages are respectively applied, whereby vibration is generated in the stator vibration body S, and the step 9 of the first stator 2 and the inner peripheral edge 13b of the plate spring 13a of the second stator 13, which are in contact with the rotor 6, vibrate in the same vibration mode, causing the rotor 6 to rotate with high torque.
At this time, the inner peripheral edge 13b of the plate spring 13a is elastically in contact with the surface of the rotor 6, so the frictional forces between the rotor 6 and both of the step 9 of the first stator 2 and the inner peripheral edge 13b of the plate spring 13a of the second stator 13 increase, resulting in an increase in the torque for the rotor 6.
FIG. 8 shows a multi-degree-of-freedom ultrasonic motor according to Embodiment 3 of the present invention. In this multi-degree-of-freedom ultrasonic motor, the multi-degree-of-freedom ultrasonic motor of Embodiment 2 shown in FIG. 7 is modified such that, instead of the first stator 2 having the annular step 9 in the recess 5, there is used a first stator 14 having an annular plate spring 14a in the recess 5. Both the plate spring 14a of the first stator 14 and the annular plate spring 13a of the second stator 13 have elasticity so as to hold the rotor 6, and an inner peripheral edge 13b of the plate spring 13a and the inner peripheral edge 14b of the plate spring 14a are situated in the XY-plane to be in contact with the surface of the rotor 6.
As in the multi-degree-of-freedom ultrasonic motors of Embodiments 1 and 2, the second stator 13 is firmly fixed to the first stator 14 by the twelve fixation bolts 12, and the first stator 14 and the second stator 13 form the single stator vibration body S in which the first stator 14 and the second stator 13 vibrate in the same vibration mode.
In Embodiment 3 also, two terminals are selected from the first terminal 31t, the second terminal 32t, and the third terminal 33t of the vibrator 3, and AC voltages are respectively applied, whereby vibration is generated in the stator vibration body S, and the inner peripheral edge of 14b of the plate spring 14a of the first stator 14 and the inner peripheral edge 13b of the plate spring 13a of the second stator 13, which are in contact with the rotor 6, vibrate in the same vibration mode, causing the rotor 6 to rotate with high torque.
At this time, the inner peripheral edge 14b of the plate spring 14a of the first stator 14 and the inner peripheral edge 13b of the plate spring 13a of the second stator 13 are elastically in contact with the surface of the rotor 6, so the frictional forces between the rotor 6 and both of the inner peripheral edge 14b of the plate spring 14a of the first stator 14 and the inner peripheral edge 13b of the plate spring 13a of the second stator 13 increase, resulting in an increase in the torque for the rotor 6.
FIGS. 9 and 10 show a multi-degree-of-freedom ultrasonic motor according to Embodiment 4 of the present invention. While in the multi-degree-of-freedom ultrasonic motors of Embodiments 1 to 3 the first stator 2 or 14 and the second stator 10 or 13 are respectively formed integrally by fixation bolts 12 and arranged on one side of the vibrator 3. In the multi-degree-of-freedom ultrasonic motor of Embodiment 4, a first stator 15 and a second stator 16 are arranged on both sides of a vibrator 17 with the vibrator 17 therebetween.
The first stator 15 and the second stator 16 exhibit a ring-like configuration so as to surround the rotor 6 in the circumferential direction in an annular fashion, and have circular openings 15a and 16a having an inner diameter slightly smaller than the diameter of the rotor 6. The rotor 6 is exposed in both the +Z-axis direction and the −Z-axis direction through the opening 15a of the first stator 15 and the opening 16a of the second stator 16, respectively.
The vibrator 17 is circumferentially divided into four portions in the XY-plane and, as shown in FIG. 11, each portion has a structure in which an electrode plate 17a, a piezoelectric element plate 17b, and an electrode plate 17c are successively superimposed one upon the other. Each of the piezoelectric element plates 17b of the vibrator 17 divided into four is polarized so as to perform deformation behavior of expansion or contraction in the Z-axis direction (thickness direction). By applying an independent AC voltage between the electrode plates 17a and the 17c, the four divisional portions of the vibrator 17 can be drive-controlled independently of each other. The vibrator 17 is arranged while insulated from the first stator 15 and the second stator 16 through insulating sheets 18 and 19.
By drive-controlling the four divisional portions of the vibrator 17 independently of each other, elliptical vibration in a desired plane is generated at the peripheral edge portion of the opening 15a of the first stator 15 and the peripheral edge portion of the opening 16a of the second stator 16, which are held in contact with the rotor 6, for enabling them to vibrate in the same vibration mode, mapproximateg it possible to rotate the rotor 6 with high torque.
By supporting the first stator 15 and the second stator 16 by fixing members 20 at the positions of nodes formed when the first stator 15 and the second stator 16 are caused to vibrate by the vibrator 17, it is possible to support the multi-degree-of-freedom ultrasonic motor of Embodiment 4 while minimizing the influence on the vibration of the first stator 15 and the second stator 16.
For example, by mounting an arm, an image pick-up device or the like to the surface portions of the rotor 6 exposed in the +Z-axis direction and the −Z-axis direction through the opening 15a of the stator 15 and the opening 16a of the second stator 16, respectively, it is possible to realize a multi-degree-of-freedom actuator having a plurality of arms, a camera intended for a very wide field range or the like.
While in Embodiments 1 to 4 AC voltages whose phases are shifted by 90 degrees are applied through two terminals selected from the first terminal 31t, the second terminal 32t, and the third terminal 33t of the vibrator 3, the angle by which the phases are shifted is not restricted to 90 degrees but allows variation. Further, the voltage values of the AC voltages applied may be varied. By variously controlling the AC voltages, it is possible to control the elliptical vibrations generated in the first stator 2, 14, 15 and the second stator 10, 13, 16.
Further, while in Embodiments 1 to 4 the contact of the first stator 2, 15 and the second stator 10, 16 with the rotor 6 is effected at corner portions such as the step 9 and the corner 11, this should not be construed restrictively. As long as transmission of elliptical motion is possible, contact can be adopted through a flat surface or a curved surface, and the manner of contact may be other than the annular one.
While in Embodiments 1 to 4 there is used a vibrator 3 which generates, as vibrations in three directions different from each other, longitudinal vibration in the Z-direction and flexural vibrations in the X and Y-directions, the vibrations may also be ones which are not thus orthogonal to each other. Further, while the vibrator generating vibrations in three directions uses piezoelectric elements corresponding to their respective directions, such as the first piezoelectric element portion 31, the second piezoelectric element portion 32, and the third piezoelectric element portion 33, it is also possible to synthesize vibrations of a plurality of piezoelectric element portions to generate the vibrations in the different directions, or to polarize one piezoelectric element portion into three or more to generate vibrations in two or more directions with a single piezoelectric element portion.
Further, while in Embodiments 1 to 4 two directions are selected from three directions to generate vibrations, it is also possible to apply AC voltage to all the piezoelectric elements corresponding to the three directions to generate a synthetic vibration under control of the phase and amplitude of the vibration in each direction.
FIGS. 12 and 13 show an ultrasonic motor according to Embodiment 5 of the present invention. The cylindrical vibrator 3 constituting the stator vibrating means is held between the base block 1 and a stator 41, and the base block 1 and the stator 41 are connected to each other by the connection bolt 4 passed through the vibrator 3, with the ultrasonic motor as a whole exhibiting a substantially columnar outward appearance. Here, for the sake of convenience in illustration, the central axis of the columnar outer configuration extending from the base block 1 toward the stator 41 will be referred to as Z-axis; the X-axis extends perpendicularly to the Z-axis, and the Y-axis extends perpendicularly to the Z-axis and the X-axis.
The vibrator 3 has the first to third flat-plate-like piezoelectric element portions 31 to 33 situated in the XY-plane and superimposed one upon the other; the piezoelectric element portions 31 to 33 are arranged while insulated from the stator 41 and the base block 1 and from each other through the insulation sheets 34 to 37.
The stator 41 has a recess 42 on the side opposite to the surface in contact with the vibrator 3, and the spherical rotor 6 is accommodated in the recess 42. The recess 42 includes a small diameter portion 43 whose inner diameter is smaller than the diameter of the rotor 6 and a large diameter portion 44 whose inner diameter is larger than the diameter of the rotor 6. At the boundary portion between the small diameter portion 43 and the large diameter portion 44, there is formed an annular step 45 situated in the XY-plane.
Further, a ring-like preload member 47 is elastically connected to the top portion of the stator 41 through an annular plate spring 46 so as to be adjacent thereto in the Z-axis direction. At the inner peripheral edge of the preload member 47, there is formed an annular corner 48 situated in the XY-plane, and the rotor 6 is held and rotatably supported while in contact with both the step 45 of the stator 41 and the corner 48 of the preload member 47.
Here, the preload member 47 is urged in the direction of the stator 41 by the plate spring 46, and a preload acts on the rotor 6 through the corner 48 of the preload member 47.
Further, due to the presence of the plate spring 46 between the stator 41 and the preload member 47, when vibration is generated in the stator 41 by the vibrator 3, the preload member 47 vibrates in a vibration mode different from the vibration mode of the stator 41.
For example, the base block 1, the stator 41, and the preload member 47 are formed of duralumin, and the ultrasonic motor as a whole is formed as a substantially columnar body having a diameter of 40 mm and a height of approximately 100 mm. A steel ball having a diameter of 25.8 mm is used as the rotor 6.
Here, as in the case of the vibrator 3, the portions indicated by the same reference numerals as those of Embodiment 1 are of the same construction as those of Embodiment 1.
Next, the operation of the ultrasonic motor of Embodiment 5 will be described.
First, when an AC voltage of a frequency approximate to the natural frequency of the stator 41 is applied through the first terminal 31t to the vibrator 3, the portions of the pair of piezoelectric element plates 31b and 31d of the first piezoelectric element portion 31 divided into two alternately repeat expansion and contraction in the Z-axis direction, and flexural vibration in the Y-axis direction is generated in the stator 41. When an AC voltage of a frequency approximate to the natural frequency of the stator 41 is applied through the second terminal 32t, the pair of piezoelectric element plates 32b and 32d of the second piezoelectric element portion 32 repeat expansion and contraction in the Z-axis direction, and longitudinal vibration in the Z-axis direction is generated in the stator 41. When an AC voltage of a frequency approximate to the natural frequency of the stator 41 is applied through the third terminal 33t, the portions of the pair of piezoelectric element plates 33b and 33d of the third piezoelectric element portion 33 divided into two alternately repeat expansion and contraction in the Z-axis direction, and flexural vibration in the X-axis direction is generated in the stator 41.
Thus, when AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through both the first terminal 31t and the second terminal 32t, flexural vibration in the Y-axis direction and longitudinal vibration in the Z-axis direction are combined, and elliptical vibration in the YZ-plane is generated at the step 45 of the stator 41, which is in contact with the rotor 6, with the result that the rotor 6 rotates around the X-axis due to frictional force.
Similarly, when AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through both the second terminal 32t and the third terminal 33t, flexural vibration in the X-axis direction and longitudinal vibration in the Z-axis direction are combined, and elliptical vibration in the XZ-plane is generated at the step 45 of the stator 41, which is in contact with the rotor 6, with the result that the rotor 6 rotates around the Y-axis due to frictional force.
Further, when AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through both the first terminal 31t and the third terminal 33t, flexural vibration in the X-axis direction and flexural vibration in the Y-axis direction are combined, and elliptical vibration in the XY-plane is generated at the step 45 of the stator 41, which is in contact with the rotor 6, with the result that the rotor 6 rotates around the Z-axis due to frictional force.
In this way, when two terminals are selected from the first terminal 31t, the second terminal 32t, and the third terminal 33t of the vibrator 3, and AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through both of those two terminals, vibration is generated in the stator 41 and, as indicated by the arrow dashed line of FIG. 14, elliptical vibration in a plane corresponding to the selected two terminals is generated at the step 45 of the stator 41, which is in contact with the rotor 6.
Here, a preload acts on the rotor 6 through the corner 48 of the preload member 47 by the urging force of the plate spring 46, and the rotor 6 is pressed against the step 45 of the stator 41, so rotational force is transmitted to the rotor 6 due to the frictional force between the rotor 6 and the step 45.
At this time, due to the plate spring 46 provided between the preload member 47 and the stator 41, the preload member 47 vibrates in a vibration mode different from the vibration mode of the stator 41 as indicated by the arrow solid line of FIG. 14, so the frictional loss due to the contact of the corner 48 of the preload member 47 with the surface of the rotor 6 is substantially reduced, and the rotor 6 rotates with high torque.
Further, the preload member 47 is connected to the stator 41 through the plate spring 46, and the preload member 47 is caused to vibrate by utilizing the vibration of the stator 41 due to the vibrator 3, so it is possible to obtain an ultrasonic motor of a simple construction.
When the vibrator 3 is at rest and the preload member 47 does not vibrate, the frictional force between the corner 48 of the preload member 47 and the surface of the rotor 6 increases, whereby it is possible to hold the rotor 6.
Thus, by mounting an arm, an image pick-up device or the like (not shown) to the surface portion of the rotor 6 exposed through the ring-shaped preload member 47, it is possible to realize a multiple-degree-of-freedom actuator, a camera for a wide field range or the like.
Further, it is also possible to adopt a construction in which the corner 48 of the ring-shaped preload member 47 is not in contact with the rotor 6 over the entire periphery thereof but, as shown in FIG. 15, held in contact therewith solely at a plurality of, e.g., four, peripheral positions thereon. This makes it possible to achieve a reduction in frictional loss due to the contact of the preload member 47 and the rotor 6, thereby enabling to realize a still higher torque. In this case, it is desirable for the plurality of contact portions C on the preload member 47 held in contact with the surface of the rotor 6 to be at positions symmetrical with respect to the rotor 6.
FIG. 16 shows an ultrasonic motor according to Embodiment 6 of the present invention. In this ultrasonic motor, the ultrasonic motor of Embodiment 5 shown in FIG. 12 is modified such that an annular contact member 49 situated in the XY-plane is mounted to the inner peripheral edge of the ring-shaped preload member 47. The contact member 49 is formed of a low friction member such as Teflon (registered trademark), and the rotor 6 is held in contact with both a corner 40 formed by the contact member 50 and the step 45 of the stator 41 and is rotatably supported.
Since a preload is applied to the rotor 6 via the contact member 49 formed of a low friction member, so the frictional loss due to the contact of the contact member 49 and the rotor 6 is further reduced, and an ultrasonic motor of high torque is realized.
FIG. 17 shows an ultrasonic motor according to Embodiment 7 of the present invention. In this ultrasonic motor, the ultrasonic motor of Embodiment 5 shown in FIG. 12 is modified so that, instead of the preload member 47 elastically connected to the stator 41 through the plate spring 46, a preload member 52 is arranged so as to be spaced apart from a stator 51 in the Z-axis direction. A holding member 54 is connected to the preload member 52 through a vibrator 53, and the holding member 54 is elastically supported by a spring or the like (not shown) with respect to the stator 51 or the base block 1 so as to be urged in the direction of the stator 51.
Each of the preload member 52, the vibrator 53, and the holding member 54 is formed in a ring-like configuration having an opening at the center, and the rotor 6 is exposed through those openings. Further, an annular corner 55 situated in the XY-plane is formed at the inner peripheral edge of the preload member 52.
As shown in FIG. 18, the vibrator 53 has a construction in which an electrode plate 53a, a piezoelectric element plate 53b, and an electrode plate 53c are successively superimposed one upon the other. The piezoelectric element plate 53b is polarized so as to perform a deformation behavior of expansion or contraction in the thickness direction thereof. By applying AC voltage between the electrode plates 53a and 53c, it is possible to drive-control the vibrator 53. Insulating sheets 56 and 57 are arranged respectively on both sides of the vibrator 53, and the vibrator 53 is arranged while insulated from the preload member 52 and the holding member 54 through the insulation sheets 56 and 57.
As in the case of the stator 41 of Embodiment 5, the stator 51 is connected with the base block 1 by the connection bolt 4 while holding the vibrator 3 therebetween. On the side of the stator 51 opposite to the surface in contact with the vibrator 3, there is formed a recess 58 having an inner diameter smaller than the diameter of the rotor 6. An annular corner 59 situated in the XY-plane is formed at the peripheral edge of the open end of the recess 58, and the rotor 6 is held rotatably while in contact with both a corner 59 of the stator 51 and the corner 55 of the preload member 52.
In this construction also, when AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through two terminals selected from the first terminal 31t, the second terminal 32t, and the third terminal 33t of the vibrator 3, vibration is generated in the stator 51, and elliptical vibration in a plane corresponding to the two terminals selected is generated at the corner 59 of the stator 51 in contact with the rotor 6.
At this time, the holding member 54 is urged in the direction of the stator 51 by a spring or the like (not shown), and a preload is applied to the rotor 6 via the corner 55 of the preload member 52, pressurizing the rotor 6 with respect to the corner 59 of the stator 51, so rotational force is transmitted to the rotor 6 by the frictional force between the rotor 6 and the corner 59.
Here, when the vibrator 53 is drive-controlled, the preload member 52 vibrates independently of the vibration of the stator 51 due to the vibrator 3, whereby the frictional loss due to the contact of the corner 55 of the preload member 52 with the surface of the rotor 6 is substantially reduced, and the rotor 6 rotates with high torque.
As shown in FIG. 19, by supporting the preload member 52 and the holding member 54 by fixing members 60 at the positions of nodes formed when the preload member 52 and the holding member 54 are caused to vibrate by the vibrator 53, it is possible to support the preload member 52 while minimizing the influence of the preload member 52 on the vibration.
While Embodiments 5 to 8 are applied to a multi-degree-of-freedom ultrasonic motor in which the rotor 6 is spherical and is caused to rotate around a plurality of axes through vibration of the stators 41 and 51 by the vibrator 3, those embodiments may also be applied to a one-degree-of-freedom ultrasonic motor in which the rotor is rotated around a single axis.
While in Embodiments 5 to 8 AC voltages whose phases are shifted by 90 degrees are applied through two terminals selected from the first terminal 31t, the second terminal 32t, and the third terminal 33t of the vibrator 3, the angle by which the phases are shifted is not restricted to 90 degrees but allows variation. Further, the voltage values of the AC voltages applied may be varied. By variously controlling the AC voltages, it is possible to control the elliptical vibrations generated in the stator 41, 51.
Further, while in Embodiments 5 to 8 the contact of the stator 41, 51 with the rotor 6 is effected at corner portions such as the step 45 and the corner 59, this should not be construed restrictively. As long as transmission of elliptical motion is possible, contact can be adopted through a flat surface or a curved surface, and the manner of contact may be other than the annular one.
Further, while in Embodiments mentioned above two directions are selected from three directions to generate vibrations, it is also possible to apply AC voltage to all the piezoelectric elements corresponding to the three directions to generate a synthetic vibration under control of the phase and amplitude of the vibration in each direction.
FIGS. 21 and 22 show a multiple-degree-of-freedom ultrasonic motor according to Embodiment 9 of the present invention. The cylindrical vibrator 3 constituting the stator vibrating means is held between the base block 1 and a stator 71, and the base block 1 and the stator 71 are connected to each other by the connection bolt 4 passed through the vibrator 3, with the multiple-degree-of-freedom ultrasonic motor as a whole exhibiting a substantially columnar outward appearance. Here, for the sake of convenience in illustration, the central axis of the columnar outer configuration extending from the base block 1 toward the stator 71 will be referred to as Z-axis; the X-axis extends perpendicularly to the Z-axis, and the Y-axis extends perpendicularly to the Z-axis and the X-axis.
The stator 71 has a recess 72 on the side opposite to the surface in contact with the vibrator 3, and the spherical rotor 6 is accommodated in the recess 72. The recess 72 includes a small diameter portion 73 whose inner diameter is smaller than the diameter of the rotor 6 and a large diameter portion 74 whose inner diameter is larger than the diameter of the rotor 6. At the boundary portion between the small diameter portion 73 and the large diameter portion 74, there is formed an annular step 75 situated in the XY-plane. The rotor 6 is rotatably supported by being held in contact with the step 75 in the recess 72. Further, the stator 71 has an annular ring member 76 formed so as to protrude substantially in the Z-axis direction from the opening peripheral edge of the recess 72. The ring member 76 is arranged so as to surround the rotor 6 circumferentially, that is, circumferentially in a section taken along an XY-plane, and a part of the rotor 6 is exposed from a distal end portion 76a of the ring member 76. The inner surface of the ring member 76 is in close proximity and opposed to the surface of the rotor 6.
As shown in FIG. 23, the ring member 76 is formed so as to be gradually diminished in diameter as it extends from a base portion 76b situated at the opening peripheral edge portion of the recess 72 toward the distal end portion 76a, that is, as it extends in the Z-axis direction. Further, as shown in FIG. 24, the ring member 76 has an arcuate sectional configuration curved in correspondence with the configuration of the surface of the rotor 6, that is, a spherical configuration.
For example, the base block 1 and the stator 71 are formed of duralumin, and the multi-degree-of-freedom ultrasonic motor as a whole is formed as a substantially columnar body having a diameter of 40 mm and a height of approximately 100 mm. A steel ball having a diameter of 25.8 mm is used as the rotor 6, and the ring member 76 of the stator 71 has an inner diameter of 25.4 mm and a thickness of 1.5 mm, with its inner surface being raised so as to draw an arc of a radius of curvature of 12.7 mm and an angle of 23 degrees.
Here, the stator 71 has the ring member 76 formed integrally therewith, so, as the stator 71 vibrates, the ring member 76 also vibrates while out of contact with the rotor 6 as indicated by the solid arrow line in FIG. 25. Consequently, due to the radiation pressure of sound wave radiated from the ring member 76, the rotor 6 is pressurized against the step 75 of the stator 71. As a result, the frictional force between the rotor 6 and the step 75 increases, and rotational force is effectively transmitted to the rotor 6.
As stated above, due to the ring member 76, it is possible to apply a preload to the rotor 6 in a non-contact state, so no frictional loss is generated between the ring member 76 and the surface of the rotor 6, whereby it is possible to realize a multi-degree-of-freedom ultrasonic motor of high torque and high efficiency.
Further, since the ring member 76 and the rotor 6 are not brought into contact with each other, noise or the like is not generated.
Further, the ring member 76 is provided integrally with the stator 71, and the ring member 76 is caused to vibrate by utilizing the vibration of the stator 71 due to the vibrator 3, so it is possible to obtain a multi-degree-of-freedom ultrasonic motor of a simple construction.
Further, solely by applying voltages to two terminals selected from the three terminals 31t, 32t, and 33t of the vibrator 3, the stator 71 vibrates to generate an elliptical motion for rotating the rotor 6 at the step 75, and a preload is applied to the rotor 6 by the ring member 76 in a non-contact state, making it possible to rotate the rotor 6 at multiple degrees of freedom.
It is also possible to apply a preload to the rotor 6 by using, air, electrostatic force, electromagnetic force or the like. In the case of air, however, it is necessary to provide a suction device or the like, so there is a fear of the motor construction becoming rather complicated. In the case of electrostatic force or electromagnetic force, there is a fear of the electrostatic force or electromagnetic force adversely affecting the peripheral equipment, which is undesirable for use. In contrast, this multi-degree-of-freedom ultrasonic motor is of a simple construction, and can also be used in an environment where the use of electrostatic force, electromagnetic force or the like is not desirable.
Further, by controlling the amplitude of the ring member 76 through driving of the vibrator 3, the magnitude of the radiation pressure radiated from the ring member 76 is varied to vary the pressurizing force of the rotor 6 with respect to the step 75, whereby it is possible to perform torque control, positional control, number of rotation control or the like on this multi-degree-of-freedom ultrasonic motor.
Thus, by mounting an arm, an image pick-up device or the like (not shown) to the surface portion of the rotor 6 exposed through the distal end portion 76a of the ring member 76, it is possible to realize a multi-degree-of-freedom actuator, a camera for wide field range or the like.
Embodiment 10
FIG. 26 shows a multi-degree-of-freedom ultrasonic motor according to Embodiment 10 of the present invention. In Embodiment 10, the annular ring member 76 of Embodiment 9 is circumferentially divided into four curved members 77. That is, the stator 71 has the four curved members 77 formed integrally, and the four curved members 77 are arranged at intervals in the circumferential direction of the rotor 6. Each curved member 77 has a curved configuration in conformity with the surface of the rotor 6, and the inner surface of each curved member 77 is in close proximity and opposed to the surface of the rotor 6.
With this construction, the four curved members 77 are divided from and independent of each other, so vibration can be easily caused. Thus, by vibrating each curved member 77 while out of contact with the rotor 6 through driving of the vibrator 3, it is possible to apply a preload effectively to the rotor 6.
The curved members 77 can be held out of contact with the rotor 6 whether they are vibrating or not. However, as shown in FIG. 27, when the vibrator 3 is at rest and is not vibrating, distal end portions 77a of the curved members 77 may be held in contact with the surface of the rotor 6. With this construction, it is possible to hold the rotor 6 while keeping the distal end portions 77a of the curved members 77 in contact with the surface of the rotor 6 not rotating when the vibrator 3 is at rest. In this case also, it is necessary for the curved members 77 to be spaced apart from the surface of the rotor 6 during vibration. It is possible for the curved members 77, which are in contact with the rotor 6 in the non-vibration state, to be formed so as to be raised from the rotor 6 during vibration by the radiation pressure of sound wave radiated from the curved members 77.
The number of curved members 77 is not restricted to four, and it is also possible to effect division into three or less or five or more curved members.
FIG. 28 shows a multi-degree-of-freedom ultrasonic motor according to Embodiment 11 of the present invention. In Embodiment 11, instead of the ring member 76 provided integrally with the stator 71 in Embodiment 9, there is arranged a ring member 79 spaced apart from a stator 78. That is, the ring member 79 and the stator 78 are formed as members independent of each other, and are spaced apart from each other in the Z-axis direction. Like the ring member 76 of Embodiment 9, the ring member 79 is configured so as to be gradually diminished in diameter as it extends in the Z-axis direction, and its inner surface is in close proximity and opposed to the surface of the rotor 6, with the ring member being supported by support members 80 as indicated by dashed lines in FIG. 29. Further, four vibrators 81 for vibrating the ring member 79 are attached to the outer surface of the ring member 79. It is desirable to effect supporting by the support members 80 and attachment of the vibrators 81 at portions constituting nodes in the vibration mode when the ring member 79 is vibrated by the vibrators 81.
As shown in FIG. 30, each vibrator 81 has a structure in which an electrode plate 81a, a piezoelectric element plate 81b, and an electrode plate 81c are successively superimposed one upon the other. The piezoelectric element plate 81b of each vibrator 81 is polarized so as to perform a deformation behavior of expansion or contraction in the thickness direction thereof. By applying independent AC voltage between the electrode plates 81a and 81c, it is possible to drive-control the vibrator 81. Insulation sheets 82 and 83 are respectively arranged on both surfaces of the vibrator 81, which is arranged while insulated from the ring member 79 through one insulation sheet 83.
As in the case of the stator 71 of Embodiment 9, the stator 78 is connected to the base block 71 by the connection bolt 4 while holding the vibrator 3 between the stator 78 and the base block 1. A recess 84 having an inner diameter smaller than the diameter of the rotor 6 is formed on the side of the stator 78 opposite to the surface in contact with the vibrator 3. An annular corner 85 situated in the XY-plane is formed at the opening end peripheral edge of the recess 84, and the rotor 6 is rotatably supported while held in contact with the corner 85.
In this construction also, when AC voltages whose phases are shifted by 90 degrees relative to each other are respectively applied through two terminals selected from the first terminal 31t, the second terminal 32t, and the third terminal 33t, vibration is generated in the stator 78, and elliptical vibration in a plane corresponding to the two selected terminals is generated at the corner 85 of the stator 78 in contact with the rotor 6.
At this time, when the vibrators 81 are drive-controlled, longitudinal vibration is generated in the ring member 79 in the thickness direction of the vibrators 81, that is, a direction orthogonal to the surface of the rotor 6, and the ring member 79 vibrates while out of contact with the rotor 6. As a result, the rotor 6 is pressurized against the corner 85 of the stator 78 by the radiation pressure of sound wave radiated from the ring member 79. Thus, as in Embodiment 9 described above, it is possible to realize a multi-degree-of-freedom ultrasonic motor of high torque and high efficiency and to prevent noise or the like due to contact of the ring member 79 and the rotor 6.
In addition, in Embodiment 11, the ring member 79 is driven by the vibrators 81, and the stator 78 is driven by the vibrator 3, making it possible for the ring member 79 to vibrate independently of the stator 78. Thus, by controlling the amplitude of the ring member 79 through driving of the vibrators 81, it is possible to easily perform torque control, positional control, number of rotation control, etc. on this multi-degree-of-freedom ultrasonic motor.
Further, it is possible to support the ring member 79 by the support members 80 at the positions of nodes formed when the ring member 79 is vibrated by the vibrators 81. This makes it possible to support the ring member 79 while minimizing the influence on the vibration of the ring member 79.
Further, it is also possible to hold the support members 80 elastically with respect to the stator 78 or the base block 1 by using a spring or the like (not shown).
As in the case of Embodiment 10 described above, the ring member 79 may be divided circumferentially into a plurality of curved members. In this case, the plurality of curved members may be supported by the support members 80 respectively at the positions of the nodes at the time of vibration, with one vibrator 81 being attached to each curved member. With this construction, since the plurality of curved members are separated from and independent of each other, vibration can be easily generated, and it is possible to effectively apply a preload to the rotor 6.
Although the ring member is arranged circumferentially with respect to the rotor, this should not be construed restrictively. Any other arrangement can be made as long as a preload can be generated by radiation pressure.
Further, as in the modification of Embodiment 10 described above, the ring member 79 may be elastically held so as to be brought into contact with the rotor 6 when the rotor 6 is at rest, and the vibrators 81 are vibrated during rotation of the rotor 6, with the ring member 79 itself being raised from the rotor 6 by the radiation pressure of sound wave radiated from the ring member 79.
While in Embodiments 9 to 11 AC voltages whose phases are shifted by 90 degrees are applied through two terminals selected from the first terminal 31t, the second terminal 32t, and the third terminal 33t of the vibrator 3, the angle by which the phases are shifted is not restricted to 90 degrees but allows variation. Further, the voltage values of the AC voltages applied may be varied. By variously controlling the AC voltages, it is possible to control the elliptical vibrations generated in the stator 71, 78.
Further, while in Embodiments 9 to 11 the contact of the stator 71, 78 with the rotor 6 is effected at a corner portion such as the step 75 or the corner 85, respectively, this should not be construed restrictively. As long as transmission of elliptical motion is possible, contact can be adopted through a flat surface or a curved surface, and the manner of contact may be other than the annular one.
Further, while in Embodiments 9 to 11 there is used a vibrator 3 which generates, as vibrations in three directions different from each other, longitudinal vibration in the Z-direction and flexural vibrations in the X and Y-directions, the vibrations may also be ones which are not thus orthogonal to each other. Further, while the vibrator generating vibrations in three directions uses piezoelectric elements corresponding to their respective directions, such as the first piezoelectric element portion 31, the second piezoelectric element portion 32, and the third piezoelectric element portion 33, it is also possible to synthesize vibrations of a plurality of piezoelectric element portions to generate the vibrations in the different directions, or to polarize one piezoelectric element portion into three or more to generate vibrations in two or more directions with a single piezoelectric element portion.
1. An ultrasonic motor comprising:
a plurality of stators arranged so as to be opposed to each other;
a substantially spherical rotor held by the plurality of stators; and
a single stator vibration means provided commonly for the plurality of stators and vibrating the plurality of stators so as to generate driving forces in the same direction to rotate the rotor.
2. An ultrasonic motor according to claim 1, wherein the plurality of stators are arranged on one side of the stator vibration means and are formed integrally with each other.
3. An ultrasonic motor according to claim 1, wherein the plurality of stators are arranged on both sides of the stator vibration means, with the stator vibration means provided therebetween.
4. An ultrasonic motor according to claim 3, wherein each of the plurality of stators is formed in a ring-like configuration and is arranged so as to surround the rotor circumferentially in an annular fashion.
5. An ultrasonic motor according to claim 3, wherein the plurality of stators are supported at positions of nodes formed when they are vibrated by the stator vibration means.
6. An ultrasonic motor according to claim 1, wherein at least one of the plurality of stators is in contact with a surface of the rotor solely at a plurality of circumferential positions thereon.
7. An ultrasonic motor according to claim 6, wherein the plurality of positions are symmetrical with respect to the rotor.
8. An ultrasonic motor according to claim 1, wherein at least one of the plurality of rotors has elasticity in a direction in which the rotor is held.
9. An ultrasonic motor according to claim 1, wherein the stator vibration means has three pairs of piezoelectric element plates for generating vibrations in three different directions, there being generated a synthesized vibration in which at least two of the vibrations in the three directions are combined with each other with their phases shifted relative to each other to thereby produce an elliptical motion at a portion where the stator is held in contact with the rotor.
10. An ultrasonic motor comprising:
a stator;
a rotor held in contact with and supported by the stator;
a stator vibration means for vibrating the stator to rotate the rotor;
a preload member arranged so as to be held in contact with a surface of the rotor at least when the ultrasonic motor is at rest; and
a preload member vibration means for preloading the rotor with respect to the stator by vibrating the preload member.
11. An ultrasonic motor according to claim 10, wherein the preload member vibration means vibrates the preload member in a vibration mode different from that of the stator to thereby preload the rotor with respect to the stator.
12. An ultrasonic motor according to claim 10, wherein the preload member is elastically supported by the stator, the stator vibration means also serving as the preload member vibration means.
13. An ultrasonic motor according to claim 12, wherein the preload member is supported by the stator through a spring.
14. An ultrasonic motor according to claim 10, wherein the preload member is arranged so as to be spaced apart from the stator, the preload member vibration means having a piezoelectric element plate mounted to the preload member.
15. An ultrasonic motor according to claim 14, wherein the preload member is supported at position of a node formed at a time of vibration by the piezoelectric element plate.
16. An ultrasonic motor according to claim 10, wherein the rotor has a substantially spherical configuration, the stator vibration means vibrating the stator to rotate the rotor around a plurality of axes.
17. An ultrasonic motor according to claim 16, wherein the preload member is formed in a ring-like configuration and is arranged so as to surround the rotor circumferentially in an annular fashion.
18. An ultrasonic motor according to claim 16, wherein the preload member has a contact member formed of a low friction material at its portion held in contact with the surface of the rotor.
19. An ultrasonic motor according to claim 16, wherein the stator is in contact with the surface of the rotor solely at a plurality of circumferential positions thereon.
20. An ultrasonic motor according to claim 19, wherein the plurality of positions are symmetrical with respect to the rotor.
21. An ultrasonic motor according to claim 16, wherein the stator vibration means has three pairs of piezoelectric element plates for generating vibrations in three different directions, there being generated a synthesized vibration in which at least two of the vibrations in the three directions are combined with each other with their phases shifted relative to each other to thereby produce an elliptical motion at a portion where the stator is held in contact with the rotor.
22. An ultrasonic motor, comprising:
a substantially spherical rotor held in contact with and supported by the stator;
a preload member opposed to the surface of the rotor; and
a preload member vibration means for vibrating the preload member at least when rotating the rotor to generate a preloading force for preloading the rotor with respect to the stator by a radiation pressure from the preload member.
23. An ultrasonic motor according to claim 22, wherein the preload member is formed of a ring member having a curved configuration corresponding to the surface of the rotor.
24. An ultrasonic motor according to claim 22, wherein the preload member is formed of a plurality of curved members each having a curved configuration corresponding to the surface of the rotor.
27. An ultrasonic motor according to claim 22, wherein the preload member is formed integrally with the stator, the stator vibration means also serving as the preload member vibration means.
28. An ultrasonic motor according to claim 22, wherein the preload member is spaced apart from the surface of the rotor when vibrated by the preload member vibration means and is in contact with the surface of the rotor when not vibrating.
29. An ultrasonic motor according to claim 22, wherein the magnitude of the preloading force for preloading the rotor with respect to the stator is varied by controlling an amplitude of the preload member vibrated by the preload member vibration means.
Filed: Jul 27, 2006
Publication Date: Feb 26, 2009
Patent Grant number: 7786650
Inventors: Masaki Takasan (Aichi), Tsuyoshi Kodera (Aichi), Hirohiko Ishikawa (Aichi), Koji Maeda (Aichi), Kazuo Seiki (Aichi)
Current U.S. Class: Eliptical Motion At Fixed Point (i.e., Walking) Or Ratchet And Pawl Motor (310/323.16)
International Classification: H02N 2/12 (20060101);


Sep. 11, 2014 Updated: Sep. 11, 2014 6:03 p.m.
For Dough: Pulse flour, sugar and yeast in food processor to combine, about 5 pulses. With processor running, slowly add ice water and process until dough is just combined and no dry flour remains, about 10 seconds. Let dough rest for 10 minutes.
Add oil and salt to Dough and process until it forms a satiny, sticky ball that clears sides of work bowl, 30 to 60 seconds. Transfer dough to lightly oiled counter and knead until smooth, about 1 minute. Shape dough into tight ball and place in large lightly oiled bowl. Cover bowl tightly with plastic wrap and refrigerate for at least 1 day or up to 3 days.
For Pizza: One hour before baking pizza, adjust oven rack 41/2 inches from broiler element, set baking stone on rack, and heat oven to 500 degrees. The goal is to get the baking stone blazing hot, which takes a while.
Remove dough from refrigerator and divide in half. Shape each half into smooth, tight ball. Place on lightly oiled baking sheet, spaced at least 3 inches apart, cover loosely with greased plastic wrap, and let stand for 1 hour.
Heat broiler for 10 minutes. Meanwhile, coat 1 ball of dough generously with flour and place on well-floured counter. Using fingertips, gently flatten dough into 8-inch disk, leaving 1 inch of outer edge slightly thicker than center. Using hands, gently stretch dough into 12-inch round, working along edges and giving dough quarter turns as you stretch. Transfer dough to well-floured peel and stretch into 13-inch round. Using back of spoon, spread 1/2 cup sauce evenly over dough, leaving 1/4-inch border. Sprinkle 1/4 cup Parmesan and 1 cup mozzarella evenly over sauce.
Slide pizza carefully onto stone and return oven to 500 degrees. Bake until crust is well browned and cheese is bubbly and partially browned, 8 to 10 minutes, rotating pizza halfway through baking. Transfer pizza to wire rack, let cool for 5 minutes, then slice and serve.
Heat broiler for 10 minutes. Repeat steps 4 and 5 with remaining ingredients to make second pizza, returning oven to 500 degrees when pizza is placed on stone.
Per serving: 160 calories (31.7 percent calories from fat), 6 g fat, 10 mg cholesterol, 420 mg sodium, 21 g carbohydrates, 1 g dietary fiber, 1 g sugars, 7 g protein.


text:
PROGRAMME DETAIL
Great superar Choral Festival
Hangar-7, Salzburg Airport
The programme will be announced at a later date.
Print programme (PDF)
Gerald Wirth, Chorus Master
superar choirs from Austria, Switzerland, Slovakia, Romania, Bosnia, Turkey
Members of the National Youth Choir of Venezuela
SERIES "El Sistema"
El Sistema • Simón Bolívar Symphony Orchestra 1
El Sistema • Teresa Carreño Youth Orchestra
El Sistema • Venezuelan Brass & Choir
El Sistema • Youth Orchestra of Caracas
El Sistema • Simón Bolívar String Quartet
El Sistema • Children's Orchestra Rehearsal
El Sistema • White Hands Choir 1
El Sistema • National Children's Symphony Orchestra of Venezuela
ABOUT THE PRODUCTION
Numerous choruses from superar locations in Austria, Switzerland, Slovakia, Rumania, Bosnia and Turkey will give two choral concerts together with children and teenagers from Salzburg and members of the National Youth Choir of Venezuela, uniting up to 400 choral singers at a time. The event takes place at the Red Bull exhibit and event building "Hangar-7" at the Salzburg Airport. The Great superar Choral Festival is presented by superar in cooperation with the Salzburg Festival.
All tickets € 5 / unassigned lounge seating
superar is a European initiative for more music and dance in the daily lives of children and young people; it was founded in 2010 by Vienna's Konzerthaus, the Vienna Boys' Choir and the Caritas of the Archdiocese of Vienna, following the model of El Sistema. superar offers extensive training in choral singing, dance and orchestral playing, working for equal opportunities, respectful coexistence and social integration. From Vienna, the organisation is currently expanding into other European countries, including Switzerland, Slovakia, Bosnia, Rumania and Turkey. superar considers itself a musical bridge between Western and Eastern Europe, strongly emphasizing intensive international exchange of work and experience, both with Venezuela on the one hand and with its European partner countries on the other.
The El Sistema residency in Salzburg offers not only the children and teenagers, but also the teachers involved in superar the unique opportunity to learn directly from their Venezuelan role models, through three weeks of exchanging views, making music, attending rehearsals and making friends. The Great superar Choral Festival at the Salzburg Festival, which takes place at Hangar-7 on July 27, will give the initiative an ideal platform to introduce a wider audience to aspects of its work with children from various European countries. superar – sing. dance. succeed.
For more information www.superar.eu
Open picture gallery (3 pictures)
YEARS IN THE ARCHIVES
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redpajama_set_name: RedPajamaCommonCrawl


text:
In Wake Of Soleimani Hit, One NYT Reporter Amplified Iranian Propaganda
(STR/AFP via Getty Images)
Shelby Talcott Media Reporter
January 11, 2020 11:04 PM ET
New York Times journalist Farnaz Fassihi has been amplifying Iranian propaganda into the media following Iranian Gen. Qasem Soleimani's death.
The Daily Caller spoke with retired retired army intelligence officer Tony Shaffer and former CIA chief of station Daniel Hoffman about some of her tweets, where she cited anonymous Iranian sources.
Shaffer said he believes Fassihi could be getting information fed to her directly from the Iranian government in an effort to get Americans to sympathize with Soleimani's death.
In the days following the Jan. 2 strike that killed Iranian Gen. Qasem Soleimani, one New York Times journalist in particular became the focus of criticism for consistently amplifying Iranian messaging.
The journalist was by no means an isolated case. Iranian propaganda and propagandists managed to get air time on CNN, Yahoo, the NYT and Washington Post, among other outlets, and a fake American death toll that made headlines on MSNBC was actually sourced directly to Iranian media. Above it all though was New York Times reporter Farnaz Fassihi. (RELATED: Time Informs Parents How To Talk To Their Kids About Qasem Soleimani's Death)
The New York Times is at it again. This time, Tehran stenographer Farnaz Fassihi tells us Hassan Rouhani is Iran's "moderate president," He is taunting the U.S. in this quote and taking credit for retaliating in the Lockerbie bombing, which killed 190 Americans. Very moderate. pic.twitter.com/MeQgANeuYl
— Jordan Schachtel (@JordanSchachtel) January 7, 2020
Fassihi's aggressive dissemination of Iranian messaging started almost immediately after the Jan. 2 strike that killed Soleimani. She began Jan. 3 by peddling "unconfirmed reports" of "ballistic missiles hitting" Ain Al-Assad, the largest U.S. military base. There was no attack at that time.
NY Post reporter Jonathan Levine called her out when she later followed up to say the initial reports were false. Under pressure, Fassihi later deleted the tweet.
Maybe let's not use this website for unconfirmed reports about Iran stuff pic.twitter.com/o3M9lR7PKs
— Jon Levine (@LevineJonathan) January 3, 2020
The same day, Fassihi posted a video showing a lighter side of the terrorist who has been accused of killing hundreds of Americans. The video, attributed to a "source in Iran," shows Soleimani reciting poetry. The Daily Caller made several attempts to get a hold of Fassihi, and queries to the Times went unanswered.
In this picture taken on September 14, 2013, the commander of the Iranian Revolutionary Guard's Quds Force, Gen. Qassem Soleimani, is seen as people pay their condolences following the death of his mother in Tehran. (MEHDI GHASEMI/ISNA/AFP via Getty Images)
"I think the government of Iran gave that to her," Tony Shaffer, a retired army intelligence officer, told the Daily Caller. "How many on the ground folks do you have in Baghdad right now who are gonna be able to call you up and give you a video and you're gonna believe it? They're not. It's incredible, it's just not believable."
Levine also slammed the poetry video as "Iranian propaganda" and wrote that Fassihi's post was meant to show "the softer side of Soleimani." (RELATED: Pictures From The Killing Of Iranian Terrorist Leader Soleimani Have Been Released)
Same reporter also putting out Iranian propaganda provided to her by a "source"https://t.co/le80WNDULJ
"Gen. Sulaimani became a household name in #Iran after 2012 Syria war," another series of Jan. 3 tweets from Fassihi read. "His image as a cult figure leading regional 'resistance' army was carefully cultivated & promoted to boost Iran's image as regional power & to counter ISIS's PR machine."
"Photos & videos of him leading prayers in battlefield, sharing meals w/fighters, kissing orphans & reciting poetry were all collectively part of that image/brand making."
4/ The Islamic Republic has many commanders. But it only had one Qasem Sulaimani. The blow for the regime is more symbolic than strategic. By choice or design he had become THE face of Iran's regional power plays.
— Farnaz Fassihi (@farnazfassihi) January 4, 2020
Fassihi denied accusations that she was "sympathizing with" Soleimani in a Jan. 3 tweet, writing that it is "pure nonsense." Meanwhile, much of her reporting in the following days was attributed to "sources in Iran" or directly to IRGC officers.
It is likely Fassihi was being fed Iranian propaganda directly from the government in an attempt to get Americans to sympathize with the terrorist general's death, Shaffer said he believes. He added that Iran is "much more sophisticated than we give them credit for" and that they understand the benefits of using "global media to get their message out."
"It appears to me that there is a process of information being fed to [Fassihi] by Iran by some source," Shaffer said. "This parallels, from my experience as an intelligence officer, my experience with the IRGC, is that they are masters of deception."
"The NYT has fundamentally become an outlet which is not only willing to put forth an alternate perspective, they're willing to engage in, I will say aspirational reporting," he continued. "They will say things from foreign sources knowing it's wrong but they'll put it out anyway because they are sympathetic politically. I see this as an example, this reporter."
While former CIA chief of station Daniel Hoffman was less sure of Iran mounting an influence campaign on American journalists, he echoed Shafer's assessment that the media was eager to amplify anything anti-Trump. He suggested that certain journalists have "predisposed views about the president" that could influence what they report.
"They're [journalists] not pawns," Hoffman said.
Another one of Fassihi's tweets from Jan. 4 cites two unknown commanders. She claimed they had information about the U.S. asking countries to convince Iran not to retaliate. Shaffer and Hoffman both said it was unlikely that a commander would know this type of information.
"If I were going to tell you, I'd say, I'd have probably a high degree of confidence that they could not know," Hoffman said. "Even then, where's she getting this? There's an influence as well as an informed element always."
"So I just … I think people have rushed to judgment on this wildly, going right from the beginning. Massive rush to judgment."
#Iran update:
Two commanders (IRGC Naghdi & Army Pourdastan) say US has asked dozen countries to intervene & convince Iran not to retaliate.
In addition to sending a letter.#SoleimaniAssassination
Shaffer and Hoffman also agreed about the trouble with citing anonymous sources. Hoffman told the Daily Caller that journalists should "be very clear on where those facts" that they are writing are coming from.
He added that journalists should also "provide some analysis about what it means and the possibility that that information is meant to influence." (RELATED: New York Times Spread Fake News On Iraq's Vote To Expel US Troops – Here's What You Really Need To Know)
"The fact that this woman [Fassihi] lists basically anonymous sources, is not willing to reveal her sources, you've gotta question the veracity," Shaffer said. "This, again, seems to me like propaganda rather than reporting."
Fassihi's numerous tweets amplifying Iranian state messaging were often signed off with the hashtag "Soleimani assassination." After Trump announced that he would consider hitting Iran cultural sites, Fassihi began to tweet photos of various ancient historic sites in the country on Jan. 5.
Iranian mourners stand on a bridge during the final stage of funeral processions for slain top general Qasem Soleimani, in his hometown Kerman on January 7, 2020. (Photo by ATTA KENARE/AFP via Getty Images)
She also wrote a Jan. 5 puff piece on Soleimani for his funeral, noting that "millions of Iranians" attended. Her article ignored reports that the regime had forced many Iranians into the streets. Fassihi tweeted out a link encouraging her followers to watch the funeral live that day.
#Iran State Funeral for Gen. Sulaimani begins in Tehran. Millions are out. Sea of endless people by 6 am. In 25 years covering Iran, have never seen anything like this. #SoleimaniFuneral #IranAttacks
Following Iran's attacks on two Iraq bases housing U.S. troops Jan. 7., Fassihi tweeted out reports that "war" would begin if the U.S. retaliated. This reporting was also attributed to "sources in Iran."
"Sources in Iran say if US doesn't retaliate then Iran will also de-escalate. But if it does, then it's war. IRGC statements reflect same," Fassihi wrote.
Tags : daniel hoffman iran media bias qasem soleimani the new york times tony shaffer
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I read 18 books and short stories in March.
The Hate U Give is as amazing as everyone was predicting. I read it myself in the first few days and now I'm reading it again with the husband.
I didn't add anything this month. I'm not counting the book about Taiwan because it was mostly in the U.S. I'm getting another Taiwanese book from the library so I'll use that one instead.
I leveled up on the Read Diverse Books challenge. I went from the 10 posts badge to the 20 posts one. The next level (and last level) is 30.
I'm hosting a readalong for Small Gods by Terry Pratchett in April. Posts will be in the Discworldathon Goodreads group.
So many books in March–excellent! I'm hoping to receive THUG for Mother's Day as it seems to be such an important and eye-opening/mind opening book.
THUG was excellent. I actually read it twice. First by myself and then I read it with my husband.
Looks like March was a great month!
18 books? WOW!!! Awesome month!


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text:
Novokoeznetsk (Russisch: Новокузнецк) is een stad in Siberisch Rusland, behorend tot de oblast Kemerovo en gelegen aan de rivier de Tom in het gigantische steenkoolgebied Koezbass.

Tot 1931 heette de stad Koeznetsk (Кузнецк), van 1931 tot 1932 Novokoeznetsk, van 1932 tot 1961 Stalinsk (Сталинск) en sinds 1961 opnieuw Novokoeznetsk.

De stad heeft een van de hoogste concentraties luchtvervuiling van Rusland. Volgens een onderzoek uit 1997 bedroeg het zwavelgehalte bij een van de fabrieken bijvoorbeeld 312 maal de toegestane norm, het fluoridegehalte bij een farmaceutische fabriek 300 maal en het benzopyreengehalte van de stad gemiddeld 10 maal (een stadsdistrict 48 maal).

Ondanks de aanwezigheid van zware industrie is het een groene stad, doordat het centrum volgens de idealen van de tuinstad is aangelegd.

Geschiedenis
Novokoeznetsk werd in 1618 gesticht door Siberische Kozakken. Aan het begin van de 19e eeuw werd er een fort gebouwd als bescherming tegen mogelijke aanvallen van Kirgiezen en Chinezen. Het fort verloor echter al snel zijn militaire betekenis doordat de grens verplaatst werd en China verzwakt was. Tot de Russische Revolutie was het een stille handelsstad. In 1857 trouwde de schrijver Dostojevski er met Maria Isajeva.

De stalinistische industrialisatie van de Sovjet-Unie vormde de stad in de jaren 1930 om tot een belangrijk centrum van steenkoolwinning en industrie. De dichter Majakovski droeg zijn gedicht "Verhaal van kameraad Chrenov" op aan Novokoeznetsk:

In 1931 komt de eerste metallurgische fabriek in gebruik, in 1941 gevolgd door aluminium- en ijzerlegeringsfabrieken. Op 4 februari 1971 wordt de stad bekroond met de Orde van de Rode Arbeidersvlag, op 1 juli 1981 met de Orde van de Oktoberrevolutie.

In de jaren 1990 was Novokoeznetsk het toneel van grote stakingen in de mijnbouw. In 1998-2000 woedde er een strijd om de grote industriële bedrijven van de stad, die uiteindelijk gewonnen werd door de Jevrazholding ("Euraziatische holding").

Economie en verkeer
Zwaartepunten van de economie worden gevormd door de metaalindustrie (ijzer en non-ferrometalen), steenkoolwinning en -verwerking, machinebouw en levensmiddelenindustrie (o.a. zuivel, broodproducten en alcoholische dranken). In Novokoeznetsk bevinden zich twee warmte-krachtcentrales. De Evrazgroep heeft er verschillende ijzerertsmijnen en een grote staalfabriek.

Novokoeznetsk is een regionaal spoorwegknooppunt, beschikt over een luchthaven met vooral binnenlandse vluchten een autobusstation met interstedelijke en voorstadslijnen. Het stedelijk openbaar vervoer wordt verzorgd door trams, trolleybussen en gewone stadbussen. De totale lengte van het stadsnet bedraagt 755,7 km.

Cultuur
In de stad bevindt zich een industriële universiteit, een pedagogische academie een dependance van de Staatsuniversiteit van Kemerovo. Er zijn theaters (waaronder een poppentheater), bioscopen, musea en een planetarium. Ook het gedeeltelijk herbouwde fort en het huis waar Fjodor Dostojevski ooit woonde zijn te bezichtigen.

Bezienswaardigheden
 Transfiguratiekathedraal

Plaats in de oblast Kemerovo
Geplande stad
Stad in het federaal district Siberië

redpajama_set_name: RedPajamaWikipedia


text:
By Regina Garcia Cano
Rookie from New Jersey wins World Series of Poker, $8.1M
LAS VEGAS (AP) — A New Jersey man with a degree in accounting is this year's World Series of Poker champion.
Scott Blumstein won the series' marquee no-limit Texas Hold 'em main event early Sunday in Las Vegas surrounded by dozens of supporters including relatives and college friends. He is now more than $8.1 million richer after eliminating Pennsylvania's Daniel Ott on the 246th hand of the final table, more than 60 hands with just the two of them with bricks of bills and a gold bracelet separating them.
"I'm really happy about how I played tonight," said Blumstein, who's 25. "... This i...


text:
Collier Robert Cudmore (13 de junio de 1885-16 de mayo de 1971) fue un deportista británico que compitió en remo. Participó en los Juegos Olímpicos de Londres 1908, obteniendo una medalla de oro en la prueba de cuatro sin timonel.

Palmarés internacional

Referencias

Remeros del Reino Unido
Remeros en los Juegos Olímpicos de Londres 1908
Medallistas olímpicos de oro de remo
Medallistas olímpicos de oro del Reino Unido
Medallistas olímpicos de oro de Londres 1908
Nacidos en Nueva Gales del Sur
Fallecidos en Adelaida
Británicos del siglo XX


text:
GMNN () – білок, який кодується однойменним геном, розташованим у людей на короткому плечі 6-ї хромосоми. Довжина поліпептидного ланцюга білка становить 209 амінокислот, а молекулярна маса — 23 565.

Кодований геном білок за функцією належить до фосфопротеїнів.
Задіяний у таких біологічних процесах, як клітинний цикл, ацетилювання.
Локалізований у цитоплазмі, ядрі.

Література

Примітки

Див. також
 Хромосома 6

Некатегоризовані білки


I drove through the gym a few days ago and I was really impressed how full the building was with people who were diligent in exercising that day. Maybe because it's summer time here in Los Angeles and everyone wants to look good for this. throughout the year.
It was documented that people spend a lot of money on new weight-loss pills or supplements that are guaranteed to 'make you eat less and increase your metabolism , and regardless of any side effects that the product may contain, on average Joe, still considers This quick fix will be worth the risk.
What most people fail to realize is that most fitness experts and bodybuilders who might use or support the product have a tendency to premature wear and tear because sooner or later, these bodies, enhanced by unnatural substances, have a tendency to decline.
Of course everyone wants to have a tight six-pack and arm and all, and that's good and certainly worth fighting for if someone wants it, however, what should be more important is how clean the inside of the body is. This determines perhaps more than just realized how one feels and talks about six-packs, if a person's large intestine and visceral organs are free of excess weight and debris, naturally a good looking cross section is clearly visible.
Now, it's not my intention to disgust you with the facts in the previous paragraph, but hopefully make you realize how much more important it is to ensure that the inside is clean when we try to lose weight, at least in a healthy way.
Therefore, fruits, the Rapid tone diet and most of the raw green leaf vegetables, which function as nutritional and broom gut items, must form the basis of a healthy diet when looking to lose weight.
Remember, the cleaner you are in and the freer you are from toxicity, the faster you can and will reach your goal to be fit. This is health and happiness.


But we're about much more than just water and sewerage services. We work closely with schools and the community to help everyone care for our natural environment and become champions of Australian water saving.
We also manage some of the Shoalhaven's most scenic areas of wilderness and we're committed to opening it up to the public so that you can get out there and experience it first hand.
We are proud to have a dedicated team of staff both in the offices and out in the field that keeps your water running day and night, rain or shine, 24 hours a day seven days a week. We will endeavour to meet our Levels of Service agreed to and paid for by our customers and clients – the people of Shoalhaven.
Shoalhaven Water is all about looking forward to conserve and improve your water services now and into the future. With our expertise and your help we can make that happen.


Trutech Wildlife Services specializes primarily in removing animals from attics of homes and buildings - this includes squirrels in attics, raccoons, and rats or mice in homes. Mississippi also has a documented problem with bats in buildings, and Trutech Wildlife Services is specially trained in bat removal. They also perform general wildlife trapping services, such as the capture and removal of skunks or opossums on the property. Call 601-910-6687 to discuss your critter problem and schedule a same-day or next-day appointment.
Trutech Wildlife Services is a full-service Jackson wildlife removal company. This is very different from a regular Jackson pest control company. The pest control companies spray poison to kill insects. This is not at all similar to wildlife removal. Trutech Wildlife Services performs a full inspection of the home or property, and determines why the animal(s) are there, and if inside a building, how the animals got inside. All animals (including rodents) are trapped and removed, or if possible, removed from the building using special exclusion devices. Once the animals are gone, preventative repairs are essential, and cleanup is sometimes recommended.
Jackson wildlife trapping - it's not as simple as it may seem. It's illegal in Mississippi to trap without a license. Trap type is very important and there are many different types, bait is somewhat relevant, trap placement is vital, and there are dozens of small things that are very important to know. Safety is a concern. Then once the animal is trapped, it must be removed and dealt with in the proper manner according to Mississippi law. We offer Jackson raccoon removal. Read more about how to get rid of raccoons.
Animals in attics - this is our specialty at Trutech Wildlife Services. Many types of animals like to live in attics. This includes squirrels, raccoons, rats, mice, bats, birds, and even possums. Critters like to go into attics for a safe place to live and raise their young. Removing animals from attics is very complex work, partly because of the presence of baby animals. If you need Jackson squirrel removal, we can remove all the squirrels from your attic, and seal out any future ones. Read more about how to get rid of squirrels.
Rodent control must be done in a very specific way. First off, the most important thing is that all the openings that rats and mice can use to enter a house be sealed. Then all the rodents must be physically trapped and removed. Never, ever use poison! Most Jackson exterminators will just use this lazy poison technique to kill rodents, and it causes more harm than good - dead stinky rats, and it doesn't solve the problem. Call us for correct Jackson rat removal. Read more about how to get rid of rats.
Bat removal is a highly specialized task. Mississippi is known to have colonizing bats who often live in buildings. Bats love attics. If not removed, the colony can grow to a very large size over the years. The bat droppings are often corrosive and cause health risks. The same goes for bird droppings on or in buildings. We perform Jackson pigeon removal and bird control. But our specialty is Jackson bat removal. We remove 100% of the bat colony and seal the building so that it's totally bat-proof. Read more about how to get rid of bats.
If you have animals inside a house, no job is complete without proper exclusion repairs. If you simply hire a Jackson trapper who only removes the critters, then the problem will return. You need to hire a Jackson wildlife control company that identifies 100% of the animal entry points into your building, and seals them shut with professional repairs. In addition, in many cases animals have left waste or contamination behind, and you'll want a company that can provide professional cleaning services. Trutech Wildlife Services does both.
The above are just some of the services offered by Trutech Wildlife Services. We also trap and remove animals that destroy lawns, such as moles, or digging animals. Sometimes animals like opossums will live under buildings, steal pet food, raid garbage cans, etc. Read about how to get rid of opossums. Skunks commonly live under sheds or decks, and set up a den. We can trap and remove them without them spraying. Read about how to get rid of skunks. Trutech Wildlife Services also provides dead animal removal in Jackson. If you need help with any other wildlife conflict, from a fox, beaver, groundhog, or any other critter, we can solve it. We also do Jackson snake removal - most of the snakes in Mississippi are not venomous, but call us if you want safe removal, or read about how to get rid of snakes in Jackson. And remember, we are a private business, not Hinds County Animal Control Services, so if you have a dog or cat problem, call the County at (601) 960-1774. Hinds County animal services does not handle any wildlife issues.
What to do about wild critter feces in the yard - Animals don't mean to be as gross as they are, but unfortunately it just kind of happens. When an animal has to go to the toilet, they have to go to the toilet and there is not very much that you can do about it. However, if you have noticed that your family dog or cat is pooping in places that it usually wouldn't, resulting in a rather stern telling off from you, you should probably reevaluate the situation to make sure that the culprit really is who you think it is! Wild critter poop is the same size as the poop that your average medium sized house dog will leave behind, which is why it is often mistaken for dog poop. The only problem with this is that the poop left behind by the wild critter is likely to contain some rather nasty bugs that you are not going to want to put yourself in contact with, and also that you will need to clean up n the safest way possible! Gloves - this cannot be stressed enough - you are going to need some very sturdy, very strong, preferably rubber gloves. These will keep you protected. You will also need bleach to clean the materials that the poop has come into contact with, especially the gloves if you have decided that you don't want to throw them away. At the same time, you are either going to want carrier bags to contain the poop and handles to tie the garbage can lid down with after you have placed the poop in there, or a bonfire so that you can burn it and get rid of it once and for all!
When are baby possums most active? - Have you ever seen a baby possum? These little guys are possibly one of the cutest little things that you have ever seen. That is, until, you have had one of them in your house or a small brood of them and then you can have some idea of how much of a nightmare these little critters can be. Possums are most active at night, so as you can imagine, your sleepy eyes and head are going to get very tired of these animal really soon! The hissing and sneezing sounds that the babies make just encourage the mama possum to make even more noise as she goes on the hunt for food for her babies, and all of this will more than likely be taking place within the crawl space of your home, or in the attic - the wrong places for an animal when a human is trying to sleep! Let's say that you have come across a bunch of baby possums - would you know what to do with them? If they are less than seven inches in length, you should leave them well alone as disturbing them at this young age will surely kill them. Also, it doesn't matter how big you think the possum looks, you should not try to raise it as a pet because they need very special care and there is a good chance that you are going to kill the poor thing. The best thing that you can do if you think you have baby possums, or you have seen them for yourself, is to call the local wildlife professionals to come in and remove them safely for you. There is no point in disturbing these creatures if you are going to end up killing them - they are not trying to upset you on purpose after all!
Mississippi, named after the Mississippi River, is a place of flat land and gradual hills. The majority of the state is heavily forested, and the mountain ranges within are actually better classified as foothills. Numerous large river systems run through the region, but the Mississippi River is by far the largest. Lakes and wetlands can be found in almost every corner of the region, supplying the animals and plants with the water needed to survive in the constant heat. The summers are long, hot and humid, and the cooler winter weeks are short compared to other states in the nation. Hurricanes are a concern for residents of Mississippi; the state is prone to violent weather coming up the Gulf of Mexico.
Canoodling, or the art of using your finger as bait for catfish, is a popular pastime in the state. Though locals have caught impressive catfish using just their hands, it is the commercial catfish aquaculture that supplies the United States with the bulk of catfish consumed annually. Catfish are also a tasty treat for one of the state's most populous animals-the American alligator. Alligators are at home in the large river systems of Mississippi. Plenty of large aquatic life exists to keep the reptiles well-fed. Other semi-aquatic creatures are nutria, muskrats and river otters.
The heavy forestation means most people in Mississippi live near trees. This close contact with nature also means the inevitable clash between humans and nuisance wildlife. The state has raccoons, opossums, rats, mice, striped skunks, spotted skunks, flying squirrels, grey squirrels, fox squirrels, rabbits, and armadillos.
For predators, the small animals are most wary of bobcats and coyotes, though both mountain lions and black bears can feed on the smaller critters. For the most part, black bears in Mississippi can find enough food in the way of seeds, berries and insects to avoid having to actively hunt. There are not many grazing animals in Mississippi, likely due to the low elevation and hot climate. White-tailed deer are the most common hooved-wildlife species seen.
With such a warm climate, the state is home to many different types of bats. These animals can make their homes anywhere, often choosing a cave, hollowed tree, or the attic of an unsuspecting homeowner.
You can always call Trutech Wildlife Services, any time of day, at 601-910-6687, for a price quote for Jackson wildlife control services. I am confident that this is the best choice amongst wildlife removal companies in Jackson, MS.