Multi-degree of freedom spherical traveling wave-type ultrasonic motor

Abstract

The invention discloses a multi-degree-of-freedom spherical traveling wave ultrasonic motor. A spherical motor rotor is installed in the motor body, and a traveling wave stator is installed on the front, rear, left, right and bottom of the spherical motor rotor. The inner spherical surface matches the spherical motor rotor, and the five traveling wave stators are connected by their respective stators Installed on the motor body, the output shaft of the spherical motor rotor is equipped with attitude angle detection mechanisms that are 90° to each other. The invention can conveniently adjust the pre-pressure, make the stator and the spherical rotor in good contact, and maximize the output torque; the overall structure is simple and easy to install; it can realize multi-degree-of-freedom movements and simplify the mechanical structure; it can be applied to shoulders, wrists and knees on artificial limbs Joints, two-degree-of-freedom CCD (monitoring head) pan-tilt drive and robot eyeball drive, etc.; attitude control is convenient, fast response, and high precision.

Description

technical field [0001] The invention relates to an ultrasonic motor, in particular to a multi-degree-of-freedom spherical traveling wave ultrasonic motor. Background technique [0002] Many phenomena in nature are driven by multiple degrees of freedom, such as human shoulders, wrists and hip joints, and eyeballs also rotate with two degrees of freedom. In addition, with the development of science and technology, electromechanical systems are becoming more and more complex, especially some precision devices have higher and higher requirements for motion, and single-degree-of-freedom drives can no longer meet the requirements, such as robots, camera systems, etc. also require multiple degrees of freedom drive. In these systems, if the movement of each degree of freedom is completed by a single-degree-of-freedom motor, it will inevitably result in complex mechanisms, bulky, bulky and poor dynamic performance of the moving parts. The multi-degree-of-freedom ultrasonic motor st...

AI Technical Summary

Problems solved by technology

However, the electromagnetic ball motor needs to form a spherical rotating magnetic field, which makes the structure very complicated and difficult to realize. At present, the performance of the electromagnetic ball motor realized at home and abroad is relatively poor, and it is not practical. The multi-degree-of-freedom ultrasonic motor has low speed, high torque, fast response, It has the characteristics of high precision and direct drive, and has the incomparable advantages of electromagnetic induction motors. In recent years, it has been successfully applied to abdominal surgery, shoulder, wrist and knee joints on prosthetics, two-degree-of-freedom CCD (monitoring head) pan-tilt drive and robots. Therefore, it is necessary to develop a spherical ultrasonic motor with compact structure, low speed and high torque.

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