Electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor

Abstract

The present invention belongs to the field of the ultrasonic electric motor manufacturing technique, and relates to an electromagnetic pressure-regulating multiple-freedom spherical ultrasonic electric motor. The invention comprises an engine casing, a sphere rotor which is provided with an output shaft, and a stator fixed on the engine casing. The sphere rotor is sleeved with an abrasion resisting circular ring. The surface of the circular ring is provided with a plurality of permanent magnetic pieces. The engine casing is also fixed with a plurality of pairs of electromagnetic poles. Each electromagnetic pole is composed of an iron core and a winding coil winding the iron core. The number of pairs of the electromagnetic poles is same to the number of pairs of magnetic piece electrodes and the positions are corresponding with the magnetic piece. The acting force between the permanent magnetic piece and the electromagnetic pole are regulated through changing the current of the windingcoil of the electromagnetic pole. The multiple-freedom spherical ultrasonic electric motor of the invention has the advantages of more reliable structure, controllable prepressure of the rotor, improved operating characteristic of the electric motor and increased flexibility to the designing of the electric motor control system.

Description

technical field [0001] The invention belongs to the technical field of ultrasonic motor manufacturing, and relates to a multi-degree-of-freedom spherical ultrasonic motor. Background technique [0002] Compared with the traditional electromagnetic motor, the ultrasonic motor has low speed and high torque, fast dynamic response, no noise in operation, simple structure, light weight, self-locking when power off, no electromagnetic interference problem, etc., and can be widely used in aerospace, micro Machinery, robots, machine tool feed mechanism, optical instruments and other fields. The multi-degree-of-freedom spherical ultrasonic motor not only has these traditional advantages, but also can realize the space multi-degree-of-freedom motion of the spherical rotor. It can greatly simplify the design of the system when it is applied to the robot joints, bionic vision and other devices, and realize the fast and accurate motion mechanism. position. [0003] Due to the special r...

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Problems solved by technology

[0003] Due to the special rotor form of the spherical ultrasonic motor, the design of its pre-pressure device has always been a difficult point. Some current solutions have the disadvantages of small pre-pressure, unreliable structure, and difficult adjustment of pre-pressure, which limits the application of spherical ultrasonic motors.

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