Multi-variant spherical travelling-wave ultrasonic motor moment measuring device

Abstract

The invention discloses a multi-variant spherical travelling-wave ultrasonic motor moment measuring device, comprising: a pressure sensor, a bracket, a bending plate, a force measuring rod, a short mandrel, a cross head, a hardwood concave indenter, a universal joint, an upper cover, a lower cover and a base, wherein four grooves are annularly arranged in the upper cover for placing the pressure sensor; the contact of the pressure senor faces to the direction of centre of circle; the lower cover has four rectangular column bodies which fix the pressure sensor in cooperation with the upper cover; the force measuring rod penetrates through the upper cover and the lower cover; an upper end of the force measuring rod is equipped with the cross head by using the short mandrel; the cross head is connected with the universal joint through the mandrel; the middle section of the force measuring rod has an annular bump; the hole in the bottom is equipped with the hardwood concave indenter; the bending plate is in the shape of circular arch of 180 degrees; the hole in the bottom end is also equipped with the hardwood concave indenter. The invention has small volume, simple structure and convenient installation and test.

Description

technical field [0001] The invention relates to a motor torque measuring device, in particular to a device for measuring the torque value of a multi-degree-of-freedom spherical traveling wave type ultrasonic motor in which the motor output torque value is relatively small and the motor output torque exists in multiple directions. Background technique [0002] In the past 20 years, multi-degree-of-freedom drives have always been a research hotspot. Due to the complex structure and manufacturing difficulties of electromagnetic induction multi-degree-of-freedom motors, there has been little progress. Multi-degree-of-freedom ultrasonic motors came into being in this context. Ultrasonic motor is a kind of motor that uses the inverse piezoelectric effect of piezoelectric ceramics to obtain energy by resonance in the ultrasonic field. It has the advantages of simple structure, low speed and high torque density. The ultrasonic motor can be made into multiple degrees of freedom, and ...

AI Technical Summary

Problems solved by technology

[0003] Although the torque density of the multi-degree-of-freedom ultrasonic motor is large relative to its small volume and mass (less than 500 grams), its output torque is relatively small and cannot be measured with a dynamometer

Moreover, its output torque has multiple degrees of freedom, which brings difficulties to the measurement

So far, there are no relevant research reports on the torque measuring device of this kind of motor at home and abroad.

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