Multi-degree of freedom piezoelectric actuator with built-in stator

Abstract

The invention discloses a multi-degree of freedom piezoelectric actuator with built-in stators. The piezoelectric actuator comprises a ball rotor, three stator mechanisms with same structures, an output shaft, a pre-tightening structure, rolling mechanisms, a shell and a base. The three stator mechanisms with same structures are arranged in the ball rotor and are symmetrically distributed around the ball rotor. The three stator mechanisms are arranged at intervals of 120 degrees. The pre-tightening structure provides pre-tightening force for the three stator mechanisms at the same time, so that the pre-tightening force between the three stator mechanisms and the rotor to be uniform. Moreover, when communication signals of certain frequency are provided for three piezoelectric ceramic pieces, traveling waves will be formed at the tooth end on the surface of the stator elastomer. Under the effect of the pre-tightening force, the stators contact closely, through friction effect between the stators and the rotor, the ball rotor is driven to rotate, and a rotation speed and a torque are output through the output shaft. The multi-degree of freedom piezoelectric actuator with the built-in stators provided by the invention has simple and compact structure and high space utilization rate, is not interfered by electromagnetism and can move in multiple degrees of freedom.

Description

technical field [0001] The invention relates to the field of piezoelectric drive technology, in particular to a stator built-in multi-degree-of-freedom piezoelectric driver. Background technique [0002] Piezoelectric actuators are a new type of micro-actuators developed in the 1980s. Compared with traditional electromagnetic actuators, they have the advantages of compact structure, large output torque, fast response speed, low working noise, and no electromagnetic interference. In some more complex electromechanical systems, it is necessary to drive in multiple directions. Compared with the use of multiple single-degree-of-freedom piezoelectric actuators, the use of multi-degree-of-freedom piezoelectric actuators can make the mechanism more compact. Multi-degree-of-freedom piezoelectric actuators have good application prospects in industrial cameras, aerospace, robot joints, medical equipment and other fields. [0003] The spherical multi-degree-of-freedom piezoelectric ac...

AI Technical Summary

Problems solved by technology

[0003] The spherical multi-degree-of-freedom piezoelectric actuator is a kind of multi-degree-of-freedom piezoelectric actuator with good development prospects at present. The three annular stators of the existing spherical multi-degree-of-freedom piezoelectric actuator are evenly distributed around the outer surface of the spherical rotor with a difference of 120°. , each annular stator has a separate pre-tightening force mechanism and support mechanism, which makes the structural size of the entire driver too large; the ball rotor is a hollow ball rotor, without any mechanism inside, and the space utilization rate is low; the space between the axis of the stator mechanism and the horizontal plane There is an included angle, and the pressure distribution on the surface particles of the annular stator is uneven under the action of the pretightening force, and the contact condition is complicated

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