A two-degree-of-freedom ultrasonic motor based on a combined stator with three piezoelectric transducers
A piezoelectric ultrasonic and ultrasonic motor technology, which is applied in the direction of piezoelectric effect/electrostrictive or magnetostrictive motors, generators/motors, electrical components, etc., can solve the problem of small output torque and inconvenient control of spherical rotors. Complex structure and other issues, to achieve the effect of compact structure, simple structure and high power density
Inactive Publication Date: 2020-01-07
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
The piezoelectric vibrator of this kind of motor is difficult to output force, so the output torque of the spherical rotor is small and the thickness is thick
At present, the main problems faced in the research and development of two-degree-of-freedom ultrasonic motors are complex structure, inconvenient control, and small torque.
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[0028] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment. Its protection scope focuses on the combined structure of the three-piezoelectric transducer combined stator. In this structure, one to three stators are used, and each stator includes three piezoelectric transducer vibrators. The middle angle can be 0. Any angle from 90 degrees to 90 degrees, as shown in the accompanying drawings figure 2 As shown, in the stator used in the assembly drawing in this patent, the angle θ between the vibrators is 0 degrees, such as image 3 shown. These are all within the scope of protection of the patent.
[0029] The two-degree-of-fr...
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The invention discloses a two-degree-of-freedom ultrasonic motor based on a three-piezoelectric-transducer combined stator. Main components comprise an upper end cap, a lower end cap, a rotor component and a stator component. Through three-force combination of the three-piezoelectric-transducer combined stator, unequal excitation voltages are applied to three column-type piezoelectric bodies in a stator. Axial deformation of three column-type piezoelectric bodies is asymmetric. A synthetic force forms a thrust which is inclined at a certain angle to a vertical line of a joint-ball tangent plane at an end portion of a driving foot. A force generated in a tangential direction drives a joint ball by friction and achieves a two-degree-of-freedom rotation of a rotor. Compared to the motor in the prior art, the motor of the invention possesses advantages that the structure is simple and compact; the size is large; a moment is large; the motor is thin; weight is light; and an integrated level is high and so on. The motor is suitable for important fields of complicated machinery, aerospace, a medical treatment, a robot, a precision apparatus and the like.
Description
technical field [0001] The invention relates to an ultrasonic motor, in particular to a two-degree-of-freedom ultrasonic motor based on a combined stator of three piezoelectric transducers, and belongs to the field of piezoelectric ultrasonic technology. Background technique [0002] With the development of science and technology, especially robot technology and precision mechanical positioning device technology, multi-degree-of-freedom drives are required in many occasions. Due to the complex structure of multi-degree-of-freedom electromagnetic motors, it is difficult to manufacture and implement control, and is not suitable for low-speed direct drive applications. . The multi-degree-of-freedom ultrasonic motor has the advantages of low speed, high torque, high resolution, and compact structure. It can be used in multi-dimensional electromechanical devices such as robot joints, precision assembly, and micro-robots, and has a good application prospect. [0003] Piezoelectri...
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IPC IPC(8): H02N2/02H02N2/10
CPCH02N2/026H02N2/103H02N2/108
Inventor 李世阳郭荣静孙轩李唐安曹文武杨明
Owner SHANGHAI JIAOTONG UNIV