Multi-degree-of-freedom ultrasonic motor driven by cylindrical and disc hybrid

Abstract

The invention provides a columnar and disc-shaped hybrid drive ultrasonic motor with multi-degree of freedom, and belongs to the technical field of electric motors. The motor comprises a casing, a rotor, a piezoelectric driving rotation device and a piezoelectric driving deflection device, wherein the piezoelectric driving rotation device comprises a rotation piezoelectric ceramic chip set and a rotation elastic body in a hollow cylindrical shape; the rotor is a solid spherical elastic body, the upper end of the rotor is fixedly connected to the output shaft, the rotor is located above and coaxial with the rotation elastic body; and the rotor deflection piezoelectric driving device comprises an annular piezoelectric ceramic chip set, an annular elastic body and a deflection driving foot. The motor has the advantages of simple and compact structure, simple manufacturing process and fast passive self-locking response, and the rotor can realize multi-degree of freedom motion without external electromagnetic interference, and is high in control positioning accuracy, easy to realize miniaturization, convenient to use and large in output torque. Therefore, the columnar and disc-shaped hybrid drive ultrasonic motor can work in occasions of low speed, high torque and small volume, with up to five degrees of freedom.

Description

technical field [0001] The invention relates to the technical field of ultrasonic motors. Background technique [0002] According to the mechanical principle, the mechanism has the number of independent motion parameters that must be given when determining the motion (that is, the number of independent generalized coordinates that must be given in order to determine the position of the mechanism), which is called the degree of freedom of the mechanism. A multi-degree-of-freedom motor is a motor whose output shaft can move with two or more degrees of freedom. With the continuous development of modern intelligent industry, the requirements for the precision, integration and flexibility of multi-degree-of-freedom motion actuators are increasing. The multi-degree-of-freedom motion actuator composed of traditional single-degree-of-freedom motors cannot meet the requirements of intelligent driving due to its large size. The multi-degree-of-freedom integrated driving technology h...

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to provide a hybrid multi-degree-of-freedom ultrasonic motor of columnar and disc shape, which solves the problems of large volume, low integration and few degrees of freedom in the prior art. The ultrasonic motor has simple and compact structure, small volume, Passive self-locking has fast response speed, the rotor can realize both self-rotation and multi-directional deflection (can carry out five-degree-of-freedom movement), neither electromagnetic interference nor external electromagnetic interference, high integration, high control positioning accuracy, It is easy to realize miniaturization, easy to use, and can work in low speed, high torque, small volume, and multi-degree-of-freedom occasions.

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