Multi-degree-of-freedom spherical traveling wave type ultrasonic motor pre-pressure structure

Abstract

The invention provides a multi-degree-of-freedom spherical traveling wave type ultrasonic motor pre-pressure structure, and belongs to the technical field of ultrasonic motors. The pre-pressure structure comprises at least three traveling wave stator supports, wherein the traveling wave stator supports can be in spherical surface contact with a spherical rotor and are symmetrically and uniformly distributed about the vertical axis of the spherical rotor; each traveling wave stator support comprises a supporting column; the supporting columns are mounted in claw holes of corresponding claw-shaped frames in a sliding fit manner; the outer end faces of the supporting columns are higher than the claw holes. Each claw-shaped frame comprises a central stand column, the groove bottom of a rotatable groove frame is in threaded fit with the central stand columns, the groove top inclined face is in sliding fit with the outer end faces of the supporting columns, the rotatable outer frame is rotated and adjusted, the supporting columns can slide in the axial direction, the spherical contact position of the traveling wave stator supports and the spherical rotor reaches proper pressure, and thespherical rotor rotates as required. The pre-pressure structure is simple in structure and convenient to install, pre-pressure is convenient and flexible to adjust, it is guaranteed that the inner edge of the traveling wave stator makes full contact with the spherical rotor, and pre-pressure between different stators and rotors is guaranteed to be same.

Description

technical field [0001] The invention relates to a preload structure of an ultrasonic motor, in particular to a preload structure of a multi-degree-of-freedom spherical traveling wave ultrasonic motor which can conveniently adjust the size of the preload within a certain range and ensure the same size. Background technique [0002] The multi-degree-of-freedom motor can effectively simplify the multi-degree-of-freedom drive mechanism, and has been successfully applied in the fields of aerospace, medical equipment and robots, and has a wide range of application fields and development prospects. Ultrasonic motor is a drive device with a new concept different from traditional motors. It first uses the inverse piezoelectric effect of piezoelectric ceramics to convert electrical energy into the microscopic vibration of the stator. The particles on the surface of the stator form an elliptical trajectory, and then use the stator-rotor The pre-pressure on the contact surface converts ...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom spherical traveling wave type ultrasonic motor preloading structure, which mainly solves the problem that the preloading structure in the prior art is too complicated, the volume is large, and it is not conducive to the centering of the traveling wave stator or the preloading is not possible. regulation, the problem of reducing the flexibility of the motor output

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