CN101267171B - Electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor - Google Patents
Electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor Download PDFInfo
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- CN101267171B CN101267171B CN2008100529081A CN200810052908A CN101267171B CN 101267171 B CN101267171 B CN 101267171B CN 2008100529081 A CN2008100529081 A CN 2008100529081A CN 200810052908 A CN200810052908 A CN 200810052908A CN 101267171 B CN101267171 B CN 101267171B
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Abstract
The present invention belongs to the field of the ultrasonic electric motor manufacturing technique, and relates to an electromagnetic pressure-regulating multiple-freedom spherical ultrasonic electric motor. The invention comprises an engine casing, a sphere rotor which is provided with an output shaft, and a stator fixed on the engine casing. The sphere rotor is sleeved with an abrasion resisting circular ring. The surface of the circular ring is provided with a plurality of permanent magnetic pieces. The engine casing is also fixed with a plurality of pairs of electromagnetic poles. Each electromagnetic pole is composed of an iron core and a winding coil winding the iron core. The number of pairs of the electromagnetic poles is same to the number of pairs of magnetic piece electrodes and the positions are corresponding with the magnetic piece. The acting force between the permanent magnetic piece and the electromagnetic pole are regulated through changing the current of the winding coil of the electromagnetic pole. The multiple-freedom spherical ultrasonic electric motor of the invention has the advantages of more reliable structure, controllable prepressure of the rotor, improved operating characteristic of the electric motor and increased flexibility to the designing of the electric motor control system.
Description
Technical field
The invention belongs to supersonic motor manufacturing technology field, relate to a kind of multi freedom degree spherical ultrasonic electromotor.
Background technology
Supersonic motor is compared with traditional electromagnetic motor, have that low speed high torque, dynamic response are fast, operation noiseless, simple in structure, light weight, cut off self-lock, do not have electromagnetic interference problem etc., can be widely used in fields such as Aero-Space, micromachine, robot, machine tool feeding mechanism, optical instrument.Multi freedom degree spherical ultrasonic electromotor not only has these traditional advantages, and can realize the space multifreedom motion of spherical spinner, be applied to the design of simplified system greatly in the devices such as joint of robot, bionical vision, the realization motion is located fast and accurately.
Because the special rotor form of spherical ultrasonic electromotor, its precompression Design of device problem is a difficult point always, and there is the shortcoming that precompression is little, structure is unreliable, precompression is difficult for adjusting in some present schemes, have limited the application of spherical ultrasonic electromotor.In supersonic motor, the rotor precompression is an important parameters, directly has influence on stator resonance frequency, the torque-speed characteristic of motor.Therefore, when supersonic motor moves, if the size that can regulate the rotor precompression according to feedback signal, precompression is carried out ACTIVE CONTROL, and in conjunction with traditional stator voltage controlling, frequency modulation, phase modulation control method, can make up more flexible, effective control system, enlarge the dynamic adjustments scope of supersonic motor, improve the runnability of supersonic motor.
Summary of the invention
The object of the invention is to overcome the above-mentioned deficiency of prior art, the adjustable multi freedom degree spherical ultrasonic electromotor of a kind of rotor precompression is proposed, electric machine structure is more reliable, the rotor precompression is controlled thereby make, improve operating characteristics of motor, improved the flexibility of electric machine control system design.
For this reason, the present invention adopts following technical scheme:
A kind of electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor, comprise casing, the ball rotor and the stator that is fixed on the casing that have output shaft, it is characterized in that, outside described ball rotor, be with wear-resisting annulus, be provided with a plurality of permanent magnetism tablets on the surface of described annulus, on casing, also be fixed with many to electromagnetic pole, each electromagnetic pole is made of the winding coil of iron core and winding iron core, the logarithm of electromagnetic pole is identical with described magnetic sheet number of pole-pairs, the position is corresponding with described magnetic sheet, regulates active force between permanent magnetism tablet and the electromagnetic pole by the electric current that changes the electromagnetic pole winding coil.
Multi freedom degree spherical ultrasonic electromotor of the present invention preferably also comprises the spring that is connected between annulus and the casing; Magnetic sheet is that N, the S utmost point replace on the annulus surface, and evenly distributes.
The stator that motor of the present invention adopted can be following structure, adopts the elastic metallic flat board, and it simultaneously is provided with and drives foot, and another side is provided with the three-phase piezoelectric patches.
Spherical ultrasonic electromotor provided by the invention, its substantive distinguishing features is: by applying high-frequency signal to sticking on the piezoelectric patches on the stator, inspire the flexural vibrations of stator, carry out the multiple degrees of freedom rotation by frictional force drives ball rotor.Motor when operation, by control electromagnetic pole exciting current, the size and Orientation of scalable magnetic force, with the pulling force of spring synthetic after, change the precompression between the rotor.
The present invention has following outstanding technique effect:
Electromagnetic voltage adjusting formula spherical ultrasonic electromotor have low speed high torque, dynamic response fast, cut off self-lock, do not have on the supersonic motor traditional advantages basis such as electromagnetic interference, but the multifreedom motion on the implementation space, be applied to fields such as robot, precision instrument, can simplify the design of mechanical system greatly.
2. electromagnetic voltage adjusting formula spherical ultrasonic electromotor adopts plate shaped stator structure, compares with the cylindricality stator structure, and electric machine structure is simple, can further reduce motor volume, enlarges the motor application scope.
3. electromagnetic voltage adjusting formula spherical ultrasonic electromotor has motor precompression and the bracing or strutting arrangement that comprises motor case, permanent magnet, spring, electromagnetic pole, and electric machine structure is reliable, and has improved the output torque of motor and the holding torque after the outage.
4. electromagnetic voltage adjusting formula spherical ultrasonic electromotor is by regulating the exciting current of electromagnetic pole, can change making a concerted effort of magnetic force and spring tension, realize the ACTIVE CONTROL of rotor precompression, can obtain different torque-speed characteristics, strengthened the flexibility of electric machine control system design.
Description of drawings
Fig. 1 electromagnetic voltage adjusting formula spherical ultrasonic electromotor structure chart.
The number in the figure name is called: 1 casing; 2 ball rotors; 3 stators; 4 bolts; 5 wear-resisting annulus; 6 permanent magnetism tablets; 7 springs; 8 electromagnetic poles; 9 pads
Fig. 2 stator structure figure.
The number in the figure name is called: 3-1 metallic elastic plate; 3-2 drives foot
Fig. 3 piezoelectric patches arrangement mode schematic diagram.
The number in the figure name is called: the 3-3 piezoelectric patches
Fig. 4 permanent magnet sheet arrangement mode schematic diagram.
Embodiment
Electromagnetic voltage adjusting formula spherical ultrasonic electromotor comprises motor body, precompression electromagnetic control system two parts, wherein, the motor body part is made of casing 1, ball rotor 2 and stator 3, and the precompression electromagnetic control system is made of wear-resisting annulus 5, permanent magnetism tablet 6, spring 7, electromagnetic pole 8.Motor basic structure as shown in Figure 1.
Motor case 1 is a square column type, and its width is slightly larger than ball rotor 2 diameters.Stator 3 is the dull and stereotyped 3-1 of square elastic metallic, and it is positive pastes 4 and drive sufficient 3-2, and piezoelectric patches 3-3 is pasted at the back side, in two intersection of diagonal of stator, utilizes bolt 4 that stator is fixed on the casing.Stator structure figure as shown in Figure 2, the piezoelectric patches arrangement mode is as shown in Figure 3.The ball rotor adopts non-magnet material to make, and has output shaft, is overlapping the annulus 5 that is made of high-abrasive material in the above, the permanent magnetism tablet 6 that annulus upper surface stickup N, the S utmost point replace, and magnetic sheet evenly distributes, and the pole arrangement mode is as shown in Figure 3.Connect spring 7 in annulus lower surface, the position relative with every magnetic sheet center, the other end of spring is connected to casing 1 bottom, and the pulling force of spring can be pressed on the ball rotor on the stator.Electromagnetic pole 8 is fixed on the casing top, and its position is corresponding with the magnetic sheet position, is air-gap between the two, adjacent two electromagnetic poles utmost point that partners, and number of pole-pairs is identical with the magnetic sheet number of pole-pairs, the yoke of casing double as magnetic circuit.Electromagnetic pole comprises iron core and twines winding coil two parts of iron core, when switching in winding coil, can generate an electromagnetic field.
In electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor of the present invention, the precompression between the rotor is synthetic by the magnetic force between the pulling force of spring and electromagnetic pole, the magnetic sheet.When motor normally moves, keep wear-resisting annulus to contact with the ball rotor, the elongation of spring is constant substantially, be that the spring tension maintenance is constant, when the polarity of electromagnetic pole and relative magnetic sheet not simultaneously, magnetic sheet and wear-resisting annulus are subjected to gravitation upwards, have weakened wear-resisting annulus and have acted on pressure on the stator, have promptly reduced the rotor precompression; Change the direction of electromagnetic pole exciting current, can make the polarity of electromagnetic pole identical with magnetic sheet, then wear-resisting annulus is subjected to downward repulsion, can increase the rotor precompression; Change the size of electric current, the intensity that can regulate magnetic pole and magnetic field, thereby the amplitude of control magnetic pull or magnetic repulsion.As seen, in electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor, the precompression between the rotor is the same with amplitude, frequency, the phase place of stator excitation, all is controlled, therefore can make up more flexible, more effective control system, improve the runnability of motor.
In the electromagnetic voltage adjusting formula spherical ultrasonic electromotor, when A, B and C three-phase piezoelectric patches 3-3 apply high frequency pumping, can inspire the flexural vibrations of stator elastic plate, the phase relation of control three phase excitation, can change the elliptical trajectory that stator drives foot, thereby realize the Three Degree Of Freedom rotation of ball rotor.
When electromagnetic voltage adjusting formula spherical ultrasonic electromotor moved, the coordination control by to A, B, C three-phase piezoelectric patches driving voltage and electromagnetic pole exciting current can obtain the different operation characteristic of motor, makes up control system more flexibly.
Need to prove that among the present invention, the spring that connects wear-resisting annulus and bottom of shell is not an essential features.If remove the spring that connects wear-resisting annulus and bottom of shell, only control the size of winding coil electric current and do not change its direction, make permanently between electromagnetic pole and permanent magnetism tablet to be repulsion, utilize electromagnetic repulsion force to compress rotor, this also is feasible.Present embodiment utilizes the pulling force of spring to keep precompression between motor ball rotor and the stator, can make electric machine structure more solid and reliable.
Claims (3)
1. electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor, comprise casing, the ball rotor and the stator that is fixed on the casing that have output shaft, it is characterized in that, outside described ball rotor, be with wear-resisting annulus, be provided with a plurality of permanent magnetism tablets on the surface of described annulus, on casing, also be fixed with many to electromagnetic pole, each electromagnetic pole is made of the winding coil of iron core and winding iron core, the logarithm of electromagnetic pole is identical with described magnetic sheet number of pole-pairs, the position is corresponding with described magnetic sheet, regulate active force between permanent magnetism tablet and the electromagnetic pole by the electric current that changes the electromagnetic pole winding coil, described stator is the elastic metallic flat board, it simultaneously is provided with and drives foot, and another side is provided with the three-phase piezoelectric patches.
2. multi freedom degree spherical ultrasonic electromotor according to claim 1 is characterized in that described motor also comprises the spring that is connected between annulus and the bottom of shell.
3. according to claim 1 or 2 any described multi freedom degree spherical ultrasonic electromotors, it is characterized in that described magnetic sheet replaces, and evenly distributes at described annulus surface N, the S utmost point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008100529081A CN101267171B (en) | 2008-04-25 | 2008-04-25 | Electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor |
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| CN2008100529081A CN101267171B (en) | 2008-04-25 | 2008-04-25 | Electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor |
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| CN101267171A CN101267171A (en) | 2008-09-17 |
| CN101267171B true CN101267171B (en) | 2011-02-09 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4532591B1 (en) * | 2009-03-23 | 2010-08-25 | 株式会社ダイシン | Rotating vibrator and vibratory transfer device using the same |
| CN101777851B (en) * | 2010-03-17 | 2012-05-23 | 天津大学 | Three freedom degree spherical motor with multiple physical field mixing driving |
| JP2013102644A (en) * | 2011-11-09 | 2013-05-23 | Toyota Industries Corp | Ultrasonic motor |
| CN107843280B (en) * | 2017-11-28 | 2024-03-22 | 哈尔滨理工大学 | Calibrating device of rotary spherical magnetoelectric encoder |
| CN110048638B (en) * | 2019-05-06 | 2020-07-07 | 河北科技大学 | Multi-degree-of-freedom spherical traveling wave type ultrasonic motor pre-pressure structure |
| CN113224972B (en) * | 2021-04-28 | 2022-06-17 | 南京航空航天大学 | Single-stator three-degree-of-freedom spherical ultrasonic motor and excitation method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1389973A (en) * | 2002-07-31 | 2003-01-08 | 清华大学 | Universal hollow-structure great-moment ring piezoelectric ultrasonic motor |
| CN1972103A (en) * | 2006-12-04 | 2007-05-30 | 浙江大学 | Multi-degree of freedom spherical traveling wave-type ultrasonic motor |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1389973A (en) * | 2002-07-31 | 2003-01-08 | 清华大学 | Universal hollow-structure great-moment ring piezoelectric ultrasonic motor |
| CN1972103A (en) * | 2006-12-04 | 2007-05-30 | 浙江大学 | Multi-degree of freedom spherical traveling wave-type ultrasonic motor |
Non-Patent Citations (3)
| Title |
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| CN 1389973 A,说明书具体实施例部分. |
| 郭吉丰，傅平.多自由度球形超声波电机的研究进展.电工电能新技术24 2.2005,24(2),65-68. |
| 郭吉丰,傅平.多自由度球形超声波电机的研究进展.电工电能新技术24 2.2005,24(2),65-68. * |
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