CN109802596A - Deflect driving type piezoelectric actuator multi-freedom electric motor - Google Patents
Deflect driving type piezoelectric actuator multi-freedom electric motor Download PDFInfo
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Abstract
The present invention provides deflection driving type piezoelectric actuator multi-freedom electric motors, are related to multiple degrees of freedom motor technology field.Rotor includes the spherical crown shape shell for being fixed with output shaft；The stator includes rotor upright and deflection Piexoelectric actuator；Several deflection Piexoelectric actuators are equipped with above rotor upright, deflection Piexoelectric actuator includes the interior side contacts of roof pressing type pre-pressure mechanism and spherical crown shape shell and has precompression.Present invention mainly solves electromagnetic drive structures complexity existing in the prior art, it is difficult to realize the technical problems such as micromation.The present invention have the characteristics that it is small in size and flexible, control precision height, fast response time, be able to achieve passive self-locking, be easy to use, is widely used.It can also be rotation and deflection to separate, avoid rotation and deflection control from influencing each other, be suitble to continuously run.
Description
Technical field
The present invention relates to multiple degrees of freedom motor technology fields.
Background technique
With the progress of modern science and technology level, multiple degrees of freedom integration actuation techniques are increasingly taken seriously.Multiple degrees of freedom
Motor becomes important research direction, has the multi-freedom electric motor of electromagnetic drive to be suitble to work in high speed low torque；But its structure
Complexity, which is difficult to realize micromation, should not apply in accurate workplace.Therefore study it is a kind of it is compact-sized it is compact and flexible, be easy to real
Now micromation, energy are self-locking, and responding fast, widely used Piezoelectric Ceramic multi-freedom electric motor becomes urgent need.
In addition, generally there are two types of modes: electromagnetic drive, Piezoelectric Ceramic for more practical multi-freedom electric motor driving.
Piezoelectric Ceramic electric machine structure is compact, flexible design, it is easy to accomplish micromation；Can be self-locking, response is fast, and not by external electromagnetic
Interference be particularly suitable for work in low-speed big occasion.But the electrical machinery life of Piezoelectric Ceramic is short, is not suitable for continuously running
Occasion.Therefore also it is badly in need of a kind of hybrid-driven motor, effectively to play the respective advantage of electromagnetic drive and Piezoelectric Ceramic,
It is allowed to make up for each other's deficiencies and learn from each other, to meet actual needs.
Summary of the invention
The problem to be solved in the present invention is to provide deflection driving type piezoelectric actuator multi-freedom electric motors, mainly solve in the prior art
Existing electromagnetic drive structures are complicated, are difficult to realize the technical problems such as micromation.The present invention has small in size and flexible, control
Precision height, fast response time, the features such as being able to achieve passive self-locking, is easy to use, is widely used.
In order to reach the goals above, the technical solution adopted by the present invention is that: deflection driving type piezoelectric actuator multi-freedom electric motor,
It is characterized in that: including motor housing, rotor and stator；The rotor includes the spherical crown shape shell for being fixed with output shaft；It is described fixed
Attached bag includes rotor upright and deflection Piexoelectric actuator；Several deflection Piexoelectric actuators are equipped with above rotor upright；Each
Deflecting Piexoelectric actuator includes deflection elastomer, deflection piezoelectric ceramic piece and pre-pressure mechanism；The pre-pressure mechanism makes partially
Turn the interior side contacts of elastomer and spherical crown shape shell and there is precompression；To generate traveling wave pair by deflection Piexoelectric actuator
The inside of spherical crown shape shell applies frictional force and spherical crown shape shell and rotor is made to realize the deflection of certain angle.
It preferably, is rotation connection between rotor upright and motor base；The rotor upright also with make rotor upright from
The Autorotation driving device connection turned.
Preferably, the Autorotation driving device includes piezoelectric type Autorotation driving device and/or electromagnetic type Autorotation driving device.
Preferably, rotation connection structure between rotor pedestal and motor base are as follows: rotor pedestal passes through bearing and motor base
It is connected, rotor pedestal is connected with bearing inner race 13, and bearing outer ring is connected with motor base.
Preferably, the piezoelectric type Autorotation driving device includes: that rotor upright lower part is mutually fixed with rotor pedestal, rotor base
It is rotatablely connected between seat and motor base；Piezoelectric type Autorotation driving device includes rotation piezoelectric ceramic piece and rotation elastomer；Piezoelectricity
Formula Autorotation driving device is fixed by fixed device；Piezoelectric type Autorotation driving device is indirect by rotation elastomer and rotor pedestal
Friction-driven is touched, realizes the rotation of rotor pedestal and rotor.
Preferably, the electromagnetic type Autorotation driving device includes: several stator cores and its winding；Rotor upright lower part with
Rotor pedestal is mutually fixed, and is rotatablely connected between rotor pedestal and motor base；Several stator core stationary distributions are in motor housing
Inside；The permanent magnet trough being distributed on rotor pedestal, permanent magnet trough are embedded in several rotor permanent magnets, pass through several stator cores
Electromagnetic drive is realized with several rotor permanent magnets.
Preferably, the winding is centralized winding.
Preferably, it includes tilting hack lever and piezoelectric device that the pre-pressure mechanism, which includes: deflection Piexoelectric actuator, described
The lower end for tilting hack lever is hinged by shaft and the flat gap of rotor upright upper end；Flat opening position is equipped with sliding block, passes through tune
It saves the screw rod being fixed on sliding block and the nut for being fixed on flat gap realizes that pressure on top surface is adjusted；
Alternatively, the pre-pressure mechanism includes: to be equipped with compression spring, institute in drawing and pulling type sleeve there are two drawing and pulling type sleeve
It states and is disconnected among inclination hack lever, top and the upper bush of drawing and pulling type sleeve are fixed, and lower part is screw rod, with trapping for drawing and pulling type sleeve
Cylinder is threadedly coupled；By adjusting the position of lower sleeve, the press precompression of adjustable compression spring.
Preferably, the spherical crown shape shell is greater than hemispherical.
Preferably, the deflection Piexoelectric actuator has even number, symmetrically mutually staggers and is centered around around rotor upright；Ball
Coronal shell realizes the deflection of a direction by symmetrically deflecting Piexoelectric actuator；When one group of deflection Piexoelectric actuator
When contacting friction with spherical crown shape shell and generating upward driving force, with its symmetrical deflection Piexoelectric actuator and spherical crown shape shell
Contact friction generates downward driving force, and it is inclined that symmetrical deflection Piexoelectric actuator cooperation realizes that shaft is completed to a direction
Turn；
Preferably, the deflection Piexoelectric actuator has 4, symmetrically mutually staggers 90 degree two-by-two and is centered around rotor upright week
It encloses.
The solution have the advantages that: mainly solve that electromagnetic drive structures existing in the prior art are complicated, are difficult to realize
The technical problems such as micromation.The present invention have it is small in size and flexible, control precision height, fast response time, be able to achieve nothing be originated from
The features such as locking, be easy to use, widely used；And rotation and deflection can be made to separate, it avoids rotation and deflection control from influencing each other, fits
Conjunction is continuously run.
The present invention can also solve that electromagnetic drive structures existing in the prior art are complicated, are difficult to realize be miniaturized, piezoelectricity pottery
The porcelain driving motor service life is short, is not suitable for the technical issues of continuously running.The rotation part of the invention passes through electromagnetic drive and piezoelectricity
The common cooperation of driving is completed, and be ensure that high speed low torque movement and low-speed big movement may be implemented in motor, is made motor rotation
Control precision greatly improve, solve that single electromagnetism rotation driving precision is low, and the single piezoelectricity rotation driving service life is low, low efficiency
The problem of.Spinning motion and yaw motion separate, and are avoided that rotation and deflection control influence each other, are suitble to continuously run.This hair
It is bright have it is small in size, control precision height, fast response time, be able to achieve passive self-locking, be avoided that rotation and the mutual shadow of deflection control
It rings, improve working efficiency and service life and be suitble to the features such as continuously running.
The present invention realizes the deflection of rotor certain angle by deflection Piexoelectric actuator；Pass through electromagnetic type certainly by stator
Rotary driving device and the mutual cooperation of piezoelectric type Autorotation driving device make rotor upright rotation；It is real by electromagnetic type Autorotation driving device
Existing motor high speed low torque rotation is realized motor low speed, high torque, high-precision rotation by piezoelectric type Autorotation driving device, is led to
The cooperation for crossing electromagnetic type Autorotation driving device and piezoelectric type Autorotation driving device makes motor both be able to satisfy the demand of running at high speed or can
Meet low-speed running demand, guarantees that motor is able to achieve high-precision control.The present invention uses piezoelectric ceramic piece and Electromagnetic Control motor
Rotation, be able to achieve torque fine-tune and coarse adjustment, be able to achieve low-speed big movement, and be able to achieve high speed low torque fortune
It is dynamic, avoid rotation and deflection control from influencing each other.The motor takes into account electromagnetic drive multi-freedom electric motor and how free Piezoelectric Driving is
The advantages of spending motor, realizes mutual supplement with each other's advantages.Its spinning motion (lower section piezoelectricity and electromagnetism drive jointly) and deflection fortune
Dynamic (top Piezoelectric Driving) is independent control, avoids rotation and deflects influencing each other for control, effectively improves motor
Working efficiency.The problems such as electrical machinery life for avoiding single Piezoelectric Driving simultaneously is short, is not suitable for the occasion continuously run.It is applicable in model
It encloses wide.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the schematic perspective view of an example of the invention.
Fig. 2 is the A-A cross-sectional view in Fig. 1.
Fig. 3 is the structural schematic diagram of output shaft and spherical crown shape shell in Fig. 2.
Fig. 4 is rotor pedestal in Fig. 2, deflection Piexoelectric actuator, rotor upright connection schematic diagram.
Fig. 5 is deflection Piexoelectric actuator and rotor upright connection schematic diagram.
Fig. 6 is that deflection Piexoelectric actuator connect enlarged drawing at shaft with rotor upright in Fig. 5.
Fig. 7 is that Piexoelectric actuator structural schematic diagram is deflected in Fig. 2.
Fig. 8 is electromagnetic type Autorotation driving device structural schematic diagram in Fig. 2.
Fig. 9 is piezoelectric type Autorotation driving device structural schematic diagram in Fig. 2.
Figure 10 is rotor pedestal and motor base structural schematic diagram in Fig. 2.
Figure 11 is the connection figure of rotor pedestal and motor base in Figure 10.
Figure 12 is the structural schematic diagram of motor base and bearing.
Figure 13 is electric machine control system functional block diagram.
Each label meaning in figure: 1-output shaft, 2-bolts, 3-upper end covers, 4-deflection Piexoelectric actuators, 4a-company
Junctor, 4b-deflection piezoelectric ceramic piece, 4c-deflection elastomer, 5-rotor uprights, 6-motor housings, 7-electromagnetic type rotations
Driving device, 7a-stator core, 7b- winding, 8-piezoelectric type Autorotation driving devices, 8a-rotation piezoelectric ceramic piece, 8b-are certainly
Turn elastomer, 9-rotor pedestals, 9a-rotor permanent magnet, 9b-permanent magnet trough, 10-motor bases, 11-lower covers, 12-
Spherical crown shape shell, 13-bearings, 13a-bearing outer ring, 13b-bearing inner race, 14-fixed devices, 15-precompression sliding blocks,
16-nuts, 17-screw rods, 18-shafts.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Attached drawing is closed, the present invention will be described in further detail.
Also referring to Fig. 1~Figure 13, existing the present invention will be described.
As a kind of specific embodiment, the technical solution adopted by the present invention is that: deflection driving type piezoelectric actuator multiple degrees of freedom
Motor, it is characterised in that: including motor housing 6, rotor and stator；The rotor includes being fixed with outside the spherical crown shape of output shaft 1
Shell 12；The stator includes rotor upright 5 and deflection Piexoelectric actuator 4；Several deflection piezoelectricity are equipped with above rotor upright 5
Driving device 4；Each deflection Piexoelectric actuator 4 includes deflection elastomer 4c, deflection piezoelectric ceramic piece 4b and pre-pressure mechanism；
The pre-pressure mechanism makes the interior side contacts for deflecting elastomer 4c and spherical crown shape shell (12) and has precompression；To by inclined
Turn the generation traveling wave of Piexoelectric actuator 4 to apply frictional force to the inside of spherical crown shape shell 12 and make spherical crown shape shell 12 and rotor
Realize the deflection of certain angle.
That present invention mainly solves electromagnetic drive structures existing in the prior art is complicated, is difficult to realize the technologies such as micromation asks
Topic.The present invention have it is small in size and flexible, control precision height, fast response time, be able to achieve passive self-locking, be easy to use, use
The features such as extensive on the way.
As a kind of specific embodiment, it is preferred that be rotation connection between rotor upright 5 and motor base 10；Institute
Rotor upright 5 is stated also to connect with the Autorotation driving device of 5 rotation of rotor upright is made.
As a kind of specific embodiment, it is preferred that the Autorotation driving device includes piezoelectric type Autorotation driving device 8
And/or electromagnetic type Autorotation driving device 7.
As a kind of specific embodiment, it is preferred that rotation connection structure between rotor pedestal 9 and motor base 10 are as follows:
Rotor pedestal 9 is connected by bearing 13 with motor base 10, and rotor pedestal 9 is connected with bearing inner race 13b, bearing outer ring 13a and
Motor base 10 is connected.
As a kind of specific embodiment, it is preferred that the piezoelectric type Autorotation driving device 8 includes: under rotor upright 5
Portion is fixed with 9 phase of rotor pedestal, is rotatablely connected between rotor pedestal 9 and motor base 10；Piezoelectric type Autorotation driving device 8 includes certainly
Turn piezoelectric ceramic piece 8a and rotation elastomer 8b；It is fixed that piezoelectric type Autorotation driving device 8 passes through fixed device 14；Piezoelectric type rotation
Driving device 8 touches friction-driven by rotation elastomer 8b and rotor pedestal 9 indirectly, realizes the rotation of rotor pedestal 9 and rotor.
As a kind of specific embodiment, it is preferred that the electromagnetic type Autorotation driving device 7 includes: several stator iron
Core 7a and its winding 7b；5 lower part of rotor upright is fixed with 9 phase of rotor pedestal, the company of rotation between rotor pedestal 9 and motor base 10
It connects；Several stator core 7a stationary distributions are in the inside of motor housing 6；The permanent magnet trough 9b being distributed on rotor pedestal 9, permanent magnetism
Body slot 9b is embedded in several rotor permanent magnet 9a, realizes that electromagnetism drives by several stator core 7a and several rotor permanent magnet 9a
It is dynamic.
It can solve that electromagnetic drive structures existing in the prior art are complicated, are difficult to realize be miniaturized, Piezoelectric Ceramic electricity
The machine service life is short, is not suitable for the technical issues of continuously running.The present invention has small in size, control precision height, fast response time, energy real
Existing passive self-locking, service life be long, high-efficient and be suitble to the features such as continuously running.
As a kind of specific embodiment, it is preferred that the winding 7b is centralized winding.
As a kind of specific embodiment, it is preferred that the pre-pressure mechanism includes: that deflection Piexoelectric actuator 4 wraps
Inclination hack lever and piezoelectric device are included, the lower end of the inclination hack lever is cut with scissors by the flat gap of shaft 18 and 5 upper end of rotor upright
It connects；Flat opening position is equipped with sliding block 15, by adjusting the screw rod 17 being fixed on sliding block 15 and the nut for being fixed on flat gap
16 realize the pressure on top surface adjusting to the interior side contacts of spherical crown shape shell 12；
As a kind of specific embodiment, it is preferred that the pre-pressure mechanism includes: to take out there are two drawing and pulling type sleeve
It is equipped with compression spring in pull-type sleeve, is disconnected among the inclination hack lever, top and the upper bush of drawing and pulling type sleeve are fixed, lower part
For screw rod, it is threadedly coupled with the lower sleeve of drawing and pulling type sleeve；By adjusting the position of lower sleeve, adjustable compression spring is to ball
The press precompression of the inside of coronal shell 12.
As a kind of specific embodiment, it is preferred that the pre-pressure mechanism includes: that deflection Piexoelectric actuator 4 wraps
Inclination hack lever and piezoelectric device are included, hack lever is tilted and there is magnet aspiration-type structure (spherical crown shape with the inside of spherical crown shape shell 12
It is permanent magnetism or electromagnetic attraction when shell is irony), with suitable precompression.It is generated by deflection Piexoelectric actuator 4
Traveling wave makes deflection elastomer 4c apply frictional force to the inside of spherical crown shape shell 12 and spherical crown shape shell 12 and rotor is made to realize one
Determine the deflection of angle.
As a kind of specific embodiment, it is preferred that the spherical crown shape shell 12 is greater than hemispherical.
As a kind of specific embodiment, it is preferred that the deflection Piexoelectric actuator 4 has even number, symmetrical mutual
It is staggered and is centered around around rotor upright 5；Spherical crown shape shell 12 realizes a direction by symmetrically deflecting Piexoelectric actuator 4
Deflection；It is symmetrical with it when one group of deflection Piexoelectric actuator 4, which contacts friction with spherical crown shape shell, generates upward driving force
Deflection Piexoelectric actuator contact friction with spherical crown shape shell and generate downward driving force, symmetrically deflect Piexoelectric actuator
4 cooperations realize that shaft is completed to deflect to a direction；
As a kind of specific embodiment, it is preferred that the deflection Piexoelectric actuator 4 has 4, symmetrical mutual two-by-two
It is staggered 90 degree and is centered around around rotor upright 5.
As a kind of specific embodiment, it is illustrated in detailed below.
The Piezo-electric steering drives specific embodiment are as follows: the positive and negative friendship of piezoelectric ceramic piece 4b to deflection Piexoelectric actuator 4
For polarizing and applying the sinusoidal high frequency voltage that two-phase phase difference is 90 °, Piezo-electric steering stator responds out traveling wave, deflects Piezoelectric Driving
Device 4 contacts friction with spherical crown shape shell and generates driving force, and shaft is realized in the cooperation by symmetrically deflecting Piexoelectric actuator 4
Deflection.
Deflection Piexoelectric actuator 4 has four groups, symmetrical two-by-two and mutually stagger 90 degree and be centered around around rotor upright 5, ball
Coronal shell 12 realizes the deflection of a direction by symmetrically deflecting Piexoelectric actuator 4.When one group of deflection Piezoelectric Driving
When device 4 contacts the upward driving force of friction generation with spherical crown shape shell, with its symmetrical deflection Piexoelectric actuator and spherical crown
The contact friction of shape shell generates downward driving force, and symmetrical deflection Piexoelectric actuator 4 cooperation realizes shaft to a direction
Complete deflection.
The rotor pedestal 9 is embedded with rotor permanent magnet 9a, 9 top of rotor pedestal and piezoelectric type Autorotation driving device 8
It is connected, motor not only can complete rotation to the effect of the electromagnetic force of rotor by electromagnetic type Autorotation driving device 7, but also can pass through pressure
Electric-type Autorotation driving device 8 completes rotation.
Electromagnetism rotation drives specific embodiment are as follows: the coil 7b on electromagnetic type Autorotation driving device 7 applies electric current, makes
Rotor permanent magnet 9a on electromagnetic type Autorotation driving device 7 and rotor pedestal generates the electromagnetic force of interaction, provides for rotor
Torque makes rotor complete spinning motion.
The piezoelectricity rotation drives specific embodiment are as follows: to the piezoelectric ceramic piece 8a of piezoelectric type Autorotation driving device 8
It is 90 ° of sinusoidal high frequency voltage that positive and negative alternant polarization, which simultaneously applies two-phase phase difference, and piezoelectricity rotation stator responds out traveling wave, by with
Rotation elastomer 8b rotor contacts the rotation of friction-driven rotor.
The rotor pedestal 9 is connected by bearing 13 with motor base 10, and rotor pedestal 9 is connected with bearing inner race 13b,
Bearing outer ring 13a is connected with motor base 10.The motor base 10 is mutually fixed with lower cover 11.
With reference to Fig. 6, working principle, the precompression sliding block 15 generates to the right displacement under the motive force of screw rod 17, in advance
The upper right side of pressure slider 15 pushes the connector 4a on deflection Piexoelectric actuator 4 18 to generate deflection around the shaft, to make partially
Turn Piexoelectric actuator 4 and generate downward displacement, to adjust pre- between deflection Piexoelectric actuator 4 and spherical crown shape shell 12
Clamp force.
Electric machine control system functional block diagram as shown in figure 13.Control function is by rotor position detector, controller, piezoelectric type
Autorotation driving device, electromagnetic type Autorotation driving device deflect Piexoelectric actuator, and motor is realized.Rotor position detector with
Controller is connected, controller and deflection Piexoelectric actuator, piezoelectric type Autorotation driving device, electromagnetic type Autorotation driving device phase
Even, deflection Piexoelectric actuator, piezoelectric type Autorotation driving device, electromagnetic type Autorotation driving device are connected to the motor.
When motor operation is in low speed, using piezoelectricity rotation driving；When motor operation is in high speed, using electromagnetism rotation drive
It is dynamic；When motor yaw motion, driven using Piezo-electric steering.During the rotation for realizing motor, pass through electromagnetic drive control first
System is realized and is substantially moved, and then realizes fine movement by Piezoelectric Driving.In the deflection process for realizing motor, pass through Piezo-electric steering
Driving is realized.Position detecting device uses the common photoelectricity of such motor or Mageneto-sensitive type detecting element.When rotor-position is examined
Survey device and detect and give position detection signal to controller after rotor-position, controller by position detection signal and desired locations into
Row comparison, by obtaining control algolithm after controller operation.Controller is filled to piezoelectric type Autorotation driving device, electromagnetic type rotation driving
It sets, deflect Piexoelectric actuator transmission driving signal, be powered according to control algolithm to piezoelectric ceramic piece and coil, certainly by piezoelectric type
Make motor under the collective effect for the driving force that rotary driving device, electromagnetic type Autorotation driving device, deflection Piexoelectric actuator generate
Complete desired movement.The multifreedom motion of motor is realized by the common coordinated control motor of above-mentioned driving method.
Not addressing part those skilled in the art can be implemented.
Above-described embodiment is exemplary, and is not considered as limiting the invention, although with reference to the foregoing embodiments to this
Invention is described in detail, for those skilled in the art, still can not depart from the principle of the present invention and
Above scheme can be changed, be modified within the scope of the invention in the case where objective, or is special to part of technology
Sign is equivalently replaced, improves.These are all within protection scope of the present invention.
Claims (10)
1. deflecting driving type piezoelectric actuator multi-freedom electric motor, it is characterised in that: including motor housing (6), rotor and stator；Described turn
Attached bag includes the spherical crown shape shell (12) for being fixed with output shaft (1)；The stator includes rotor upright (5) and deflection Piezoelectric Driving dress
Set (4)；Several deflections Piexoelectric actuator (4) are equipped with above rotor upright (5)；Each deflection Piexoelectric actuator (4) packet
Include deflection elastomer (4c), deflection piezoelectric ceramic piece (4b) and pre-pressure mechanism；The pre-pressure mechanism makes to deflect elastomer
The interior side contacts of (4c) and spherical crown shape shell (12) simultaneously have precompression；To generate row by deflection Piexoelectric actuator (4)
Wave applies frictional force to the inside of spherical crown shape shell (12) and spherical crown shape shell (12) and rotor is made to realize the inclined of certain angle
Turn.
2. deflection driving type piezoelectric actuator multi-freedom electric motor as described in claim 1, it is characterised in that: rotor upright (5) and electricity
It is rotation connection between machine base (10)；The rotor upright (5) also connects with the Autorotation driving device of rotor upright (5) rotation is made
It connects.
3. deflection driving type piezoelectric actuator multi-freedom electric motor as claimed in claim 2, it is characterised in that: the Autorotation driving device
Including piezoelectric type Autorotation driving device (8) and/or electromagnetic type Autorotation driving device (7).
4. deflection driving type piezoelectric actuator multi-freedom electric motor as claimed in claim 2, it is characterised in that rotor pedestal (9) and motor
Rotation connection structure between pedestal (10) are as follows: rotor pedestal (9) is connected by bearing (13) with motor base (10), rotor pedestal
(9) it is connected with bearing inner race (13b), bearing outer ring (13a) is connected with motor base (10).
5. deflection driving type piezoelectric actuator multi-freedom electric motor as claimed in claim 3, it is characterised in that: the piezoelectric type rotation is driven
Dynamic device (8) include: that rotor upright (5) lower part is mutually fixed with rotor pedestal (9), between rotor pedestal (9) and motor base (10)
Rotation connection；Piezoelectric type Autorotation driving device (8) includes rotation piezoelectric ceramic piece (8a) and rotation elastomer (8b)；Piezoelectric type is certainly
It is fixed that rotary driving device (8) passes through fixed device (14)；Piezoelectric type Autorotation driving device (8) is by rotation elastomer (8b) and turns
Sub-base (9) touches friction-driven indirectly, realizes the rotation of rotor pedestal (9) and rotor.
6. deflection driving type piezoelectric actuator multi-freedom electric motor as claimed in claim 3, it is characterised in that: the electromagnetic type rotation is driven
Dynamic device (7) include: several stator cores (7a) and its winding (7b)；Rotor upright (5) lower part and rotor pedestal (9) Xiang Gu
It is fixed, it is rotatablely connected between rotor pedestal (9) and motor base (10)；Several stator core (7a) stationary distributions are in motor housing (6)
Inside；The permanent magnet trough (9b) being distributed on rotor pedestal (9), permanent magnet trough (9b) are embedded in several rotor permanent magnets
(9a) realizes electromagnetic drive by several stator cores (7a) and several rotor permanent magnets (9a).
7. deflection driving type piezoelectric actuator multi-freedom electric motor as claimed in claim 6, it is characterised in that: the winding (7b) is
Centralized winding.
8. such as deflection driving type piezoelectric actuator multi-freedom electric motor of any of claims 1-7, it is characterised in that: described pre-
Pressure mechanism includes: that deflection Piexoelectric actuator (4) includes inclination hack lever and piezoelectric device, and the lower end of the inclination hack lever passes through
Shaft (18) and the flat gap of rotor upright (5) upper end are hinged；Flat opening position is equipped with sliding block (15), is fixed on by adjusting
Screw rod (17) on sliding block (15) and the nut (16) for being fixed on flat gap realize that pressure on top surface is adjusted；
Alternatively, the pre-pressure mechanism includes: that compression spring is equipped in drawing and pulling type sleeve there are two drawing and pulling type sleeve, it is described to incline
Separated in oblique hack lever, top and the upper bush of drawing and pulling type sleeve are fixed, and lower part is screw rod, the lower sleeve spiral shell with drawing and pulling type sleeve
Line connection；By adjusting the position of lower sleeve, the press precompression of adjustable compression spring.
9. such as deflection driving type piezoelectric actuator multi-freedom electric motor of any of claims 1-7, it is characterised in that: the ball
Coronal shell (12) is greater than hemispherical.
10. deflection driving type piezoelectric actuator multi-freedom electric motor as claimed in claim 9, it is characterised in that: the deflection piezoelectricity drives
Dynamic device (4) have even number, symmetrically mutually stagger and are centered around around rotor upright (5)；Spherical crown shape shell (12) passes through symmetrical
Deflect the deflection of Piexoelectric actuator (4) Lai Shixian a direction；When one group of deflection Piexoelectric actuator (4) and spherical crown shape shell
When contact friction generates upward driving force, friction is contacted with spherical crown shape shell with its symmetrical deflection Piexoelectric actuator and is generated
Downward driving force symmetrically deflects Piexoelectric actuator (4) cooperation and realizes that shaft is completed to deflect to a direction；
The deflection Piexoelectric actuator (4) has 4, symmetrically mutually staggers 90 degree two-by-two and is centered around around rotor upright (5).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110649730A (en) * | 2019-09-30 | 2020-01-03 | 河北科技大学 | Hybrid drive type multi-degree-of-freedom motor |
| CN112171712A (en) * | 2020-09-10 | 2021-01-05 | 南京航空航天大学 | Piezoelectric-driven multi-degree-of-freedom space mechanical joint and working method thereof |
| WO2021012433A1 (en) * | 2019-07-24 | 2021-01-28 | 江苏紫金东方超声电机有限公司 | Multi-degree-of-freedom piezoelectric actuator with spherical rotor |
| CN112727689A (en) * | 2020-12-29 | 2021-04-30 | 河北科技大学 | Permanent magnet generator and power generation system |
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| CN110649730A (en) * | 2019-09-30 | 2020-01-03 | 河北科技大学 | Hybrid drive type multi-degree-of-freedom motor |
| CN112171712A (en) * | 2020-09-10 | 2021-01-05 | 南京航空航天大学 | Piezoelectric-driven multi-degree-of-freedom space mechanical joint and working method thereof |
| CN112727689A (en) * | 2020-12-29 | 2021-04-30 | 河北科技大学 | Permanent magnet generator and power generation system |
| CN112727689B (en) * | 2020-12-29 | 2022-02-11 | 河北科技大学 | Permanent magnet generator and power generation system |
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