CN110048638B - Multi-degree-of-freedom spherical traveling wave type ultrasonic motor pre-pressure structure - Google Patents
Multi-degree-of-freedom spherical traveling wave type ultrasonic motor pre-pressure structure Download PDFInfo
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- CN110048638B CN110048638B CN201910372485.XA CN201910372485A CN110048638B CN 110048638 B CN110048638 B CN 110048638B CN 201910372485 A CN201910372485 A CN 201910372485A CN 110048638 B CN110048638 B CN 110048638B
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- 210000000078 claw Anatomy 0.000 claims abstract description 21
- 239000004020 conductor Substances 0.000 claims description 5
- 239000007769 metal material Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000919 ceramic Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/108—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors around multiple axes of rotation, e.g. spherical rotor motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention provides a prepressing structure of a multi-degree-of-freedom spherical traveling wave type ultrasonic motor, belonging to the technical field of ultrasonic motors. Including at least 3 traveling wave stator supports can with spherical rotor spherical surface contact and about spherical rotor's vertical axis symmetry equipartition, the traveling wave stator supports including the support column, and sliding fit adorns in the claw hole of the claw frame that corresponds, and the outer terminal surface of support column exceeds claw hole, and claw frame includes central stand, the tank bottom and the central stand screw-thread fit of rotatable frame, groove top inclined plane and the outer terminal surface sliding fit of support column, the rotatable frame of rotation regulation can make support column axial slip, makes traveling wave stator support and spherical rotor spherical surface contact department reach suitable pressure, makes spherical rotor rotate as required. The invention has the characteristics of simple structure, convenient installation, convenient and flexible pre-pressure adjustment, guarantee of full contact between the inner edge of the traveling wave stator and the spherical rotor, guarantee of the same pre-pressure between different stators and rotors, and the like.
Description
Technical Field
The invention relates to an ultrasonic motor pre-tightening structure, in particular to a pre-tightening structure of a multi-freedom-degree spherical traveling wave type ultrasonic motor, which can conveniently adjust the pre-tightening force in a certain range and ensure the consistency of the pre-tightening force.
Background
The multi-degree-of-freedom motor can effectively simplify a multi-degree-of-freedom driving mechanism, is successfully applied to the fields of aerospace, medical equipment, robots and the like, and has wide application fields and development prospects. The ultrasonic motor is a driving device with a brand new concept different from the traditional motor, firstly, the inverse piezoelectric effect of piezoelectric ceramics is utilized to convert electric energy into the microscopic vibration of a stator, mass points on the surface of the stator form an elliptical track, and then the precompression on the contact surface of the stator and a rotor is utilized to convert the microscopic vibration of the stator into the macroscopic motion of the rotor through friction force. Therefore, the ultrasonic motor transmits torque by stator-rotor friction, which determines the output performance of the motor. The control motor or the regulation motor in the best working state needs to regulate the pre-pressure between the stator and the rotor.
The multi-degree-of-freedom spherical traveling wave type ultrasonic motor consists of a plurality of traveling wave stators and a spherical rotor, and how to enable the prepressing force of the traveling wave stators to the spherical rotor to be the same, the prepressing force between the stators and the rotor can be conveniently adjusted to form an important part in the design of the multi-degree-of-freedom spherical ultrasonic motor. At present, few methods for applying prepressing force to a multi-degree-of-freedom spherical ultrasonic motor exist, and most of the prepressing force is vertically applied through a metal frame fixed above the motor and a spring, so that the prepressing force is too complex in structure and large in size, centering of a traveling wave stator is not facilitated, or the prepressing force is not adjustable, and the flexibility of motor output is reduced.
Disclosure of Invention
The invention aims to provide a prepressing structure of a multi-degree-of-freedom spherical traveling wave type ultrasonic motor, which mainly solves the problems that the prepressing structure in the prior art is too complex and large in size, and is not beneficial to centering of a traveling wave stator or the prepressing is not adjustable, so that the flexibility of the output of the motor is reduced. The invention has the characteristics of simple structure, convenient installation, convenient and flexible pre-pressure adjustment, guarantee of full contact between the inner edge of the traveling wave stator and the spherical rotor, guarantee of the same pre-pressure between different stators and rotors, and the like.
In order to achieve the above purposes, the invention adopts the technical scheme that: multi-degree-of-freedom spherical traveling wave type ultrasonic motor pre-pressure structure is characterized in that: including 3 at least travelling wave stator supports, 3 at least travelling wave stator supports can with spherical rotor spherical surface contact and about spherical rotor's vertical axis symmetry equipartition, the travelling wave stator supports including the support column, and support column sliding fit adorns in the claw hole of the claw shape frame that corresponds, and the outer terminal surface of support column exceeds claw hole, and claw shape frame includes central pillar, the tank bottom and the central pillar screw-thread fit of rotatable frame, groove top inclined plane and the outer terminal surface sliding fit of support column, the rotatable frame of rotation regulation can make support column axial slip, make travelling wave stator support and spherical rotor spherical surface contact department reach suitable pressure, make spherical rotor rotatory as required.
Preferably, the axis of the support column passes through the centre of the spherical rotor.
Preferably, the support column comprises a shoulder, and the shoulder is fixed with the traveling wave stator through a bolt.
Preferably, the traveling wave stator supports 3, and the corresponding claw-shaped frame has 3 claws.
Furthermore, an electromagnet is arranged at the upper part of the middle of the claw-shaped frame, a gap is arranged between the electromagnet and the spherical rotor, the spherical rotor is made of magnetic conductive materials, and a wire arranging hole is formed in the rotatable outer frame; by controlling the electromagnetic force of the electromagnet, the pressure required by the contact position of the traveling wave stator support and the spherical surface of the spherical rotor can be adjusted, so that the spherical rotor rotates as required.
Preferably, the traveling wave stator, the supporting columns, the claw-shaped frames and the rotatable outer frame are made of non-magnetic conductive metal materials.
The invention has the technical effects that: the problems that a pre-pressure structure is too complex, the size is large, centering or non-adjustable pre-pressure of a traveling wave stator is not facilitated, and flexibility of motor output is reduced in the prior art are mainly solved. The problems of large volume, low integration level and low degree of freedom in the prior art are solved. The structure has the characteristics that the inner edge of the traveling wave stator can be ensured to be fully contacted with the spherical rotor through the supporting body and the rotatable outer frame, the prepressing force between a plurality of traveling wave stators and the spherical rotor can be conveniently and simultaneously adjusted, and simultaneously, the prepressing forces between different stators and rotors are ensured to be the same in size. The invention has the characteristics of simple structure, convenient installation, convenient and flexible pre-pressure adjustment, high precision, guarantee of full contact between the inner edge of the traveling wave stator and the spherical rotor, guarantee of the same pre-pressure between different stators and rotors, and the like.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a cross-sectional view of fig. 1.
Fig. 3 is a schematic structural diagram of the traveling-wave stator in fig. 2.
Fig. 4 is a schematic perspective view of the support column in fig. 2.
Fig. 5 is a schematic perspective view of the substrate in fig. 2.
Fig. 6 is a schematic perspective view of the base in fig. 2.
Fig. 7 is a schematic perspective view of the electromagnet in fig. 2.
Fig. 8 is a schematic perspective view of the rotatable outer frame in fig. 2.
The reference numerals in the drawings mean: 1-spherical rotor, 2-travelling wave stator, 2-1-travelling wave stator elastomer, 2-piezoelectric ceramic piece, 3-support column, 4-rotatable outer frame, 5-claw frame, 6-base, 7-electromagnet, 8-wire arranging hole, 9-bolt hole.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 8, as a specific embodiment of the present invention, the technical solution adopted by the present invention is: multi-degree-of-freedom spherical traveling wave type ultrasonic motor pre-pressure structure is characterized in that: including 3 at least travelling wave stator supports, 3 at least travelling wave stator supports can with 1 sphere contact of spherical rotor and about 1 vertical axis symmetry equipartition of spherical rotor, the travelling wave stator supports including support column 3, and 3 sliding fit adorns in the claw hole of the claw frame 5 that corresponds, and the outer terminal surface of support column 3 exceeds the claw hole, and claw frame 5 includes central pillar, but rotary frame 4's tank bottom and central pillar screw-thread fit, groove top inclined plane and the outer terminal surface sliding fit of support column 3 can make 3 axial slip of support column, make the travelling wave stator support reach suitable pressure with 1 sphere contact department of spherical rotor, make spherical rotor 1 rotate as required.
The invention has the characteristics of simple structure, convenient installation, convenient and flexible pre-pressure adjustment, high precision, guarantee of full contact between the inner edge of the traveling wave stator and the spherical rotor, guarantee of the same pre-pressure between different stators and rotors, and the like.
As an embodiment of the present invention, it is preferable that the axis of the supporting column 3 passes through the center of the spherical rotor 1.
As an embodiment of the present invention, it is preferable that the supporting column 3 includes a shoulder, and the shoulder is fixed to the traveling wave stator 2 by a bolt.
As an embodiment of the present invention, it is preferable that the traveling wave stator is supported by 3, and the corresponding claw frame 5 has 3 claws.
As a specific embodiment of the invention, further, an electromagnet 7 is arranged at the upper middle part of the claw-shaped frame 5, a gap is arranged between the electromagnet and the spherical rotor 1, the spherical rotor 1 is made of magnetic conductive material, and the rotatable outer frame 4 is provided with a wire arranging hole 8; by controlling the electromagnetic force of the electromagnet 7, the pressure required by the contact position of the traveling wave stator support and the spherical surface of the spherical rotor 1 can be adjusted, so that the spherical rotor 1 rotates as required.
As an embodiment of the present invention, it is preferable that the traveling wave stator 2, the supporting column 3, the claw frame 5, and the rotatable outer frame 4 use a non-magnetic conductive metal material.
The present invention will be further described below as an embodiment thereof.
And each traveling wave stator 2 and the support column 3 are fixedly connected through 3 bolts 9 with 120-degree spatial difference, and the total number of the bolts is 9.
The supporting column 3 and the rotatable outer frame 4 are rigid bodies, the inclination angles of the supporting column 3 and the rotatable outer frame 4 are the same, the supporting column and the rotatable outer frame are in inclined surface rigid body contact, and the rotatable outer frame 4 pushes the traveling wave stator 2 of the supporting column 3 to axially slide. The bottom end of the base body 5 is connected with the base 6 through threads. The bottom of the electromagnet 7 is connected with the top end of the base body 5 in a sticking way. In order to ensure that the electromagnet 7 normally adjusts the pre-pressure, the spherical rotor 1 is made of a magnetic conductive material, and in order to avoid possible electromagnetic interference, the supporting body 3, the rotatable outer frame 4 and the base body 5 are made of non-magnetic conductive metal materials. The wires connected with the travelling wave stator 2 and the wires connected with the electromagnet (7) are connected with an external power supply through the wire arranging hole 8.
The different pre-pressures can cause different friction conditions of the contact surfaces of the stator and the rotor, when the pre-pressure is increased, the friction coefficient of the contact surfaces of the stator and the rotor is increased, and the driving force and the friction resistance of the traveling wave stator 2 to the spherical rotor 1 are increased; conversely, when the pre-compression force is reduced, both the driving force and the frictional resistance of the traveling-wave stator 2 to the spherical rotor 1 are reduced. When the pre-pressure is too small or too large, the driving force is smaller than the friction resistance, and the motor cannot be driven; when the pre-pressure is within a suitable range, the driving force is greater than the frictional resistance, and the motor can be driven. Therefore, the prepressing force can be adjusted to the optimal value through the structure of the prepress, so that the motor achieves the optimal output performance, and the prepressing force can also be adjusted and the pressure value according to the required motor output state, so that the motor output reaches the target state. When the prepressing force needs to be adjusted, the rotatable outer frame 4 can be manually rotated to move up and down, so that the axial sliding of the supporting columns 3 is further pushed, and the prepressing force is increased or reduced. Since the whole pre-pressure structure is symmetrical in space, the pre-pressures of the three traveling wave stators 2 are equal when the pre-pressure is adjusted by the rotatable outer frame 4. When the structure is fixed, the range of pre-pressure adjusted according to the rotatable outer frame 4 is also fixed, the output range of the motor can be changed by changing the inclination angle of the contact surface of the rotatable outer frame 4 and the support column 3, and the range is enlarged when the inclination angle is smaller; as the tilt angle becomes larger, the range becomes smaller. When the pre-pressure outer frame 4 is adjusted, the spherical rotor 1 does not move upwards within a specified range. In addition, the excitation voltage of the electromagnet 7 can be adjusted through the upper computer to adjust the magnetism of the electromagnet, the spherical rotor 1 is made of magnetic conductive materials, the spherical rotor 1 can generate downward electromagnetic forces with different magnitudes when being influenced by different magnetic forces, and due to the symmetry of the pre-pressure structure, the pre-pressures of the three traveling wave stators 2 can be guaranteed to be equal through the adjustment of the electromagnet 7.
The pre-pressure can be adjusted through the rotatable outer frame 4 and the electromagnet 7, wherein the adjusting range of the rotatable outer frame 4 is larger, the adjusting precision of the electromagnet 7 is higher, when the pre-pressure needs to be adjusted, the pre-pressure can be adjusted through the rotatable outer frame 4, and then the electromagnet 7 is used for accurately adjusting, so that the motor reaches the optimal output state or the specified output state.
Those skilled in the art will appreciate that some or all of the above-described embodiments may be practiced without these specific details.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes, modifications, and equivalents may be made without departing from the spirit and scope of the invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. Multi-degree-of-freedom spherical traveling wave type ultrasonic motor pre-pressure structure is characterized in that: including 3 at least travelling wave stator supports, 3 at least travelling wave stator supports can with spherical rotor (1) sphere contact and about the symmetry equipartition of the vertical axis of spherical rotor (1), the travelling wave stator supports including support column (3), support column (3) sliding fit dress is in the claw hole of the claw shape frame (5) that corresponds, and the outer terminal surface of support column (3) exceeds the claw hole, claw shape frame (5) include central pillar, the tank bottom and the central pillar screw-thread fit of rotatable frame (4), the outer terminal surface sliding fit of tank top inclined plane and support column (3), rotatable frame (4) of rotation regulation can make support column (3) axial slip, make travelling wave stator support and spherical rotor (1) sphere contact department reach suitable pressure, make spherical rotor (1) rotate as required.
2. The pre-pressure structure of the multi-degree-of-freedom spherical traveling-wave type ultrasonic motor according to claim 1, characterized in that: the axis of the supporting column (3) passes through the center of the spherical rotor (1).
3. The pre-pressure structure of the multi-degree-of-freedom spherical traveling-wave type ultrasonic motor according to claim 1, characterized in that: the supporting column (3) comprises a shoulder which is fixed with the traveling wave stator (2) through a bolt.
4. The pre-pressure structure of the multi-degree-of-freedom spherical traveling-wave type ultrasonic motor according to claim 1, characterized in that: the traveling wave stator supports 3, and the claw-shaped frame (5) that corresponds has 3 claws.
5. The pre-pressure structure of the multi-degree-of-freedom spherical traveling wave type ultrasonic motor according to any one of claims 1 to 4, characterized in that: an electromagnet (7) is arranged at the upper part of the middle of the claw-shaped frame (5), a gap is arranged between the electromagnet and the spherical rotor (1), the spherical rotor (1) is made of magnetic conductive material, and a rotatable outer frame (4) is provided with a wire arrangement hole (8); by controlling the electromagnetic force of the electromagnet (7), the pressure required by the contact position of the traveling wave stator support and the spherical surface of the spherical rotor (1) can be adjusted, so that the spherical rotor (1) rotates as required.
6. The pre-pressure structure of the multi-degree-of-freedom spherical traveling-wave type ultrasonic motor according to claim 5, characterized in that: and the traveling wave stator (2), the support column (3), the claw-shaped frame (5) and the rotatable outer frame (4) are made of non-magnetic metal materials.
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| CN201910372485.XA CN110048638B (en) | 2019-05-06 | 2019-05-06 | Multi-degree-of-freedom spherical traveling wave type ultrasonic motor pre-pressure structure |
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| CN201910372485.XA CN110048638B (en) | 2019-05-06 | 2019-05-06 | Multi-degree-of-freedom spherical traveling wave type ultrasonic motor pre-pressure structure |
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| CN110048638B true CN110048638B (en) | 2020-07-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4981326B2 (en) * | 2006-02-14 | 2012-07-18 | ダブル技研株式会社 | Spherical ultrasonic motor |
| JP4550850B2 (en) * | 2007-03-27 | 2010-09-22 | 株式会社東芝 | Piezoelectric motor system |
| CN101267171B (en) * | 2008-04-25 | 2011-02-09 | 天津大学 | Electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor |
| CN101599717B (en) * | 2009-04-09 | 2011-11-02 | 浙江大学 | Spherical travelling wave type ultrasonic motor pre-tightening mechanism with multiple degrees of freedom |
| CN101588143B (en) * | 2009-06-22 | 2012-05-30 | 浙江大学 | Two-variance spherical travelling-wave ultrasonic motor |
| CN108288924B (en) * | 2018-03-06 | 2019-10-18 | 金陵科技学院 | A kind of rotary type travelling wave spherical ultrasonic motor synchronous aligning stator supporting apparatus |
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