CN111193438A - Ball hinge type multi-degree-of-freedom traveling wave type ultrasonic wave ball motor - Google Patents
Ball hinge type multi-degree-of-freedom traveling wave type ultrasonic wave ball motor Download PDFInfo
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- CN111193438A CN111193438A CN202010110972.1A CN202010110972A CN111193438A CN 111193438 A CN111193438 A CN 111193438A CN 202010110972 A CN202010110972 A CN 202010110972A CN 111193438 A CN111193438 A CN 111193438A
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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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- 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
Abstract
The invention discloses a ball-hinged multi-degree-of-freedom traveling wave type ultrasonic wave ball motor. The self-locking mechanism comprises an internal spherical hinge module and an external self-locking module; the top of the spherical rotor is provided with a groove, the center of the bottom of the spherical rotor is provided with an axial through hole, a spherical structure of the spherical hinge rod is embedded in a hemispherical groove of the spherical rotor, an upper top cover is fixedly installed in the groove of the spherical rotor and covers the spherical hinge rod, and the lower end of the spherical hinge rod penetrates through the axial through hole of the spherical rotor downwards and then is fixedly connected with the base; the top end of the spherical hinge rod is provided with a blind hole, and the upper top cover is provided with a through hole; the bottom surface of the output rod is provided with a mounting hole and is provided with a locking motor, the locking motor is axially and movably connected with the upper end of a self-locking screw rod, the upper end of the self-locking screw rod is sleeved in the inner lining sleeve hole in a threaded manner, and the lower end of the self-locking screw rod penetrates through the through hole of the upper top cover and then is inserted into the top end of the spherical structure of the spherical hinge. The spherical motor is provided with the built-in spherical hinge module to fix the spherical center of the motor rotor, has the advantages of ingenious structure, simple model, high axial strength, large self-locking torque, convenience in control and the like.
Description
Technical Field
The invention relates to an ultrasonic motor, in particular to a high-strength small-displacement ball-hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor.
Background
The ultrasonic motor converts the micro deformation of the elastic material into the macro motion of the rotor through resonance by utilizing the inverse piezoelectric effect of the piezoelectric material, has the characteristics of low speed, large torque, power failure self-locking, quick response, high resolution, high power density, no electromagnetic interference, compact structure, capability of realizing diversification by direct driving and motion and the like, can replace part of electromagnetic motors in low-power (less than 100W) application occasions, and has wide application prospect. With the increase of the requirement of the industry on multi-degree-of-freedom motion, the disadvantages of the traditional electromagnetic motor gradually appear. The electromagnetic motor realizes multi-degree-of-freedom movement, has a common and complex required structure, and is difficult to manufacture and implement and control. Compared with an electromagnetic motor, the motor has the advantages of compact structure, easy assembly, high mechanical integration level, convenience in driving, high resolution, realization of diversification of motion and the like, and can be used for electromechanical devices such as robot joints, precision assembly and miniature robots.
The ultrasonic motor generates torque by using friction force between a stator and a rotor, and generally applies pretightening force to the stator by using a spring to make the stator and the rotor fully contact. For a multi-degree-of-freedom spherical ultrasonic motor, the strength of the motor is greatly reduced due to the use of a flexible spring, the pre-tightening force is applied to the motor in the prior patent of 201811110396, the axial tension and pressure of the motor are directly transmitted to the spring through a stator and a rotor, and the stress of the flexible spring is limited, so that the large axial force applied to the motor causes the failure of the spring and even the disassembly of the motor. Through finite element simulation analysis, the axial stress limit of the motor of the 201811110396.X patent is about 300N, which greatly limits the use of ultrasonic electronics in large-impact and large-disturbance occasions.
At present, due to structural design defects, most of ultrasonic ball motors with multiple degrees of freedom are low in strength, particularly, the axial tensile and compressive strength is weak, and the structure for realizing the structural stability of the ultrasonic ball motor and the high-strength characteristic of the ultrasonic ball motor is lacked in the prior art.
Disclosure of Invention
Aiming at the problems of low strength, complex model and the like of the current multi-degree-of-freedom ultrasonic motor, the invention aims to provide a high-strength small-displacement multi-degree-of-freedom traveling wave type ultrasonic motor with a new structure, so that the high strength of the motor structure is realized, the axial tension and compression resistance of the motor is improved, and the motor driving model is simplified.
The invention can avoid the direct coupling interference of external force, improve the strength of the motor ball rotor against the external force, and the driving model of the three driving stators is relatively simple due to the fixation of the ball center.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
the invention comprises a ball motor body, an internal ball hinge module and an external self-locking module. The ball motor body mainly comprises a stator component, a rotor component and an auxiliary component, and the ball motor body mainly realizes the rotation of the motor in three degrees of freedom.
The ball motor comprises a ball motor body, wherein the ball motor body comprises three stator components, a rotor component and an auxiliary component, the auxiliary component comprises a base, the rotor component comprises an output rod, a connecting screw and a spherical rotor, and the stator component comprises an ultrasonic stator, a spiral plate spring and a fixing bracket; the three fixed brackets are uniformly fixed on the upper surface of the base of the accessory part at intervals of 120 degrees along the circumference, and each fixed bracket is provided with an ultrasonic stator through a spiral plate spring; the spherical rotor is of a spherical structure with a segment cut off at the upper part, the output rod is fixed on the segment surface of the spherical rotor through a connecting screw, and the spherical rotor is clamped by three ultrasonic stators in a contact manner.
Specifically, the device also comprises an internal spherical hinge module and an external self-locking module; the built-in spherical hinge module comprises an upper top cover, a spherical hinge rod and a spherical hinge rod nut; the center of the top of the spherical rotor is provided with a groove, the center of the bottom of the spherical rotor is provided with an axial through hole, a semispherical groove is arranged between the groove and the axial through hole, the upper end of the spherical hinge rod is of a spherical structure, and the lower end of the spherical hinge rod is of a shaft rod structure; the lower half part of the spherical structure at the upper end of the spherical hinge rod is embedded in a hemispherical groove of the spherical rotor, an upper top cover is fixedly installed in a groove of the spherical rotor and covers the upper half part of the spherical structure of the spherical hinge rod, and a shaft rod structure at the lower end of the spherical hinge rod penetrates through an axial through hole at the bottom of the spherical rotor downwards and then is fixedly connected to the center of the base through a spherical hinge rod nut; the center of the top end of the spherical structure of the spherical hinge rod is provided with a blind hole, and the center of the upper top cover is provided with a through hole; the external self-locking module comprises a locking motor, a transmission pin, a self-locking screw and an inner bushing; the output rod bottom surface is seted up the mounting hole, place the inboard of output rod mounting hole in the motor of locking in to fix in inside lining cover upper end, the fixed suit of inside lining is in the outside of output rod mounting hole, but the output shaft of the motor of locking is connected with self-locking screw rod upper end axial activity but circumference synchronization, but self-locking screw rod upper end suit is in the axial hole of inside lining and screw-thread fit, and self-locking screw rod lower extreme is arranged in passing the blind hole on ball pivot pole spheroid structure top of tight-fitting ground cartridge behind the perforating hole of upper cover.
The self-locking screw is divided into an upper part and a lower part, the diameter of the upper part is larger than that of the lower part, the outer wall of the upper part is provided with an external thread coupled with an axial inner hole of the inner bushing, and the axial inner hole of the inner bushing is provided with an internal thread matched with the external thread; the lower part of the self-locking screw rod is an optical axis and is tightly matched and sleeved with a blind hole at the top end of a spherical structure of the spherical hinge rod.
The spiral plate spring is a spiral plate spring.
The fixing support is provided with an inclined mounting surface, the inclined mounting surface is radially distributed along the direction facing the center of the base and inclines outwards, and the ultrasonic stator is mounted on the inclined mounting surface of the fixing support through a roundabout spiral plate spring.
The three fixed brackets are fixedly connected with the base through base screws.
The upper and lower limits of the output displacement of the motor are adjusted by controlling the radial dimension difference between the shaft lever structure at the lower end of the spherical hinge rod and the axial through hole at the lower part of the spherical rotor.
The invention fixes the spherical center of the motor rotor by the built-in spherical hinge module, can realize the high strength of the spherical motor and simplify the motor model, has the advantages of ingenious structure, simple model, high axial strength, large self-locking torque, convenient control and the like.
The invention has the beneficial effects that:
1. the motor of the invention has two states of power-on rotation and power-off self-locking.
2. The spherical hinge rod is arranged in the spherical rotor, and the stress of the motor is mainly borne by the spherical hinge rather than a stator part under the condition of large pulling pressure, so that the axial strength of the motor is greatly improved.
3. The spherical center of the spherical rotor of the motor is fixed through the spherical hinge rod, so that a motor model is simplified, and the spherical center fixing device has the advantage of simplicity in control.
Drawings
Fig. 1 is a cross-sectional view of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a side view of the present invention.
In the figure: a. the ultrasonic motor comprises an ultrasonic stator component, a rotor component, an accessory component, a spherical rotor, an output rod, a fixing screw, a fixing motor, a driving pin, a self-locking screw, a fixing screw, a driving pin, a fixing screw, a self-locking screw, a fixing screw, a.
Detailed Description
The invention is further illustrated by the following figures and examples.
As shown in fig. 1-3, the present invention includes a ball motor body, an internal ball hinge module, and an external self-locking module.
As shown in fig. 1 and 2, the ball motor body includes three stator parts a, a rotor part b and an accessory part c, the accessory part c includes a base 13 and a base screw 15, the rotor part b includes an output rod 1, a connection screw 2 and a spherical rotor 3, the stator part a includes an ultrasonic stator 9, a flexible spiral plate spring 10 and a fixing bracket 11; the three fixed brackets 11 are uniformly fixed on the upper surface of the base 13 of the accessory component c at intervals of 120 degrees along the circumference, and the three fixed brackets 11 are fixedly connected with the base through base screws 15.
The fixing bracket 11 is provided with an inclined mounting surface which is radially distributed along the center of the base 13 and inclined outwards, and the ultrasonic stator 9 is mounted on the inclined mounting surface of the fixing bracket 11 through the roundabout spiral plate spring 4. The ultrasonic stator 9 is mounted on the inclined mounting surface of each of the fixing brackets 11 by a spiral plate spring 10, and the spiral plate spring 10 is a flexible spiral plate spring. The spiral plate spring 10 can ensure the contact between the ultrasonic stator 9 and the spherical rotor 1 to ensure axial pretightening force, and can also generate axial deformation and deflection deformation, so that the influence caused by the slight deviation of the axis of the ultrasonic stator 9 can be self-adaptively adjusted, the posture of the ultrasonic stator 9 can be self-adaptively adjusted to ensure that the inner edge is tightly attached to the surface of the spherical rotor 3, and the spherical rotor 1 can realize automatic centering.
The spherical rotor 3 is of a spherical structure with a spherical segment cut at the upper part, the output rod 1 is fixed on the spherical segment surface of the spherical rotor 3 through three connecting screws 2, and the spherical rotor 1 is clamped by three ultrasonic stators 9 in a contact mode.
As shown in fig. 1, the built-in spherical hinge module comprises an upper top cover 8, a spherical hinge rod 12 and a spherical hinge rod nut 14; a groove is formed in the center of the top of the spherical rotor 3, an axial through hole is formed in the center of the bottom of the spherical rotor 3, a hemispherical groove is formed between the groove and the axial through hole, the groove and the axial through hole are communicated through the hemispherical groove, the upper end of the spherical hinge rod 12 is of a spherical structure, the lower end of the spherical hinge rod is of a shaft rod structure, and the outer diameter of the spherical structure is larger than that of the shaft rod structure; the lower half part of a spherical structure at the upper end of a spherical hinge rod 12 is movably embedded in a hemispherical groove of a spherical rotor 3, an upper top cover 8 is fixedly installed in a groove of the spherical rotor 3, the upper top cover 8 covers the upper half part of the spherical structure of the spherical hinge rod 12, a shaft rod structure at the lower end of the spherical hinge rod 12 downwards movably penetrates through an axial through hole at the bottom of the spherical rotor 3 and then is fixedly connected to the center of a base 13 through a spherical hinge rod nut 14, and axial fixation is further realized through the spherical hinge rod nut 14; thus, the lower hemispherical surface of the spherical structure is matched with the spherical surface of the hemispherical groove in the spherical rotor 3, and the upper hemispherical surface of the spherical structure is matched with the hemispherical groove at the bottom of the upper end cover 8; the center of the top end of the spherical structure of the spherical hinge rod 12 is provided with a blind hole, and the center of the upper top cover 8 is provided with a through hole.
The external self-locking module comprises a locking motor 4, a transmission pin 5, a self-locking screw 6 and an inner bushing 7; the bottom surface of the output rod 1 is provided with a mounting hole, the locking motor 4 is arranged inside the mounting hole of the output rod 1 and is fixed at the upper end of an inner bushing 7, the inner bushing 7 is fixedly sleeved at the outer side of the mounting hole of the output rod 1, an output shaft of the locking motor 4 is axially movable and circumferentially and synchronously connected with the upper end of a self-locking screw 6 through a transmission pin 5, the upper end of the self-locking screw 6 is sleeved in an axial inner hole of the inner bushing 7 and is in threaded fit, the lower end of the self-locking screw 6 is tightly inserted into a blind hole at the top end of a spherical structure of the hinge rod 12 after penetrating through a through hole of an upper top cover 8, the self-locking screw 6 is divided into an upper part and a lower part, the diameter of the upper part is larger than that of the lower part, the outer wall; the lower part of the self-locking screw rod 6 is an optical axis and is tightly matched and sleeved with a blind hole at the top end of a spherical structure of the spherical hinge rod 12.
The locking motor 4 operates, the self-locking screw 6 is driven by the transmission pin 5 to rotate in the inner hole in the axial direction of the inner bushing 7, the self-locking screw 6 rotates and moves up and down along the axial direction of the inner bushing 7, and then whether the lower end of the self-locking screw 6 is inserted into the spherical hinge rod 12 or not is driven, so that locking control is achieved. When the locking is needed, the locking motor 4 drives the self-locking screw 6 to move downwards, and the self-locking screw is inserted into a blind hole at the top end of the spherical hinge rod 12 to realize locking; when the unlocking is needed, the locking motor 4 does the opposite movement.
The upper and lower limits of the output displacement of the motor are adjusted by controlling the radial dimension difference between the shaft lever structure at the lower end of the spherical hinge rod 12 and the axial through hole at the lower part of the spherical rotor 3.
When the motor normally works, the ultrasonic stator 9 is fully contacted with the spherical rotor 3 through the pre-tightening force of the spring, the stator generates high-frequency vibration under the power-on condition, the three stators are mutually matched to generate driving torque, the spherical rotor performs centering rotation around the spherical structure on the upper part of the spherical hinge rod 12 under the action of the torque, the dynamic equation of the spherical rotor 3 is simple, and the motor driving control is relatively simple. When the motor output rod 1 is subjected to large pulling force in the axial direction, the pulling force is transmitted to the spherical rotor 9 through the fixedly-connected screw 2, the spherical rotor 9 transmits the force to a lower hemisphere of a ball head of the ball hinge rod 12 through an inner hemisphere groove, and finally the force is transmitted to the motor base 13 through the ball hinge nut 14. When the motor output rod 1 is subjected to large pressure in the axial direction, the pressure is transmitted to an upper hemisphere of a ball head of the ball joint rod 12 through the upper top cover 8 and is finally transmitted to the motor base 13 through the ball joint nut 14. By last when seeing that the motor normally works, drive power is produced by the stator-rotor, when receiving the big pressure of drawing of axial, and the atress is passed through the ball pivot pole by spherical rotor and is transmitted to the base, and axial atress transmission process is promptly: the ball rotor, the ball hinge rod and the motor base greatly improve the axial strength of the motor.
For example, in the motor disclosed in the 201811110396.X patent, during normal operation, the load causes uneven stress on three stators, so that the spherical shape of the rotor is solved, the rotor dynamic equation is complex, and the motor drive control is also complex. The axial stress is transferred to the ball rotor, the ultrasonic stator, the flexible plate spring, the stator support and the motor base, and the whole axial strength of the motor is lower due to limited bearing force of the flexible plate spring.
Finite element stress analysis is carried out on the structural stress of the motor, and the maximum axial bearable pulling pressure of the motor is about 10000N, and the maximum axial bearable pulling pressure of the motor in the 201811110396.X patent is about 300N.
Claims (6)
1. A ball hinge type multi-degree-of-freedom traveling wave type ultrasonic wave ball motor comprises a ball motor body, wherein the ball motor body comprises three stator components (a), a rotor component (b) and an auxiliary component (c), the auxiliary component (c) comprises a base (13), the rotor component (b) comprises an output rod (1), a connecting screw (2) and a spherical rotor (3), and the stator component (a) comprises an ultrasonic stator (9), a spiral plate spring (10) and a fixed support (11); three fixed brackets (11) are uniformly fixed on the upper surface of a base (13) of an accessory part (c) at intervals of 120 degrees along the circumference, and an ultrasonic stator (9) is arranged on each fixed bracket (11) through a spiral plate spring (10); the spherical rotor (3) is of a spherical structure with a spherical segment cut at the upper part, the output rod (1) is fixed on the spherical segment surface of the spherical rotor (3) through a connecting screw (2), and the spherical rotor (1) is clamped by three ultrasonic stators (9) in a contact manner; the method is characterized in that: the self-locking device also comprises an internal spherical hinge module and an external self-locking module; the built-in spherical hinge module comprises an upper top cover (8), a spherical hinge rod (12) and a spherical hinge rod nut (14); a groove is formed in the center of the top of the spherical rotor (3), an axial through hole is formed in the center of the bottom of the spherical rotor (3), a semispherical groove is formed between the groove and the axial through hole, the upper end of the spherical hinge rod (12) is of a spherical structure, and the lower end of the spherical hinge rod is of a shaft rod structure; the lower half part of a spherical structure at the upper end of the spherical hinge rod (12) is embedded in a hemispherical groove of the spherical rotor (3), an upper top cover (8) is fixedly installed in a groove of the spherical rotor (3), the upper top cover (8) covers the upper half part of the spherical structure of the spherical hinge rod (12), and a shaft rod structure at the lower end of the spherical hinge rod (12) penetrates through an axial through hole at the bottom of the spherical rotor (3) downwards and then is fixedly connected to the center of the base (13) through a spherical hinge rod nut (14); the center of the top end of the spherical structure of the spherical hinge rod (12) is provided with a blind hole, and the center of the upper top cover (8) is provided with a through hole;
the external self-locking module comprises a locking motor (4), a transmission pin (5), a self-locking screw (6) and an inner bushing (7); the mounting hole is seted up to output pole (1) bottom surface, place the inboard of output pole (1) mounting hole in locking motor (4), and fix in neck bush (7) upper end, the fixed suit in the outside of output pole (1) mounting hole of neck bush (7), but the output shaft of locking motor (4) is connected with self-locking screw (6) upper end axial activity but circumference synchronization, but self-locking screw (6) upper end suit is in the axial hole of neck bush (7) and screw-thread fit, in the blind hole on self-locking screw (6) lower extreme be arranged in passing through-hole back tight-fitting cartridge ball hinge pole (12) spheroid structure top of top cap (8).
2. The ball-hinge multi-degree-of-freedom traveling-wave type ultrasonic wave ball motor according to claim 1, characterized in that: the self-locking screw (6) is divided into an upper part and a lower part, the diameter of the upper part is larger than that of the lower part, the outer wall of the upper part is provided with an external thread coupled with the axial inner hole of the inner bushing (7), and the axial inner hole of the inner bushing (7) is provided with an internal thread matched with the external thread; the lower part of the self-locking screw rod (6) is an optical axis and is tightly matched and sleeved with a blind hole at the top end of a spherical structure of the spherical hinge rod (12).
3. The ball-hinge multi-degree-of-freedom traveling-wave type ultrasonic wave ball motor according to claim 1, characterized in that: the spiral plate spring (10) is a spiral plate spring.
4. The ball-hinge multi-degree-of-freedom traveling-wave type ultrasonic wave ball motor according to claim 1, characterized in that: the fixing support (11) is provided with an inclined mounting surface, the inclined mounting surface is radially distributed along the direction towards the center of the base (13) and inclines outwards, and the ultrasonic stator (9) is mounted on the inclined mounting surface of the fixing support (11) through the roundabout spiral plate spring (4).
5. The ball-hinge multi-degree-of-freedom traveling-wave type ultrasonic wave ball motor according to claim 1, characterized in that: the three fixed brackets (11) are fixedly connected with the base through base screws (15).
6. The ball-hinge multi-degree-of-freedom traveling-wave type ultrasonic wave ball motor according to claim 1, characterized in that: the upper and lower limits of the output displacement of the motor are adjusted by controlling the radial size difference between the shaft lever structure at the lower end of the spherical hinge rod (12) and the axial through hole at the lower part of the spherical rotor (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010110972.1A CN111193438A (en) | 2020-02-21 | 2020-02-21 | Ball hinge type multi-degree-of-freedom traveling wave type ultrasonic wave ball motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010110972.1A CN111193438A (en) | 2020-02-21 | 2020-02-21 | Ball hinge type multi-degree-of-freedom traveling wave type ultrasonic wave ball motor |
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| CN111193438A true CN111193438A (en) | 2020-05-22 |
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| CN202010110972.1A Pending CN111193438A (en) | 2020-02-21 | 2020-02-21 | Ball hinge type multi-degree-of-freedom traveling wave type ultrasonic wave ball motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083566A (en) * | 2021-12-23 | 2022-02-25 | 杭州电子科技大学 | Rigid-flexible coupling type robot wrist joint |
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2020
- 2020-02-21 CN CN202010110972.1A patent/CN111193438A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083566A (en) * | 2021-12-23 | 2022-02-25 | 杭州电子科技大学 | Rigid-flexible coupling type robot wrist joint |
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