CN201435691Y - Two-freedom-degree spherical traveling wave type ultrasonic motor - Google Patents
Two-freedom-degree spherical traveling wave type ultrasonic motor Download PDFInfo
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- CN201435691Y CN201435691Y CN2009201224714U CN200920122471U CN201435691Y CN 201435691 Y CN201435691 Y CN 201435691Y CN 2009201224714 U CN2009201224714 U CN 2009201224714U CN 200920122471 U CN200920122471 U CN 200920122471U CN 201435691 Y CN201435691 Y CN 201435691Y
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Abstract
The utility model discloses a two-freedom-degree spherical traveling wave type ultrasonic motor which is mainly composed of a cover board, a ball rotor and three piezoelectric vibrators, each piezoelectric vibrator comprises a spring base, a side cover, a spring pressing sleeve, a spiral leaf spring and a traveling wave stator; wherein the three spring bases are fixed on the cover board symmetrically with 120 degrees along the center of the cover board, the side plate is connected with the spring base by screw threads, and the spring pressing sleeve is matched with the gap of the spring basesin the spring base, the spiral leaf spring is connected with the spring pressing sleeve, the traveling wave stator is connected with the spiral leaf spring, and the ball rotor is held by the three traveling wave stators; the three piezoelectric vibrators are controlled to lead the movement of the ball rotor to have two freedom degrees; compared with the traditional two-freedom-degree spherical traveling wave type ultrasonic motor, the two-freedom-degree spherical traveling wave type ultrasonic motor has the characteristics of simple structure, convenient assembly and disassembly and low manufacturing cost.
Description
Technical field
The utility model relates to a kind of supersonic motor, relates in particular to a kind of novel traveling-wave ultrasonic motor structure with two freedoms of motion.
Background technology
Along with development of science and technology, Mechatronic Systems complicated day by day, especially some precision apparatus are more and more higher to performance demands, and the single-degree-of-freedom motor can not meet the demands.Compare with the single-degree-of-freedom motor, the mechanical integrated level height of multi-freedom electric motor, more compact structure can have wide practical use in needing the equipment of multifreedom motion, as joint of robot, robot eyeball, satellite tracking antenna driving etc.
Multi-degree of freedom spherical traveling wave-type ultrasonic motor is a kind of motor that grows up on the basis of supersonic motor, and it has many advantages of supersonic motor, as producing the higher friction torque, especially can realize high output torque under the low speed; On structural design, have simplicity and flexibility, can realize the motion of a plurality of degrees of freedom; Owing to do not have magnetic pole and winding, do not rely on electromagnetic interaction to transmit energy, so no electromagnetic interference.
Present two-variance spherical travelling-wave ultrasonic motor is that the people such as distant mountain professor Mao Shu of state-run Tokyo Agricultural and Industrial Univ. develop, and it is made up of four capable ripple stators and a ball rotor, can do the rotation of two degrees of freedom.This motor has good speed and Position Control, and structure realizes simple relatively, and the application present situation and the prospect of this motor are very good.But the weak point of this motor is, when the ball rotor only needs a pair of stator to drive, a pair ofly in addition will produce resistance, is equivalent to increase load, reduced efficiency of motor.
The utility model content
The purpose of this utility model is at the deficiencies in the prior art, and a kind of two-variance spherical travelling-wave ultrasonic motor is provided.This motor has lacked a piezoelectric vibrator than traditional two-variance spherical travelling-wave ultrasonic motor, has increased efficiency of motor, and structure is simpler, and volume is littler.
The technical scheme that its technical problem that solves the utility model adopts is: a kind of two-variance spherical travelling-wave ultrasonic motor, it mainly is made up of cover plate, ball rotor and three piezoelectric vibrators, and each piezoelectric vibrator comprises spring base, side cover, spring press-cover, spiral leaf spring and row ripple stator; Wherein, three spring bases along the cover plate center 120 degree fixing symmetrically on the cover board, side cover and spring base thread connection, spring press-cover in spring base with the spring base matched in clearance, the spiral leaf spring links to each other with spring press-cover, and row ripple stator links to each other with the spiral leaf spring, and the ball rotor is by three capable ripple stator clampings.
Further, described cover plate center 120 degree are distributed with screwed hole symmetrically, and three spring bases are fixing on the cover board by cross recessed countersunk head sscrew.
Further, round center, the outer ring of described spring press-cover week edge 120 degree are symmetrically distributed with three spring press-cover outer ring circumferential groove.Three spiral leaf spring leading foots of spiral leaf spring are stuck in three spring press-cover outer ring circumferential groove of spring press-cover 3 fixing.
Further, the stator bottom groove is arranged at the bottom of described capable ripple stator, is stuck on the spiral leaf spring location hole boss of spiral leaf spring.
The beneficial effects of the utility model are:
1, the utility model has lacked a piezoelectric vibrator than traditional two-variance spherical travelling-wave ultrasonic motor, has improved efficiency of motor.
2, the utility model only adopts minority parts such as spring base, spring press-cover, spiral leaf spring, side cover, cover plate, and structure is simpler, compactness.
3, helical spring of the present utility model has guaranteed in motor operation course, and row ripple stator can be adjusted attitude adaptively so that inner edge is close to the ball rotor surface, accomplishes automatic centering.
4, the utility model can be adjusted the pretightning force between each row ripple stator and the ball rotor easily.
Description of drawings
Fig. 1 is the structural representation of row ripple stator, wherein, (a) is front view, (b) is left view, (c) is rearview;
Fig. 2 is helical spring front view;
Fig. 3 is the structural representation of spring base, wherein, (a) is front view, (b) is profile;
Fig. 4 is the structural representation of spring press-cover, wherein, (a) is vertical view, (b) is front view;
Fig. 5 is the cover plate front view;
Fig. 6 is the structural representation of side cover, wherein, (a) is front view, (b) is left view;
Fig. 7 is the assembling schematic diagram of the utility model two-variance spherical travelling-wave ultrasonic motor;
Among the figure, spring base 1, side cover 2, spring press-cover 3, spiral leaf spring 4, cover plate 5, row ripple stator 6, ball rotor 7, stator inner edge 8, stator bottom groove 9, spiral leaf spring leading foot 10, spiral leaf spring location hole 11, spiral leaf spring location hole boss 12, spring press-cover outer ring circumferential groove 13.
Embodiment
Further specify the utility model below in conjunction with accompanying drawing, it is more obvious that the purpose of this utility model and effect will become.
As shown in the figure, the utility model two-variance spherical travelling-wave ultrasonic motor mainly is made up of cover plate 5, ball rotor 7 and three piezoelectric vibrators, and each piezoelectric vibrator comprises spring base 1, side cover 2, spring press-cover 3, spiral leaf spring 4 and row ripple stator 6.Wherein, three spring bases 1 are fixed on the cover plate 5 symmetrically along cover plate 5 centers 120 degree, side cover 2 and spring base 1 thread connection, spring press-cover 3 in spring base 1 with spring base 1 matched in clearance, spiral leaf spring 4 links to each other with spring press-cover 3, row ripple stator 6 links to each other with spiral leaf spring 4, and ball rotor 7 is by three capable ripple stator 6 clampings.
Particularly, shown in Fig. 5,7, cover plate 5 is skeletons of entire mechanism, plays fixing and positioning action.Be distributed with screwed hole symmetrically along cover plate 5 centers 120 degree, three spring bases 1 are fixed on the cover plate 5 by cross recessed countersunk head sscrew.As shown in Figure 3, the front end of spring base 1 endoporus does not have screw thread, and there is screw thread the rear end.In threadless part, fill in spring press-cover 3.Spring base 1 and spring press-cover 3 matched in clearance, spring press-cover 3 can move forward and backward in the inside of spring base 1; Spring base threaded part in 1 endoporus rear end and side cover 2 external screw threads cooperate.As shown in Figure 4, round center, the outer ring of spring press-cover 3 week edge 120 degree are symmetrically distributed with three spring press-cover outer ring circumferential groove 13.
As shown in Figure 2, spiral leaf spring 4 is springs of a kind of special shape, and there is location hole 11 at the center, and the periphery of location hole has two to be the spiral leaf spring location hole boss 12 that 180 degree distribute.120 degree exhale the helix of three Archimedes's shapes symmetrically along the center.The end-to-end distance of helix is 270 degree from the angle of initiating terminal, and end has three spiral leaf spring leading foots 10; Three spiral leaf spring leading foots 10 of spiral leaf spring 4 are stuck in the spring press-cover outer ring circumferential groove 13 of spring press-cover 3, and spiral leaf spring 4 and spring press-cover 3 are become one.As shown in Figure 1, stator bottom groove 9 is arranged at the bottom of row ripple stator, is stuck on the spiral leaf spring location hole boss 12 motion that makes stator not do to rotate in a circumferential direction.
As Fig. 3, shown in 4,6, when tightening side cover 2, side cover 2 enters spring base 1 by spring base 1 internal thread, withstands spring press-cover 3, make spring press-cover 3 in the inside of spring base 1 to front slide.The displacement that side cover 2 enters at spring base 1 has determined the slippage of spring press-cover 3, has so just regulated the pretightning force between capable ripple stator 6 and the ball rotor 7.After compressing, spiral leaf spring 4 makes the every bit on the capable ripple stator inner edge 8 can both be close to the ball rotor in the distortion that produced by force direction and shear direction naturally, accomplishes automatic centering.And, the every bit on the stator inner edge 8 and the pretightning force uniformity of ball rotor 7 have been guaranteed dexterously because of the symmetry in spiral leaf spring 4 design.When so just having guaranteed the motor operation steadily.
Claims (4)
1, a kind of two-variance spherical travelling-wave ultrasonic motor, it is characterized in that, it mainly is made up of cover plate (5), ball rotor (7) and three piezoelectric vibrators, and each piezoelectric vibrator comprises spring base (1), side cover (2), spring press-cover (3), spiral leaf spring (4) and row ripple stator (6); Wherein, 120 degree are fixed on the cover plate (5) side cover (2) and spring base (1) thread connection to three spring bases (1) symmetrically along cover plate (5) center; Spring press-cover (3) in spring base (1) with spring base (1) matched in clearance, spiral leaf spring (4) links to each other with spring press-cover (3), capable ripple stator (6) links to each other with spiral leaf spring (4), ball rotor (7) is by three capable ripple stators (6) clamping.
According to the described two-variance spherical travelling-wave ultrasonic motor of claim 1, it is characterized in that 2, described cover plate (5) center 120 degree are distributed with screwed hole symmetrically, three spring bases (1) are fixed on the cover plate (5) by cross recessed countersunk head sscrew.
According to the described two-variance spherical travelling-wave ultrasonic motor of claim 1, it is characterized in that 3, outer ring week edge circle center 120 degree of described spring press-cover (3) are symmetrically distributed with three spring press-cover outer ring circumferential groove (13); Three spiral leaf spring leading foots (10) of spiral leaf spring (4) are stuck in three spring press-cover outer ring circumferential groove (13) of spring press-cover (3) fixing.
According to the described two-variance spherical travelling-wave ultrasonic motor of claim 1, it is characterized in that 4, stator bottom groove (9) is arranged at the bottom of described capable ripple stator (6), be stuck on the spiral leaf spring location hole boss (12) of spiral leaf spring (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201224714U CN201435691Y (en) | 2009-06-22 | 2009-06-22 | Two-freedom-degree spherical traveling wave type ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201224714U CN201435691Y (en) | 2009-06-22 | 2009-06-22 | Two-freedom-degree spherical traveling wave type ultrasonic motor |
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| Publication Number | Publication Date |
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| CN201435691Y true CN201435691Y (en) | 2010-03-31 |
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| CN2009201224714U Expired - Lifetime CN201435691Y (en) | 2009-06-22 | 2009-06-22 | Two-freedom-degree spherical traveling wave type ultrasonic motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8110967B2 (en) * | 2009-02-13 | 2012-02-07 | Chung-Yuan Christian University | Spherical rotary piezoelectric motor |
| CN101588143B (en) * | 2009-06-22 | 2012-05-30 | 浙江大学 | Two-variance spherical travelling-wave ultrasonic motor |
| CN109256980A (en) * | 2018-09-21 | 2019-01-22 | 浙江大学 | A kind of piezoelectricity joint ball motor for space truss vibration suppression and conformal control |
| CN111037911A (en) * | 2018-10-10 | 2020-04-21 | 精工爱普生株式会社 | Plasticizing device and three-dimensional molding device |
-
2009
- 2009-06-22 CN CN2009201224714U patent/CN201435691Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8110967B2 (en) * | 2009-02-13 | 2012-02-07 | Chung-Yuan Christian University | Spherical rotary piezoelectric motor |
| CN101588143B (en) * | 2009-06-22 | 2012-05-30 | 浙江大学 | Two-variance spherical travelling-wave ultrasonic motor |
| CN109256980A (en) * | 2018-09-21 | 2019-01-22 | 浙江大学 | A kind of piezoelectricity joint ball motor for space truss vibration suppression and conformal control |
| CN109256980B (en) * | 2018-09-21 | 2020-02-28 | 浙江大学 | Piezoelectric joint ball motor for vibration suppression and shape-preserving control of space truss |
| CN111037911A (en) * | 2018-10-10 | 2020-04-21 | 精工爱普生株式会社 | Plasticizing device and three-dimensional molding device |
| CN111037911B (en) * | 2018-10-10 | 2022-01-14 | 精工爱普生株式会社 | Plasticizing device and three-dimensional molding device |
| US11230059B2 (en) | 2018-10-10 | 2022-01-25 | Seiko Epson Corporation | Plasticizing device and three dimensional modeling apparatus |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100331 Effective date of abandoning: 20090622 |