CN209850927U - Two-degree-of-freedom ultrasonic motor steering engine and robot - Google Patents
Two-degree-of-freedom ultrasonic motor steering engine and robot Download PDFInfo
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- CN209850927U CN209850927U CN201920622351.4U CN201920622351U CN209850927U CN 209850927 U CN209850927 U CN 209850927U CN 201920622351 U CN201920622351 U CN 201920622351U CN 209850927 U CN209850927 U CN 209850927U
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Abstract
The utility model discloses a two degree of freedom ultrasonic motor steering engines and robot, wherein, this two degree of freedom ultrasonic motor steering engines includes: a housing; a spherical rotor located within the housing; the four first stators are respectively arranged on the inner side of the peripheral wall of the shell and enclose a rotating space for the spherical rotor to rotate, and the second stator is arranged on the inner side of the bottom wall of the shell and is positioned below the spherical rotor; the four piezoelectric films are respectively arranged on the surfaces of the four first stators; and one end of the motor output shaft is connected with the spherical rotor, and the other end of the motor output shaft extends out of the shell. The utility model discloses compact structure can reduce the assembly space, is favorable to realizing the miniaturized and miniaturized design demand of product.
Description
Technical Field
The utility model relates to a multi freedom steering wheel technical field especially relates to a two degree of freedom ultrasonic motor steering wheels and robot.
Background
At present, an industrial steering engine on the market generally comprises an electric motor and a speed reducer, wherein the electric motor and the speed reducer are connected in series to form a steering engine structure. In the steering engine structure, the volume of the steering engine is inevitably increased after the motor is connected with the speed reducer. In addition, the steering engine formed by connecting the motor and the speed reducer in series can only realize the rotation in a single direction. In order to realize two-degree-of-freedom control, two industrial steering engines are generally adopted, namely, two motors and speed reducers which are connected in series are included, so that the occupied area of the whole steering engine is large, and the design of miniaturization is not facilitated. Therefore, how to simplify the overall structure and miniaturize the overall structure becomes a technical problem to be solved urgently in the industry.
In view of the above, there is a need for further improvement of the current two-degree-of-freedom industrial steering engine structure.
SUMMERY OF THE UTILITY MODEL
In order to solve at least one technical problem, the main object of the present invention is to provide a two-degree-of-freedom ultrasonic motor steering engine and a robot.
In order to achieve the above object, the utility model discloses a technical scheme do: the utility model provides a two degree of freedom ultrasonic motor steering engines, includes:
a housing;
a spherical rotor located within the housing;
the four first stators are respectively arranged on the inner side of the peripheral wall of the shell and enclose a rotating space for the spherical rotor to rotate, and the second stator is arranged on the inner side of the bottom wall of the shell and is positioned below the spherical rotor;
the four piezoelectric films are respectively arranged on the surfaces of the four first stators;
one end of the motor output shaft is connected with the spherical rotor, and the other end of the motor output shaft extends out of the shell;
the absolute value magnetic ring is arranged on the surface of the spherical rotor;
and the reader is arranged on the inner side of the shell and is arranged close to the absolute value magnetic ring.
The first stator and the second stator are both arranged in a circular ring shape, and a connecting line of the centers of the two first stators which are arranged oppositely penetrates through the center of the spherical rotor.
The motor output shaft comprises an X-direction output shaft and a Y-direction output shaft, and the axis included angle of the X-direction output shaft and the Y-direction output shaft in the same plane is 90 degrees;
the number of the absolute value magnetic rings is two, one absolute value magnetic ring is positioned on the surface of one side, opposite to the X-direction output shaft, of the spherical rotor and can rotate around the X-axis direction, and the other absolute value magnetic ring is positioned on the surface of one side, opposite to the Y-direction output shaft, of the spherical rotor and can rotate around the Y-axis direction.
The shell comprises a base body and a cover body covering the base body, a first hole position is formed in the position, corresponding to the output shaft in the X direction, of the base body, and a second hole position is formed in the position, corresponding to the output shaft in the Y direction, of the base body.
The output shaft of the motor is a single output shaft in the Z direction;
the two absolute value magnetic rings are respectively arranged on two mounting surfaces of the spherical rotor perpendicular to the Z-direction output shaft, and the center of each mounting surface forms an included angle of 90 degrees with a connecting line of the sphere centers.
The shell comprises a base body and a cover body covering the base body, and a hole position is formed in the position, corresponding to the Z-direction output shaft, of the cover body.
The magnetic ring seat further comprises an end cover, windows are respectively arranged on the seat body corresponding to the two absolute value magnetic rings, and the end cover covers the windows.
The spherical rotor is limited between the second stator and the third stator.
The magnetic circuit comprises a spherical rotor, an absolute value magnetic ring and a reader, wherein the absolute value magnetic ring is arranged on the surface of the spherical rotor; the reader is arranged on the inner side of the shell, is arranged close to the absolute value magnetic ring and is in magnetic induction connection with the absolute value magnetic ring.
In order to achieve the above object, the utility model discloses a another technical scheme does: the robot comprises the two-degree-of-freedom ultrasonic motor steering engine.
The technical scheme of the utility model mainly includes spherical rotor, five stators and four piezoelectric film, five stators divide into four first stators and a second stator, four first stators enclose into the rotation space that supplies the spherical rotor to rotate, four piezoelectric film set up in first stator surface, piezoelectric film and first stator can all apply the electric signal, when having pi/2 phase difference between the electric signal of the piezoelectric film on two first stators that are in the X direction, can drive spherical rotor and rotate around the X direction, and then drive the rotation of motor output shaft; when the electric signals of the piezoelectric films on the two first stators in the Y direction have a phase difference of pi/2, the spherical rotors can be driven to rotate around the Y direction, and then the output shaft of the motor is driven to rotate, so that two-degree-of-freedom output of the steering engine can be realized. Additionally, the utility model discloses compact structure still has, can reduce the assembly space, is favorable to realizing the miniaturized and miniaturized design demand of product.
Drawings
Fig. 1 is a schematic view of a three-dimensional structure of a two-degree-of-freedom ultrasonic motor steering engine according to an embodiment of the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a cross-sectional view taken at A-A of FIG. 2;
FIG. 4 is an exploded view of FIG. 1;
fig. 5 is a schematic view of a three-dimensional structure of a two-degree-of-freedom ultrasonic motor steering engine according to another embodiment of the present invention;
FIG. 6 is an exploded view of FIG. 5
FIG. 7 is a cross-sectional view taken at B-B of FIG. 2;
fig. 8 is a schematic view of a three-dimensional structure of a two-degree-of-freedom ultrasonic motor steering engine according to another embodiment of the present invention.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that the description of the invention referring to "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implying any number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 4, fig. 1 is a schematic perspective view of a two-degree-of-freedom steering engine of an ultrasonic motor according to an embodiment of the present invention; FIG. 2 is a side view of FIG. 1; FIG. 3 is a cross-sectional view taken at A-A of FIG. 2; fig. 4 is an exploded view of fig. 1. In an embodiment of the present invention, the two-degree-of-freedom ultrasonic motor steering engine includes:
a housing (11, 12);
a spherical rotor 50, said spherical rotor 50 being located within the housing (11, 12);
the five stators comprise four first stators 31 and one second stator 32, the four first stators 31 are respectively arranged on the inner sides of the four peripheral walls of the shells (11, 12), the four first stators 31 enclose a rotating space for the spherical rotor 50 to rotate, and the second stator 32 is arranged on the inner side of the bottom walls of the shells (11, 12) and is positioned below the spherical rotor 50;
the four piezoelectric films 40 are respectively arranged on the surfaces of the four first stators 31;
a motor output shaft, one end of which is connected with the spherical rotor 50 and the other end of which extends out of the housing (11, 12);
an absolute value magnetic ring 60, the absolute value magnetic ring 60 being disposed on the surface of the spherical rotor 50;
and the reader 70 is arranged on the inner side of the shell (11, 12), is arranged close to the absolute value magnetic ring 60 and is in magnetic induction connection with the absolute value magnetic ring 60.
In this embodiment, the housing (11, 12) has an accommodating space formed therein, and the shape of the entire housing (11, 12) is preferably a cylinder. It is understood that the housing (11, 12) may be designed in other shapes as desired. Five stators, namely four first stators 31 and one second stator 32, are fixed on the inner walls of the shells (11, 12). The first stator 31 and the second stator 32 are identical in shape and size. The four first stators 31 are located on the inner wall of the four sides of the housing (11, 12), the four first stators 31 can be divided into two pairs which are opposite, and the surface of the first stator 31 is provided with a piezoelectric film 40. The second stator 32 is located at the bottom of the housing (11, 12) to support the spherical rotor 50. In addition, the scheme also comprises an absolute value magnetic ring 60 and a reader 70, wherein the absolute value magnetic ring 60 rotates along with the rotation of the spherical rotor 50, and the data of the absolute value magnetic ring 60 is read out through the reader 70, so that the rotation number of the spherical rotor 50 can be read out conveniently, and the precision of the whole machine can be improved.
During specific work, when the spherical rotor 50 needs to be driven to rotate around the X axis in the forward direction: firstly, two phases of electric signals with pi phase difference are respectively applied to one first stator 31 in the X direction and the piezoelectric film 40 on the first stator 31, and the electric signals on the piezoelectric film 40 on the surface of the first stator 31 have pi phase difference; then, the same electric signal is applied to the other first stator 31 in the X direction and the piezoelectric film 40 on the first stator, and the electric signal applied to the piezoelectric film 40 on the surface of the first stator 31 have a phase difference of pi/2; when it is desired to drive the spherical rotor 50 in reverse rotation about the X-axis: firstly, respectively applying two phases of electric signals with-pi phase difference to one first stator 31 in the X direction and the piezoelectric film 40 on the first stator 31, and enabling the electric signals on the piezoelectric film 40 on the surface of the first stator 31 to have-pi phase difference; then, the same electric signal is applied to both the other first stator 31 in the X direction and the piezoelectric film 40 thereon, and is made to have a-pi/2 phase difference from the electric signal applied to the piezoelectric film 40 on the surface of the first stator 31. When it is desired to drive the spherical rotor 50 in forward rotation about the Y-axis: firstly, two phases of electric signals with pi phase difference are respectively applied to one first stator 31 in the Y direction and the piezoelectric film 40 on the first stator 31, and the electric signals on the piezoelectric film 40 on the surface of the first stator 31 have pi phase difference; then, the same electric signal is applied to the other first stator 31 in the Y direction and the piezoelectric film 40 on the first stator, and the electric signal applied to the piezoelectric film 40 on the surface of the first stator 31 have a phase difference of pi/2; when it is desired to drive the spherical rotor 50 in reverse rotation about the Y-axis: firstly, two phases of electric signals with-pi phase difference are respectively applied to one first stator 31 in the Y direction and the piezoelectric film 40 on the first stator 31, and the electric signals on the piezoelectric film 40 on the surface of the first stator 31 have-pi phase difference; then, the same electric signal is applied to both the other first stator 31 in the Y direction and the piezoelectric film 40 thereon, and is made to have a-pi/2 phase difference from the electric signal applied to the piezoelectric film 40 on the surface of the first stator 31. When the working mode of the first stator 31 is exchanged, the spherical rotor 50 can rotate around the Y-axis or the X-axis, so that two-degree-of-freedom motion can be realized.
The utility model discloses mainly include spherical rotor 50, five stators, four piezoelectric film 40, absolute magnetic ring and reader 70, five stators divide into four first stators 31 and a second stator 32, four first stators 31 enclose into the rotation space that supplies spherical rotor 50 to rotate, four piezoelectric film 40 set up in first stator 31 surface, piezoelectric film 40 and first stator 31 all can apply the signal of telecommunication, when having pi/2 phase difference between the signal of telecommunication of two piezoelectric film 40 on the first stator 31 that is in the X direction, can drive spherical rotor 50 and rotate around the X direction, and then drive motor output shaft and rotate; when the electric signals of the piezoelectric films 40 on the two first stators 31 in the Y direction have a pi/2 phase difference, the spherical rotor 50 can be driven to rotate around the Y direction, and then the output shaft of the motor is driven to rotate, so that two-degree-of-freedom output of the steering engine can be realized.
In a specific embodiment, the first stator 31 and the second stator 32 are both disposed in a circular ring shape, and a connection line between the centers of the two first stators 31 disposed oppositely passes through the center of the spherical rotor 50. The four first stators 31 and the one second stator 32 have the same shape and structure. The two first stators 31 arranged oppositely are located symmetrically to the center of the spherical rotor 50.
Referring to fig. 3 and 4, fig. 3 is a sectional view taken along line a-a of fig. 2; fig. 4 is an exploded view of fig. 1. The embodiment is an ultrasonic motor steering engine with double output shafts. The motor output shaft comprises an X-direction output shaft 21 and a Y-direction output shaft 22, and the axis included angle of the X-direction output shaft 21 and the Y-direction output shaft 22 in the same plane is 90 degrees;
the absolute value magnetic rings 60 are two, one absolute value magnetic ring 60 is located on the surface of the spherical rotor 50 opposite to the X-direction output shaft 21 and can rotate around the X-axis direction, and the other absolute value magnetic ring 60 is located on the surface of the spherical rotor 50 opposite to the Y-direction output shaft 22 and can rotate around the Y-axis direction.
In this embodiment, there are two motor output shafts, which are an X-direction output shaft 21 and a Y-direction output shaft 22. When the spherical rotor 50 rotates along the X-axis direction, the spherical rotor 50 drives the X-direction output shaft 21 to move; when the spherical rotor 50 rotates along the Y-axis direction, the spherical rotor 50 drives the Y-direction output shaft 22 to move, and the two-degree-of-freedom movement of the steering engine is realized through the X-direction output shaft 21 and the Y-direction output shaft 22.
Further, the housing (11, 12) includes a base body 11 and a cover body 12 covering the base body 11, a first hole is disposed at a position of the base body 11 corresponding to the X-direction output shaft 21, and a second hole is disposed at a position of the base body 11 corresponding to the Y-direction output shaft 22. In this embodiment, the X-direction output shaft 21 passes through and extends out of the first hole site; the Y-direction output shaft 22 passes through and extends out of the second hole site to realize the connection of the X-direction output shaft 21 and the Y-direction output shaft 22 with external devices.
Referring to fig. 5 and 6, fig. 5 is a schematic perspective view of a two-degree-of-freedom steering engine of an ultrasonic motor according to another embodiment of the present invention; fig. 6 is an exploded view of fig. 5. This embodiment is an ultrasonic motor steering engine with single output shaft. Wherein, the output shaft of the motor is a single Z-direction output shaft 20;
the number of the absolute value magnetic rings 60 is two, the two absolute value magnetic rings 60 are respectively arranged on two mounting surfaces of the spherical rotor 50 perpendicular to the Z-direction output shaft 20, and the center of each mounting surface forms an angle of 90 ° with a connecting line of the sphere center.
In this embodiment, the motor output shaft is a single Z-direction output shaft 20, the structure and position of the stator and the spherical rotor 50 are unchanged, and when the spherical rotor 50 rotates along the X-axis direction, the spherical rotor 50 drives the Z-direction output shaft 20 to rotate along the XOZ plane; when the spherical rotor 50 rotates along the Y-axis direction, the spherical rotor 50 drives the Z-direction output shaft 20 to move along the YOZ plane, so that two-degree-of-freedom motion of the steering engine can be realized.
Referring to fig. 7 and 8, fig. 7 is a sectional view taken along line B-B of fig. 2; fig. 8 is a schematic view of a three-dimensional structure of a two-degree-of-freedom ultrasonic motor steering engine according to another embodiment of the present invention. In a specific embodiment, the motor further includes a third stator 33 installed inside the cover plate 11 and located above the spherical rotor 50, and the spherical rotor 50 is limited between the second stator and the third stator 33. In view of the limitation of the position of the spherical rotor 50, in the embodiment, the third stator 33 and the second stator 32 are respectively disposed above and below the spherical rotor 50, the second stator 32 can support the spherical rotor 50, and the spherical rotor 50 can be limited between the third stator 33 and the second stator 32 by the cooperation of the third stator 33 and the second stator 32, so as to ensure the stability of the spherical rotor 50 in operation. Specifically, the second stator 32 supports the spherical rotor 50 by magnetic force, and a space is formed between the second stator 32 and the spherical rotor 50 to prevent the second stator 32 from obstructing the rotation of the spherical rotor 50. Correspondingly, a gap is formed between the third stator 33 and the spherical rotor 50, so that the third stator 33 can be prevented from blocking the rotation of the spherical rotor 50.
In a specific embodiment, the housing (11, 12) includes a base 11 and a cover 12 covering the base 11, and the cover 12 has a hole corresponding to the Z-direction output shaft 20. The hole location is much larger than the Z-direction output shaft 20 to facilitate movement of the Z-direction output shaft 20 within the hole location.
Further, the magnetic circuit further comprises an end cover 13, windows are respectively arranged on the seat body 11 corresponding to the two absolute value magnetic rings 60, and the end cover 13 covers the windows. The end cover 13 can facilitate the installation of the absolute magnetic ring and the first stator 31.
In the embodiment of the utility model, the robot comprises the two-degree-of-freedom ultrasonic motor steering engine. Please refer to the above embodiments for the specific structure of the steering engine of the two-degree-of-freedom ultrasonic motor. Because the robot of this scheme has used two degree of freedom ultrasonic motor steering gears, the event has all advantages and the effect of two degree of freedom ultrasonic motor steering gears.
The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.
Claims (10)
1. The utility model provides a two degree of freedom ultrasonic motor steering engines, its characterized in that, two degree of freedom ultrasonic motor steering engines include:
a housing;
a spherical rotor located within the housing;
the four first stators are respectively arranged on the inner side of the peripheral wall of the shell and enclose a rotating space for the spherical rotor to rotate, and the second stator is arranged on the inner side of the bottom wall of the shell and is positioned below the spherical rotor;
the four piezoelectric films are respectively arranged on the surfaces of the four first stators;
and one end of the motor output shaft is connected with the spherical rotor, and the other end of the motor output shaft extends out of the shell.
2. The steering engine of two-degree-of-freedom ultrasonic motor according to claim 1, wherein the first stator and the second stator are both arranged in a circular ring shape, and a connecting line of the centers of the two first stators which are arranged oppositely passes through the center of the spherical rotor.
3. The two-degree-of-freedom ultrasonic motor steering engine according to claim 2, wherein the motor output shaft comprises an X-direction output shaft and a Y-direction output shaft, and an axis angle between the X-direction output shaft and the Y-direction output shaft in the same plane is 90 °;
the magnetic ring comprises a spherical rotor and two absolute value magnetic rings, wherein the two absolute value magnetic rings are arranged on the surface of the spherical rotor, the two absolute value magnetic rings are arranged on the surface of one side, opposite to the X-direction output shaft, of the spherical rotor and can rotate around the X-axis direction, and the other absolute value magnetic ring is arranged on the surface of one side, opposite to the Y-direction output shaft, of the spherical rotor and can rotate around the Y-axis direction.
4. The steering engine of the two-degree-of-freedom ultrasonic motor according to claim 3, wherein the housing comprises a base and a cover covering the base, wherein the base has a first hole on a position corresponding to the output shaft in the X direction, and the base has a second hole on a position corresponding to the output shaft in the Y direction.
5. The two-degree-of-freedom ultrasonic motor steering engine according to claim 2, wherein the motor output shaft is a single Z-direction output shaft;
the two absolute value magnetic rings are respectively arranged on two mounting surfaces of the spherical rotor perpendicular to the Z-direction output shaft, and the center of each mounting surface forms an included angle of 90 degrees with a connecting line of the sphere center.
6. The steering engine of the two-degree-of-freedom ultrasonic motor according to claim 5, wherein the housing comprises a base body and a cover body covering the base body, and a hole site is provided on the cover body at a position corresponding to the output shaft in the Z direction.
7. The steering engine of the two-degree-of-freedom ultrasonic motor according to claim 4 or 6, further comprising an end cover, wherein windows are respectively disposed on the seat body at positions corresponding to the two absolute value magnetic rings, and the end cover covers the windows.
8. The two-degree-of-freedom ultrasonic motor steering engine according to claim 7, further comprising a third stator mounted inside the cover plate and located above the spherical rotor, wherein the spherical rotor is limited between the second stator and the third stator.
9. The steering engine of the two-degree-of-freedom ultrasonic motor according to claim 8, further comprising a reader, wherein the reader is disposed inside the housing, is disposed near the absolute value magnetic ring, and is magnetically connected to the absolute value magnetic ring.
10. A robot comprising a two degree of freedom ultrasonic motor steering engine according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920622351.4U CN209850927U (en) | 2019-04-30 | 2019-04-30 | Two-degree-of-freedom ultrasonic motor steering engine and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920622351.4U CN209850927U (en) | 2019-04-30 | 2019-04-30 | Two-degree-of-freedom ultrasonic motor steering engine and robot |
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| Publication Number | Publication Date |
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| CN209850927U true CN209850927U (en) | 2019-12-27 |
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| CN201920622351.4U Active CN209850927U (en) | 2019-04-30 | 2019-04-30 | Two-degree-of-freedom ultrasonic motor steering engine and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955237A (en) * | 2019-04-30 | 2019-07-02 | 深圳市爱因派科技有限公司 | Two degrees of freedom supersonic motor steering engine and robot |
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2019
- 2019-04-30 CN CN201920622351.4U patent/CN209850927U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955237A (en) * | 2019-04-30 | 2019-07-02 | 深圳市爱因派科技有限公司 | Two degrees of freedom supersonic motor steering engine and robot |
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