CN111193438B - Spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor - Google Patents
Spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor Download PDFInfo
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- CN111193438B CN111193438B CN202010110972.1A CN202010110972A CN111193438B CN 111193438 B CN111193438 B CN 111193438B CN 202010110972 A CN202010110972 A CN 202010110972A CN 111193438 B CN111193438 B CN 111193438B
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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
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Abstract
The invention discloses a spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor. 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, the spherical structure of the spherical hinge rod is embedded in the hemispherical groove of the spherical rotor, an upper top cover is fixedly arranged in the groove of the spherical rotor and covers the spherical hinge rod, and the lower end of the spherical hinge rod passes through the axial through hole of the spherical rotor downwards and 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 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 through threads, and the lower end of the self-locking screw rod passes through the through hole of the upper top cover and is then inserted into the top end of the spherical structure of the spherical hinge rod. The invention is provided with the built-in spherical hinge module which can fix the spherical center of the motor rotor, and has the advantages of ingenious structure, simple model, high axial strength, large self-locking moment, convenient control and the like.
Description
Technical Field
The invention relates to an ultrasonic motor, in particular to a high-strength small-displacement spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor.
Background
The ultrasonic motor converts microscopic deformation of the elastic material into macroscopic motion of the mover through resonance by utilizing the inverse piezoelectric effect of the piezoelectric material, has the characteristics of low speed, large moment, power failure self-locking, quick response, high resolution, high power density, no electromagnetic interference, compact structure, direct driving, diversification of 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 motion requirement of the industry for multiple degrees of freedom, the disadvantages of the traditional electromagnetic motor are gradually developed. The electromagnetic motor realizes the motion with multiple degrees of freedom, the required structure is generally complex, and the manufacturing and the implementation control are difficult. Compared with an electromagnetic motor, the motor has the advantages of compact structure, easiness in assembly, high mechanical integration level, convenience in driving, high resolution, diversification of motion realization and the like, and can be used for electromechanical devices such as robot joints, precision assembly, microminiature robots and the like.
The ultrasonic motor generates moment by using the friction force between the stator and the rotor, and the stator and the rotor are fully contacted by applying pretightening force to the stator by using a spring. For the spherical ultrasonic motor with multiple degrees of freedom, the strength of the motor is greatly reduced by using the flexible spring, the existing motor as 201811110396.X patent adopts the flexible spring to apply pretightening force, the axial pulling pressure of the motor is directly transmitted to the spring through the stator and the rotor, and the stress of the flexible spring is limited, so that the spring is invalid even the motor is disassembled due to the large axial force applied to 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 electrons in large-impact and large-disturbance occasions.
At present, most of multi-degree-of-freedom ultrasonic ball motors have lower strength due to structural design defects, particularly the axial tensile pressure capability is weaker, and the structure for realizing the high-strength characteristic of the ultrasonic ball motor and the structural stability of the ultrasonic ball motor is lacking in the prior art.
Disclosure of Invention
Aiming at the problems of low strength, complex model and the like of the traditional multi-degree-of-freedom ultrasonic motor, the invention aims to provide the multi-degree-of-freedom traveling wave type ultrasonic motor with a novel structure, which has high strength, small displacement and the like, so that the high strength of the motor structure is realized, the axial tensile pressure capability 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 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 aim of the invention, the invention adopts the following technical scheme:
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 part, a rotor part and an accessory part, and the ball motor body mainly realizes three-degree-of-freedom rotation of the motor.
The ball motor comprises a ball motor body, wherein the ball motor body comprises three stator components, a rotor component and an accessory component, the accessory 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; three fixing brackets are uniformly fixed on the upper surface of the base of the accessory part at intervals of 120 degrees along the circumference, and ultrasonic stators are arranged on each fixing bracket through spiral plate springs; the spherical rotor is of a spherical structure with a spherical segment cut off at the upper part, the output rod is fixed on the spherical segment surface of the spherical rotor through a connecting screw, and the spherical rotor is contacted and clamped by three ultrasonic stators.
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 hemispherical 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 sphere 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 arranged in a groove of the spherical rotor, the upper top cover is coated on the upper half part of the sphere structure of the spherical hinge rod, and a shaft rod structure at the lower end of the spherical hinge rod is fixedly connected to the center of the base through a spherical hinge rod nut after penetrating downwards through an axial through hole at the bottom of the spherical rotor; a blind hole is formed in the center of the top end of the spherical hinge rod spherical structure, and a through hole is formed in the center of the upper top cover; the external self-locking module comprises a locking motor, a transmission pin, a self-locking screw rod and an inner bushing; the output shaft of the dead motor can axially move and circumferentially synchronously connect through a transmission pin and the upper end of a self-locking screw rod, the upper end of the self-locking screw rod is sleeved in an axial inner hole of the inner bushing and is in threaded fit, and the lower end of the self-locking screw rod is tightly inserted into a blind hole at the top end of the spherical structure of the spherical hinge rod after passing through a through hole of the upper top 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 external threads which are coupled with the axial inner hole of the inner bushing, and the axial inner hole of the inner bushing is provided with internal threads which are matched with the external threads; 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 the spherical structure of the spherical hinge rod.
The spiral plate spring is a spiral plate spring.
The ultrasonic stator is arranged on the inclined mounting surface of the fixed bracket through a spiral plate spring.
The three fixing brackets are fixedly connected with the base through base screws.
The upper limit and the lower limit of the output displacement of the motor are adjusted by controlling the radial dimension difference value of 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 motor rotor sphere center in the built-in spherical hinge module, can realize high strength of the spherical motor and simplify the motor model, has ingenious structure and simple model, and has the advantages of high axial strength, large self-locking moment, convenient control and the like.
The invention has the beneficial effects that:
1. The motor provided by the invention has two states of power-on rotation and power-off self-locking.
2. In the invention, 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 the stator component under the state of large pulling pressure, so that the axial strength of the motor is greatly improved.
3. According to the invention, the spherical center of the spherical rotor of the motor is fixed through the spherical hinge rod, so that the motor model is simplified, and the motor control method 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 b, a rotor component c, an accessory component 1, an output rod 2, a fixedly connected screw, 3, a spherical rotor 4, a locking motor 5, a transmission pin 6, a self-locking screw rod 7, an inner bushing 8, an upper top cover 9, an ultrasonic stator 10, a plate spring 11, a stator bracket 12, a spherical hinge rod 13, a motor base 14, a spherical hinge nut 15 and a base screw.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1-3, the implementation of the invention comprises 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 ball rotor 3, and the stator part a includes an ultrasonic stator 9, a flexible spiral plate spring 10 and a fixing bracket 11; the three fixing brackets 11 are uniformly fixed on the upper surface of the base 13 of the accessory part c at intervals of 120 degrees along the circumference, and the three fixing 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 arranged towards the center of the base 13 and is inclined outwards, and the ultrasonic stator 9 is mounted on the inclined mounting surface of the fixing bracket 11 through the spiral plate spring 4. An ultrasonic stator 9 is mounted on the inclined mounting surface of each fixing bracket 11 through 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 of the ultrasonic stator 9 and the spherical rotor 1 to ensure the axial pretightening force, can also generate axial deformation and deflection deformation, and can adaptively adjust the influence caused by the micro-offset of the axis of the ultrasonic stator 9, so that the ultrasonic stator 9 can adaptively adjust the gesture to enable the inner edge to be clung 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 off 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 contacted and clamped by three ultrasonic stators 9.
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; the center of the top of the spherical rotor 3 is provided with a groove, the center of the bottom of the spherical rotor 3 is provided with an axial through hole, a hemispherical groove is arranged between the groove and the axial through hole, the groove is communicated with the axial through hole 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 the spherical structure at the upper end of the spherical hinge rod 12 is movably embedded in a hemispherical groove of the spherical rotor 3, an upper top cover 8 is fixedly arranged in a groove of the spherical rotor 3, the upper top cover 8 is coated on 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 downwards moves through an axial through hole at the bottom of the spherical rotor 3 and is fixedly connected to the center of the base 13 through a spherical hinge rod nut 14, so that axial fixation is 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; a blind hole is formed in the center of the top end of the spherical structure of the spherical hinge rod 12, and a through hole is formed in the center of the upper top cover 8.
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 the inner bushing 7, the inner bushing 7 is fixedly sleeved outside the mounting hole of the output rod 1, the output shaft of the locking motor 4 can axially move through the transmission pin 5 and the upper end of the self-locking screw rod 6 but are connected in a circumferential synchronous manner, the upper end of the self-locking screw rod 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 rod 6 is used for penetrating through a through hole of the upper top cover 8 and then is tightly inserted into a blind hole at the top end of a spherical structure of the spherical hinge rod 12, the self-locking screw rod 6 is divided into an upper part and a lower part, the diameter of the upper part is larger than the diameter of the lower part, the outer wall of the upper part is provided with external threads coupled with the axial inner holes of the inner bushing 7, and the axial inner holes of the inner bushing 7 are provided with internal threads matched with the external threads; 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 the spherical structure of the spherical hinge rod 12.
The locking motor 4 operates, the transmission pin 5 drives the self-locking screw rod 6 to rotate in the inner hole of the inner bushing 7, the self-locking screw rod 6 moves up and down along the axial direction of the inner bushing 7 while rotating, and then the lower end of the self-locking screw rod 6 is driven to be inserted into the spherical hinge rod 12 or not, so that locking control is realized. When the locking is needed, the locking motor 4 drives the self-locking screw rod 6 to descend, and the blind hole inserted into the top end of the spherical hinge rod 12 realizes the locking; when the unlocking is needed, the locking motor 4 does opposite movement.
The upper limit and the lower limit of the output displacement of the motor are adjusted by controlling the radial dimension difference value of 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 works normally, 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 condition of electrifying, the three stators are mutually matched to generate driving moment, the spherical rotor rotates around the spherical structure on the upper part of the spherical hinge rod 12 in a centering way under the action of the moment, the kinetic equation of the spherical rotor 3 is simpler, and the motor driving control is relatively simple. When the motor output rod 1 receives a 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 the lower hemisphere of the ball head of the spherical hinge rod 12 through the hemispherical groove in the inner part, and finally, the force is transmitted to the motor base 13 through the spherical hinge nut 14. When the motor output rod 1 receives a large pressure in the axial direction, the pressure is transmitted to the upper hemisphere of the ball head of the spherical hinge rod 12 through the upper top cover 8, and finally transmitted to the motor base 13 through the spherical hinge nut 14. From the above, it can be seen that when the motor works normally, the driving force is generated by the stator and the rotor, and when the axial large pulling pressure is received, the stress is transmitted to the base by the spherical rotor through the spherical hinge rod, namely, the axial stress transmission process is as follows: the ball rotor, the ball hinge rod and the motor base are combined, so that the axial strength of the motor is greatly improved.
For example, in the motor of 201811110396.X, during normal operation, the load may cause uneven stress on three stators, so as to change the sphere of the rotor, and make the rotor dynamics equation more complex, so that the motor driving control is also more complex. The axial stress transmission is a ball rotor-ultrasonic stator-flexible plate spring-stator support-motor base, and the whole axial strength of the motor is lower due to limited stress of the flexible plate spring.
As can be seen from finite element stress analysis of motor structure stress, the maximum axial bearable maximum tensile pressure of the motor is about 10000N, and the maximum axial bearable maximum tensile pressure of the motor in 201811110396.X patent is about 300N.
Claims (5)
1. The spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor comprises a ball motor body, wherein the ball motor body comprises three stator parts (a), a rotor part (b) and an accessory part (c), the accessory part (c) comprises a base (13), the rotor part (b) comprises an output rod (1), a connecting screw (2) and a spherical rotor (3), and the stator part (a) comprises an ultrasonic stator (9), a spiral plate spring (10) and a fixed bracket (11); the three fixing brackets (11) are uniformly fixed on the upper surface of the base (13) of the accessory part (c) at intervals of 120 degrees along the circumference, and an ultrasonic stator (9) is arranged on each fixing bracket (11) through a spiral plate spring (10); the spherical rotor (3) is of a spherical structure with a spherical segment cut off at the upper part, the output rod (1) is fixed on the spherical segment surface of the spherical rotor (3) through the connecting screw (2), and the spherical rotor (1) is contacted and clamped by the three ultrasonic stators (9); the method is characterized in that: 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 (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 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 the 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 arranged in a groove of the spherical rotor (3), the upper top cover (8) is coated on 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) passes through an axial through hole at the bottom of the spherical rotor (3) downwards and is fixedly connected to the center of the base (13) through a spherical hinge rod nut (14); a blind hole is formed in the center of the top end of the spherical structure of the spherical hinge rod (12), and a through hole is formed in the center of the upper top cover (8);
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 in the inner side of the mounting hole of the output rod (1) and fixed at the upper end of the inner bushing (7), the inner bushing (7) is fixedly sleeved on the outer side of the mounting hole of the output rod (1), the output shaft of the locking motor (4) can axially move and circumferentially synchronously connect through the upper end of the transmission pin (5) and the upper end of the self-locking screw (6), the upper end of the self-locking screw (6) is sleeved in the axial inner hole of the inner bushing (7) and is in threaded fit, and the lower end of the self-locking screw (6) is used for being tightly inserted into a blind hole at the top end of the spherical structure of the spherical hinge rod (12) after passing through the through hole of the upper top cover (8).
2. The spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor according to claim 1, wherein: 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 external threads which are coupled with the axial inner hole of the inner bushing (7), and the axial inner hole of the inner bushing (7) is provided with internal threads which are matched with the external threads; 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 the spherical structure of the spherical hinge rod (12).
3. The spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor according to claim 1, wherein: the ultrasonic stator (9) is arranged on the inclined mounting surface of the fixed bracket (11) through a spiral plate spring (4).
4. The spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor according to claim 1, wherein: the three fixing brackets (11) are fixedly connected with the base through base screws (15).
5. The spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor according to claim 1, wherein: the upper limit and the lower limit of the output displacement of the motor are adjusted by controlling the radial dimension difference value of 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).
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| CN202010110972.1A CN111193438B (en) | 2020-02-21 | 2020-02-21 | Spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor |
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| CN202010110972.1A CN111193438B (en) | 2020-02-21 | 2020-02-21 | Spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic ball motor |
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| CN111193438B true CN111193438B (en) | 2024-05-28 |
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| CN114083566B (en) * | 2021-12-23 | 2023-05-26 | 杭州电子科技大学 | Rigid-flexible coupling type robot wrist joint |
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- 2020-02-21 CN CN202010110972.1A patent/CN111193438B/en active Active
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