CN201008130Y - Multi-freedom degree spherical traveling wave type ultrasonic electric motor - Google Patents
Multi-freedom degree spherical traveling wave type ultrasonic electric motor Download PDFInfo
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- CN201008130Y CN201008130Y CNU2006201406668U CN200620140666U CN201008130Y CN 201008130 Y CN201008130 Y CN 201008130Y CN U2006201406668 U CNU2006201406668 U CN U2006201406668U CN 200620140666 U CN200620140666 U CN 200620140666U CN 201008130 Y CN201008130 Y CN 201008130Y
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Abstract
The utility model discloses a sphere traveling wave type ultrasonic motor with a plurality of freedom degree, which is provided with a sphere motor rotor in a motor body, wherein the sphere motor rotor is arranged at the front, back, left and right respectively with a traveling waver stator whose inner sphere face coordinates with the sphere motor rotor, five traveling wave rotors are mounted on the motor body by respective stator connecting parts, the sphere motor rotor output shaft is mounted with two attitude angle detecting devices of 90 degree mutually. The utility model is capable of adjusting pre pressure to make good contact of the stator and sphere rotor and the output torque best. The whole structure is simple and convenient in installation to realize a plurality of freedom degree movement and amplify machine structure. The utility model can be employed in a plurality of situations, such as artificial limb shoulder, wrist and knee joint, CCD (monitoring head) holder drive of two freedom degree and robot eyeball drive. The attitude control is convenient, swift in reaction and of high precision.
Description
Technical field
The utility model relates to supersonic motor, especially relates to a kind of multi-degree of freedom spherical traveling wave-type ultrasonic motor.
Background technology
The many phenomenons of occurring in nature are that multiple degrees of freedom drives, and as people's shoulder, wrist and hip joint, eyeball also is that two-freedom rotates.In addition, along with development of science and technology, Mechatronic Systems is also complicated day by day, and especially some precision apparatus are more and more higher to the requirement of motion, and single-degree-of-freedom drives and can't meet the demands, and also all requires multiple degrees of freedom to drive as robot, camera system etc.In these systems,, just must cause moving component mechanism complexity, bulky, heaviness and bad dynamic performance if the motion of each degree of freedom finished by 1 single-degree-of-freedom motor.Multiple freedom degrees ultrasound ripple motor still has some characteristics of supersonic motor: 1, owing to driven by high frequency vibration friction, not only dynamic response is fast and high-resolution, and has high accuracy, in addition, because friction-driven can cut off self-lock; 2, on structural design, have simplicity and flexibility, both can adopt the travelling-wave type stator, also can adopt the standing wave type stator, can realize two or three degree of freedom motion; 3, low-speed and large-torque etc.And will forming spherical rotating magnetic field, the electromagnetic type ball motor cause structure very complicated, realize very difficult, the electromagnetic type ball motor performance that realizes both at home and abroad is relatively poor relatively at present, practical few, multiple freedom degrees ultrasound ripple motor has low-speed and large-torque, response is fast, the precision height, characteristics such as can directly drive, has the incomparable advantage of electromagnetic induction machines, in recent years successfully be applied to abdominal operation, shoulder wrist and knee joint on the artificial limb, the occasions such as eyeball driving of binary CCD (monitoring head) The Cloud Terrace driving and robot, therefore, the spherical ultrasonic electromotor of development compact conformation and low-speed and large-torque is very necessary.
Summary of the invention
The purpose of this utility model provides a kind of multi-degree of freedom spherical traveling wave-type ultrasonic motor, adopts ring-type travelling-wave type stator, can realize the rotation of two or three directions.
In order to achieve the above object, the technical solution adopted in the utility model is:
The globular motor rotor is installed in the motor body, in the front, rear, left and right of globular motor rotor and the bottom a capable ripple stator Internal Spherical Surface be installed respectively match with the globular motor rotor, five capable ripple stators are installed on the motor body by separately stator link respectively, and the attitude angle detection mechanism that is in 90 ° is installed on the output shaft of globular motor rotor.
Described stator link: each includes the stator connector, regulates screw bolt and nut; The afterbody of row ripple stator is packed in the stator connector, and afterbody is equipped with elastomer with regulating between the bolt, and the stator connector is fixed on the motor body, and the afterbody of capable ripple stator is fixed with holding screw.
Described attitude angle detection mechanism: comprise attitude test body, two photoelectric encoders, two turning blocks and two connecting rods; Be equipped with on the output shaft of globular motor rotor with output shaft attitude test body that rotate, that self-aligning bearing is housed, two turning block lower ends are installed in separately the bearing, each turning block upper end is installed photoelectric encoder respectively, two connecting rods are slidingly matched with separately turning block hole, one end of every connecting rod becomes 90 ° to be connected with the attitude test body, one of them is to be articulated and connected, and another is fixedly connected.
Described two connecting rods and self-aligning bearing are installed in the same plane.
The utility model is compared with background technology, and the useful effect that has is:
1. overall structure is simple, and is easy for installation.Multi freedom degree spherical ultrasonic electromotor adopts ring-type travelling-wave type stator, can realize the rotation of two or three directions.Whole motor is made up of parts such as spherical spinner and row ripple stators, and the end face of row ripple stator becomes Internal Spherical Surface, and stator is well contacted with spherical spinner, improves assembling to neutrality; In addition, the motor of this structure is responsive to the centering of axis stator.Generally fix a stator when adjusting in every pair of stator earlier, another stator uses the mechanism of adjustable axle line position.Because multi freedom degree spherical ultrasonic electromotor has two pairs of travelling-wave type stators that intersect vertically, rotor has been fixed in the clamping of two pairs of stators naturally.
2. attitude control is convenient, response is fast, precision is high.For multi freedom degree spherical ultrasonic electromotor, because the actuating speed linear correlation of rotor rotating speed and two stators, so the control of its position and speed is fairly simple, the feedback of its position and speed adds the low profile photovoltaic encoder with ball-and-socket hinge device and forms.
3. conveniently adjusted precompression makes stator well contact with spherical spinner, makes the output torque maximum.
4. can realize the multiple degrees of freedom action, simplify mechanical structure.Can be applicable to shoulder wrist on the artificial limb and knee joint, binary CCD (monitoring head) The Cloud Terrace drives and the occasions such as eyeball driving of robot.
Description of drawings
Fig. 1 is the multi freedom degree spherical ultrasonic electromotor structural representation;
Fig. 2 is the E-E cutaway view of Fig. 1;
Fig. 3 is the A-A cutaway view of Fig. 1;
Fig. 4 is the structural representation of motor body.
Among the figure: 1, attitude test body, 2, holding screw, 3, the stator connector, 4, motor body, 5, connecting bolt, 6, regulate bolt, 7, nut, 8, elastomer, 9, the cup head feather key, 10.1,10.2,10.3,10.4,10.5, row ripple stator, 11, globular motor rotor, 12, photoelectric encoder, 1.1, connecting bolt, 1.2, the bed hedgehopping piece, 1.3, mounting blocks, 1.4, bearing, 1.5, trip bolt, 1.6, turning block, 1.7, connecting rod, 1.8, fixed connection point, 1.9, the Bearing Installation ring, 1.10, self-aligning bearing, 1.11. hinge tie point.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, the utility model is that globular motor rotor 11 is installed in motor body 4, in the front, rear, left and right of globular motor rotor 11 and the bottom capable ripple stator 10.1,10.2,10.3,10.4,10.5 Internal Spherical Surface be installed respectively match with globular motor rotor 11, five capable ripple stators are installed on the motor body 4 by separately stator link respectively, and the attitude angle detection mechanism that is in 90 ° is installed on the output shaft of globular motor rotor 11.
Described stator link: each includes stator connector 3, regulates spiral shell 6 and nut 7; The afterbody of row ripple stator is packed in the stator connection 3, between afterbody and the adjusting bolt 6 elastomer 8 is housed, stator connector 3 is fixed on the motor body 4, the afterbody of row ripple stator is by holding screw 2 and the 9 circumferential tightenings of cup head feather key, have keyway on the row ripple stator axis so as the cup head feather key slidably, the thrust of row ripple stator is adjusted given by bolt 7 by the deformation of macromolecular material elastomer 8, adjust the back by hold-down nut 6 lockings.
Described attitude angle detection mechanism: comprise attitude test body 1, two photoelectric encoders 12, two turning blocks 1.6 and two connecting rods 1.7; Be equipped with on the output shaft of globular motor rotor 11 with output shaft attitude test body 1 that rotate, that self-aligning bearing is housed, two turning block 1.6 lower ends are installed in separately the bearing pedestal, each turning block 1.6 upper end is installed photoelectric encoder 12 respectively, two connecting rods 1.7 are slidingly matched with separately turning block 1.6 holes, one end of every connecting rod 1.7 is connected for 1 one-tenth 90 ° with the attitude test body, one of them is to be articulated and connected, 1.11 be the hinge tie point, another is fixedly connected, and 1.8 is fixed connection point.
Described two connecting rods 1.7 are installed in the same plane with self-aligning bearing.
Adopt the measurement structure of self-aligning bearing and connecting rod, output shaft (its axis passes through the centre of sphere) is installed on the ball-type rotor, the rotating self-aligning bearing of energy two-freedom is housed on the output shaft, two connecting rods and self-aligning bearing be (this plane and four capable ripple stators are formed plane parallel) in same plane, when output shaft during (output shaft axis normal in plane that four capable ripple stators are formed time) in the center, two connecting rods are mutually perpendicular, and promptly intersect at each connecting rod center line and self-aligning bearing center.
The schematic diagram of the multi freedom degree spherical ultrasonic electromotor of employing attitude measurement mechanism as shown in Figure 2.
1. as shown in Figure 1, the capable ripple stator 10.5 that install ball-type rotor 11 bottoms, the deadweight of ball rotor is born in its effect, and makes ball rotor centering (several center) guarantee that all the other four stators are easy for installation, and ball rotor center height can be regulated by bolt.During machine operation in stator the logical synchronous alternating current of two-phase, make capable ripple stator produce standing wave, be to make the ball rotor produce certain suspending power like this, and frictional resistance minimizes when making the ball rotor rotation.As standing wave being become capable ripple, just can make three-degree-of-freedom motion.
2, the complex formed by metallic elastic body, piezoelectric ceramic and adhesive layer of travelling-wave type stator, stator adopts high density materials such as phosphor bronze, after applying alternating voltage, piezoelectric ceramic can produce the mechanical resonant displacement, it passes to rotor by stator, so just realized that electric energy changes into mechanical energy, impelled the rotation of rotor.Stator surface has been cut tooth, and outer rim adopts big chamfering, inner edge contacts with spherical spinner, the contact zone is a narrow contact wire, the sticking one deck friction material that is coated with in rafter contact zone in stator, avoid the direct rigidity contact of rotor, adopt this structure that following advantage is arranged: 1. because the same operating frequency of five standing wave stators work, but its resonance is difficult to make that with the processing equal error harmonic motion frequency of five stators is consistent because of technology, can realize by the angle fine setting of outer rim chamfering, can not influence the inner edge contact zone of stator like this, can not damage the stator contact-making surface.2. line contact guarantees rotating concentricity, and the face contact is difficult to guarantee the uniformity of contact-making surface because processing difficulties, and rotating center is generally by the stator axis heart, and the control of multi-freedom electric motor is brought a lot of difficulties.3. the line contact model is convenient to process friction material on stator, reduces noise, and face contacts being coated with of its friction material and echos comparatively difficulty of processing, is difficult to guarantee precision, and the isochrone contact also makes easy for installation; 4. the big chamfering of outer rim significantly improves the amplitude (stator is operated in the 5th rank modal vibration) of stator contact-making surface, can improve motor performance, and rotating speed and moment can both significantly improve; 5. in addition, the big chamfering of outer rim reduces the overall tooth depth of stator, and model frequency raises, and its model frequency that closes on differs and is not easy to occur mode more greatly and mixes repeatedly, even mode is clear, can make motor not produce noise.
3, spherical spinner drives by the combination of two pairs of capable ripple stators, can realize that two-freedom rotates, when the attitude of ball rotor output is controlled, need measure the athletic posture of ball rotor, as depicted in figs. 1 and 2, at spherical spinner output handle 11 (output shaft of supersonic motor) is installed, Bearing Installation ring and the connecting rod 1.7 of output handle by self-aligning bearing is installed, be connected with Bearing Installation ring 1.8 respectively, 1.9 it is hinged, two connecting rods are positioned at same plane (diagram X-Y horizontal plane), when the output handle is positioned at rotor when center (forming the plane when vertical with X-axis line and Y-axis line), two connecting rods are vertical mutually, the output handle can slide in self-aligning bearing when the rotor attitude changed, but then all directions rotation in bearer ring of self-aligning bearing, each slide block that links to each other with connecting rod is connected with photoelectric encoder respectively, drives two photoelectric encoders during the ball rotor rotation and rotates, can be the corner of the corner conversion surface spherical spinner of photoelectricity coder by geometrical relationship.
Claims (4)
1. multi-degree of freedom spherical traveling wave-type ultrasonic motor, it is characterized in that: globular motor rotor (11) is installed in motor body (4), in the front, rear, left and right of globular motor rotor (11) and the bottom a capable ripple stator (10.1,10.2,10.3,10.4,10.5) Internal Spherical Surface be installed respectively match with globular motor rotor (11), five capable ripple stators are installed on the motor body (4) by separately stator link respectively, and the attitude angle detection mechanism that is in 90 ° is installed on the output shaft of globular motor rotor (11).
2. a kind of multi-degree of freedom spherical traveling wave-type ultrasonic motor according to claim 1 is characterized in that described stator link: each includes stator connector (3), regulates bolt (6) and nut (7); The afterbody of row ripple stator is packed in the stator connector (3), and afterbody is equipped with elastomer (8) with regulating between the bolt (6), and stator connector (3) is fixed on the motor body (4), and the afterbody of row ripple stator is fixed with holding screw (2).
3. a kind of multi-degree of freedom spherical traveling wave-type ultrasonic motor according to claim 1 is characterized in that described attitude angle detection mechanism: comprise attitude test body (1), two photoelectric encoders (12), two turning blocks (1.6) and two connecting rods (1.7); Be equipped with on the output shaft of globular motor rotor (11) with output shaft attitude test body (1) that rotate, that self-aligning bearing is housed, two turning blocks (1.6) lower end is installed in separately the bearing pedestal, each turning block (1.6) upper end is installed photoelectric encoder (12) respectively, two connecting rods (1.7) and turning block (1.6) hole separately are slidingly matched, one end of every connecting rod (1.7) becomes 90 ° with attitude test body (1) and is connected, one of them is to be articulated and connected, and another is fixedly connected.
4. a kind of multi-degree of freedom spherical traveling wave-type ultrasonic motor according to claim 3 is characterized in that described two connecting rods (1.7) and self-aligning bearing are installed in the same plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006201406668U CN201008130Y (en) | 2006-12-04 | 2006-12-04 | Multi-freedom degree spherical traveling wave type ultrasonic electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006201406668U CN201008130Y (en) | 2006-12-04 | 2006-12-04 | Multi-freedom degree spherical traveling wave type ultrasonic electric motor |
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| Publication Number | Publication Date |
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| CN201008130Y true CN201008130Y (en) | 2008-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2006201406668U Expired - Lifetime CN201008130Y (en) | 2006-12-04 | 2006-12-04 | Multi-freedom degree spherical traveling wave type ultrasonic electric motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102255554A (en) * | 2011-06-27 | 2011-11-23 | 上海师范大学 | Frictional compensation speed control method for traveling wave rotary ultrasonic motor |
| CN101588143B (en) * | 2009-06-22 | 2012-05-30 | 浙江大学 | Two-variance spherical travelling-wave ultrasonic motor |
| CN103592944A (en) * | 2013-10-24 | 2014-02-19 | 燕山大学 | Supermarket shopping robot and advancing path planning method thereof |
| CN106826759A (en) * | 2016-12-29 | 2017-06-13 | 深圳市优必选科技有限公司 | Foot structure and anthropomorphic robot |
| WO2020249061A1 (en) * | 2019-06-12 | 2020-12-17 | 北京航空航天大学 | Compact bionic eye device based on electromagnetically-driven rotating mechanism having two degrees of freedom |
-
2006
- 2006-12-04 CN CNU2006201406668U patent/CN201008130Y/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101588143B (en) * | 2009-06-22 | 2012-05-30 | 浙江大学 | Two-variance spherical travelling-wave ultrasonic motor |
| CN102255554A (en) * | 2011-06-27 | 2011-11-23 | 上海师范大学 | Frictional compensation speed control method for traveling wave rotary ultrasonic motor |
| CN102255554B (en) * | 2011-06-27 | 2013-08-21 | 上海师范大学 | Frictional compensation speed control method for traveling wave rotary ultrasonic motor |
| CN103592944A (en) * | 2013-10-24 | 2014-02-19 | 燕山大学 | Supermarket shopping robot and advancing path planning method thereof |
| CN106826759A (en) * | 2016-12-29 | 2017-06-13 | 深圳市优必选科技有限公司 | Foot structure and anthropomorphic robot |
| CN106826759B (en) * | 2016-12-29 | 2024-02-09 | 深圳市优必选科技有限公司 | Foot structure and humanoid robot |
| WO2020249061A1 (en) * | 2019-06-12 | 2020-12-17 | 北京航空航天大学 | Compact bionic eye device based on electromagnetically-driven rotating mechanism having two degrees of freedom |
| US11888346B2 (en) | 2019-06-12 | 2024-01-30 | Beihang University | Compact bionic eye device based on two-degree-of-freedom electromagnetically-driven rotating mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20090722 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |