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Cylinder type piezo ultrasonic motor for pivot joint of robot
Cylinder type piezo ultrasonic motor for pivot joint of robot
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机译：机器人枢轴用圆柱型压电超声波马达
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摘要
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cylindrical piezoelectric ultrasonic motor for a robot joint, and more particularly, to a piezoelectric ultrasonic motor for a robot joint, which comprises a piezoelectric effect of a plurality of ultrasonic piezoelectric displacements applied between a fixed side arm and a motion side arm of a robot, The present invention relates to a cylindrical piezoelectric ultrasonic motor for a joint that can be optimized for a rotary joint of a robot by providing a joint module. According to the present invention, the movable arm is connected to the fixed side arm of the robot and the movable side arm so that the movable side arm is rotatable about the fixed side arm, A fixed plate; A rotation induction ring fixedly installed on one surface of the fixing plate; A plurality of ultrasonic piezoelectric displacement members fixed at an interval on the inner surface of the rotation induction ring and displaced according to an external power source; A rotating plate fixed to an end of the motion side arm; And an elastic member which is inserted into the rotation induction ring so as not to be separated by the separation preventive means in a state of being fixed to the rotation plate and rotates integrally with the rotation plate by a frictional force with the ultrasonic piezoelectric displacement body according to the displacement, And a rotor for rotationally moving the piezoelectric actuator.
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