CYLINDER TYPE PIEZO ULTRASONIC MOTOR FOR PIVOT JOINT OF ROBOT

摘要

The present invention relates to a cylinder type piezo ultrasonic motor for a pivot joint of a robot, and, more specifically, relates to a cylinder type piezo ultrasonic motor for a pivot joint of a robot, which is capable of optimizing a rotatory joint region of a robot by supplying mini-compact joint module of which operating performance is excellent, by applying the piezo effect of a plurality of ultrasonic piezo displacement bodies between a fixed side arm and a motion side arm of a robot. In the present invention, the technical gist is a cylinder type piezo ultrasonic motor for a pivot joint of a robot, which includes a rotatory joint region for connecting a fixed side arm and a motion side arm of a robot to be capable of rotatably moving the motion side arm on the basis of the fixed side arm, and comprises: a fixing plate fixed and installed on an end of the fixed side arm; a rotatory inducing ring fixed and installed on one surface of the fixing plate; a plurality of ultrasonic piezo displacement bodies fixed and installed at regular intervals in an inside surface of the rotatory inducing ring to generate displacement according to power received from the outside; a rotary plate fixed and installed on an end of the motion side arm; and a rotator inserted, not to be separated by a separation prevention means, into the rotatory inducing ring in a state of being fixed and installed on the rotary plate to rotate the motion side arm while the rotator integrally rotates with the rotary plate by friction of the ultrasonic piezo displacement body according to the displacement.