Spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic spherical motor

The utility model discloses a spherical hinge type multi-degree-of-freedom traveling wave type ultrasonic spherical motor. The device comprises a built-in spherical hinge module and an external self-locking module, a groove is formed in the top of the spherical rotor, an axial through hole is formed in the center of the bottom of the spherical rotor, the spherical structure of the spherical hingerod is embedded in a hemispherical groove of the spherical rotor, an upper top cover is fixedly installed in the groove of the spherical rotor and wraps the spherical hinge rod, and the lower end of the spherical hinge rod penetrates through the axial through hole of the spherical rotor downwards and then is fixedly connected to the base. A blind hole is formed in the top end of the spherical hinge rod; a mounting hole is formed in the bottom surface of the output rod, a locking motor is mounted on the bottom surface of the output rod, the locking motor is axially and movably connected with the upper end of a self-loc