Universal ultrasonic motor

Abstract

The invention discloses a universal ultrasonic motor, which comprises a rotor and piezoelectric vibrators for driving the rotor to move, the piezoelectric vibrators comprise an X-direction piezoelectric vibrator and a Y-direction piezoelectric vibrator, the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator form an arc groove, and the rotor is arranged in the arc groove; the X-direction piezoelectric vibrator drives the rotor to move in the arc groove in the X direction. The Y-direction piezoelectric vibrator drives the rotor to move in the arc groove in the Y direction. In the universal ultrasonic motor, the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator can respectively drive the rotor to move, so that the rotor is provided with a universal ball kinematic pair, and the ultrasonic motor is a universal ultrasonic motor. The ultrasonic motor only has one rotor and is simple in structure and low in cost.

Description

Technical Field

[0001] The present application belongs to the technical field of ultrasonic motors, and more specifically relates to a universal ultrasonic motor. Background Art

[0002] An ultrasonic motor is a new type of motor that utilizes the inverse piezoelectric effect of piezoelectric materials and ultrasonic vibrations to achieve mechanical motion. Traditional ultrasonic motors primarily consist of a vibrating body and a moving body. When a high-frequency AC voltage is applied to the piezoelectric ceramic oscillator in the vibrating body, the inverse piezoelectric effect or electrostrictive effect causes the stator to generate microscopic mechanical vibrations in the ultrasonic frequency band. This vibration is then converted into rotational or linear motion through resonant amplification and friction coupling.

[0003] In the existing field of ultrasonic motors, ultrasonic motors only offer rotational and linear drive, while spherical motion pair motors must be driven by motors with two or more degrees of freedom. Using multiple motors for spherical motion pair motors is costly and requires consideration of the coupling relationships between the various degrees of freedom, resulting in a complex structure. Furthermore, multiple motors result in a bulky structure, making it unsuitable for small, micro-sized spaces. Summary of the Invention

[0004] The purpose of the present application is to provide a universal ultrasonic motor, the rotor of which has a universal spherical motion pair, thereby solving the problem of complex structure and high cost of existing spherical motion pair motors.

[0005] The technical solution of the present application is a universal ultrasonic motor, comprising a rotor and a piezoelectric vibrator for driving the rotor to move, wherein the piezoelectric vibrator comprises an X-direction piezoelectric vibrator and a Y-direction piezoelectric vibrator, the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator forming a circular arc slot, and the rotor is placed in the circular arc slot; The X-direction piezoelectric vibrator drives the rotor to move in the X-direction within the circular arc slot; the Y-direction piezoelectric vibrator drives the rotor to move in the Y-direction within the circular arc slot.

[0006] As an optional implementation, an AC voltage is applied to the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator at the same time, and the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator vibrate at the same time, and the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator simultaneously drive the rotor to move in the arc slot.

[0007] As an optional implementation, a first AC signal is applied to the X-direction piezoelectric vibrator, and a second AC signal is applied to the Y-direction piezoelectric vibrator, and the first AC signal and the second AC signal are applied at the same frequency and have a phase difference.

[0008] As an optional implementation, an AC voltage is applied to the X-direction piezoelectric vibrator or the Y-direction piezoelectric vibrator, and the X-direction piezoelectric vibrator or the Y-direction piezoelectric vibrator vibrates, and the X-direction piezoelectric vibrator or the Y-direction piezoelectric vibrator drives the rotor to move in the arc slot.

[0009] As an optional implementation manner, an AC voltage is applied to the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator in sequence, the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator vibrate in sequence, and the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator drive the rotor to move in the circular arc slot in sequence; or, an AC voltage is applied to the Y-direction piezoelectric vibrator and the X-direction piezoelectric vibrator in sequence, the Y-direction piezoelectric vibrator and the X-direction piezoelectric vibrator vibrate in sequence, and the Y-direction piezoelectric vibrator and the X-direction piezoelectric vibrator drive the rotor to move in the circular arc slot in sequence.

[0010] As an optional embodiment, the X-direction piezoelectric vibrator includes a first circular arc vibrator, the Y-direction piezoelectric vibrator includes a second circular arc vibrator, the radii of the first circular arc vibrator and the second circular arc vibrator are adapted to each other, and the first circular arc vibrator and the second circular arc vibrator are connected; Furthermore, a midpoint of the arc of the first circular arc vibrator is connected to a midpoint of the arc of the second circular arc vibrator, and a chord of the arc of the first circular arc vibrator is perpendicular to the arc of the second circular arc vibrator.

[0011] As an optional implementation manner, the arc length of the first circular arc vibrator is adapted to the arc length of the second circular arc vibrator.

[0012] As an optional implementation manner, both the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator are piezoelectric ceramic vibrators.

[0013] As an optional implementation manner, elastic bodies are respectively provided on the surfaces of the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator facing the rotor.

[0014] As an optional implementation, a bearing is provided on the rotor.

[0015] As an optional implementation, the rotor is a spherical rotor or a hemispherical rotor.

[0016] The arc groove is a hemispherical groove, and the depth of the hemispherical groove is less than the radius; or, the depth of the hemispherical groove is equal to the radius; or, the depth of the hemispherical groove is greater than the radius and less than the diameter.

[0017] Compared with the prior art, the beneficial effects of the universal ultrasonic motor of the technical solution of this application are: The X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator form an arc groove, and the rotor is placed in the arc groove and can move in the arc groove under the drive of the X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator. The X-direction piezoelectric vibrator and the Y-direction piezoelectric vibrator can respectively drive the rotor to move, so that the rotor has a universal ball kinematic pair, and the ultrasonic motor is a universal ultrasonic motor. This ultrasonic motor has only one rotor, a simple structure, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a schematic diagram of an embodiment of a universal ultrasonic motor of the present application.

[0020] Figure 2 This is a schematic diagram of an embodiment of a universal ultrasonic motor of the present application.

[0021] Figure 3 This is a bottom view of an embodiment of a universal ultrasonic motor of the present application.

[0022] Figure 4 This is a cross-sectional view of an embodiment of a universal ultrasonic motor of the present application.

[0023] Figure 5 This application provides a schematic diagram of AC voltage application control for a universal ultrasonic motor.

[0024] Description of main reference numerals: 1. X-axis piezoelectric vibrator; 2. Y-axis piezoelectric vibrator; 3. Rotor; 4. Elastomer; 5. Bearing; 51. Self-lubricating upper bearing; 52. Self-lubricating lower bearing; 6. Arc groove. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] In this application, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0027] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0028] Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0029] Furthermore, the terms "first," "second," and the like are primarily used to distinguish different devices, elements, or components (which may or may not be the same in type and configuration) and are not intended to indicate or imply the relative importance or quantity of the devices, elements, or components indicated. Unless otherwise specified, "plurality" means two or more.

[0030] The technical solution of the present application will be further described below with reference to the embodiments and drawings.

[0031] See Figure 1 and Figure 2 A universal ultrasonic motor includes a rotor 3 and piezoelectric vibrators that drive the rotor 3. The piezoelectric vibrators include an X-direction piezoelectric vibrator 1 and a Y-direction piezoelectric vibrator 2. The X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 form a circular arc slot 6, and the rotor 3 is placed in the circular arc slot 6. The X-direction piezoelectric vibrator 1 drives the rotor 3 to move in the X direction within the circular arc slot 6. The Y-direction piezoelectric vibrator 2 drives the rotor 3 to move in the Y direction within the circular arc slot 6.

[0032] An ultrasonic motor is a new type of motor that uses the inverse piezoelectric effect of piezoelectric materials and ultrasonic vibrations to achieve mechanical motion. The operating principle of an ultrasonic motor is that piezoelectric ceramics, when exposed to an electric field, undergo mechanical deformation. This deformation generates ultrasonic frequency vibrations, which are amplified and transmitted through a specific structural design (such as the shape of the stator). These vibrations are then transferred to the rotor, where they generate friction and drive its motion.

[0033] When an AC voltage is applied to a piezoelectric ceramic, it undergoes periodic expansion and contraction deformation. Ultrasonic motors utilize this deformation to generate ultrasonic frequency vibrations. The vibrations of the piezoelectric ceramic are amplified and transmitted through specific structural designs (such as the shape of the stator), generating a unique traveling or standing wave vibration on the stator. This vibration is transmitted to the rotor, driving its motion.

[0034] In a universal ultrasonic motor of the present application, an AC voltage is applied to an X-direction piezoelectric vibrator 1, causing it to vibrate at an ultrasonic frequency. This ultrasonic frequency vibration drives a rotor 3 to move in the X direction within a circular arc slot 6. An AC voltage is applied to a Y-direction piezoelectric vibrator 2, causing it to vibrate at an ultrasonic frequency. This ultrasonic frequency vibration drives a rotor 3 to move in the Y direction within the circular arc slot 6.

[0035] In addition, by changing or controlling the AC voltage applied to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2, the direction of movement of the rotor 3 within the arc slot 6 is controlled. Then, by combining movement along the X-direction and movement along the Y-direction, the rotor 3 can achieve movement in multiple degrees of freedom. By precisely controlling the AC voltage applied to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2, and then combining the movements of the rotor 3 driven by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2, the ultrasonic motor can move in any direction. An ultrasonic motor that can move in any direction is a universal ultrasonic motor.

[0036] In the ultrasonic motor, the rotor 3 is a structure that converts the ultrasonic vibrations generated by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 (stator) into macroscopic rotational motion through friction coupling. In the ultrasonic motor, the rotor 3 is used to achieve motion with multiple degrees of freedom. In the ultrasonic motor, the rotor 3 is used to make the overall structure of the ultrasonic motor more compact, suitable for use in space-constrained environments. In the ultrasonic motor, the rotor 3 is used to achieve high-precision speed and position control, suitable for application scenarios with high precision requirements. In the ultrasonic motor, the rotor 3 is used, and after the ultrasonic motor is powered off, due to the action of static friction, the rotor 3 has a self-locking function, that is, the ultrasonic motor has a self-locking function. In the ultrasonic motor, the rotor 3 is used, so that the ultrasonic motor does not rely on the electromagnetic field to work, so it will not generate electromagnetic interference and will not be interfered by external electromagnetic fields. It is suitable for use in environments with high requirements for electromagnetic compatibility.

[0037] In a universal ultrasonic motor disclosed herein, an X-direction piezoelectric vibrator 1 drives a rotor 3 to move in the X direction within a circular arc slot 6, while a Y-direction piezoelectric vibrator 2 drives the rotor 3 in the Y direction within the circular arc slot 6, thereby achieving multi-degree-of-freedom motion of the rotor 3. This provides the ultrasonic motor with a spherical kinematic pair. This ultrasonic motor has a simple structure, low cost, easy control of its motion direction, and minimal interference.

[0038] In some embodiments, the arc groove 6 may be an arc-shaped groove, and both ends of the arc-shaped groove are open.

[0039] In some embodiments, the arc groove 6 can also be a spherical groove. However, to facilitate the movement of the rotor 3 within the spherical groove and to obtain a larger range of motion for the rotor 3, the spherical groove should be a hemispherical groove. The so-called hemispherical groove means that the depth of the hemispherical groove is less than, equal to, or greater than the radius of the spherical groove, and does not only refer to a hemispherical groove with a depth equal to the radius.

[0040] In this embodiment of a universal ultrasonic motor, in order to obtain more movement directions and a larger movement range for the rotor 3, it is preferred to select a hemispherical groove with a depth less than or equal to the radius.

[0041] That is, the arc groove 6 is a hemispherical groove, and the depth of the hemispherical groove is less than the radius. Alternatively, the depth of the hemispherical groove is equal to the radius. Alternatively, the depth of the hemispherical groove is greater than the radius and less than the diameter.

[0042] In some embodiments, the rotor 3 is a ball rotor.

[0043] In some embodiments, the rotor 3 is a hemispherical rotor.

[0044] Ultrasonic motors use spherical or hemispherical rotors, enabling them to achieve multiple degrees of freedom. When a spherical rotor is used, the stator's vibration mode and layout are properly designed to allow the rotor to rotate in multiple directions.

[0045] Ultrasonic motors employ spherical or hemispherical rotors to improve drive efficiency and performance. The contact between the spherical rotor and the stator is typically surface-to-surface, which fully utilizes the vibration energy of the stator surface, minimizing energy loss and improving motor efficiency. Furthermore, the relatively simple structure of the spherical rotor facilitates machining and assembly, helping to reduce manufacturing costs.

[0046] Ultrasonic motors use spherical or hemispherical rotors, allowing for greater flexibility in spatial layout. They can adapt to various installation spaces and operating environments. These rotors also produce less noise during operation.

[0047] The rotor is a spherical rotor or a hemispherical rotor. A spherical rotor means that the rotor is spherical. A hemispherical rotor means that the rotor is hemispherical.

[0048] The height of the hemispherical ball rotor is smaller than the radius of the ball; or the height of the hemispherical ball rotor is equal to the radius of the ball; or the height of the hemispherical ball rotor is larger than the radius of the ball and smaller than the diameter of the ball.

[0049] A spherical ball rotor means that the rotor is a complete sphere.

[0050] In some embodiments, an AC voltage is applied to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 at the same time, and the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 vibrate simultaneously, and the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 simultaneously drive the rotor 3 to move in the arc slot 6.

[0051] In the related fields of existing ultrasonic motors, AC voltage is mostly applied to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 separately, and the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 separately control the movement of the rotor 3. That is, each time the rotor 3 moves, it moves in a single direction controlled by the X-direction piezoelectric vibrator 1 or the Y-direction piezoelectric vibrator 2. In this way, the response time of the rotor 3 movement is long, and the working efficiency of the ultrasonic motor is low.

[0052] In a universal ultrasonic motor, AC voltage is applied simultaneously to the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2. These vibrators vibrate simultaneously, and the rotor 3 is subjected to frictional forces generated by both the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2. These frictional forces act simultaneously on the rotor 3, creating a combined frictional force. This combined frictional force drives the rotor 3 directly, meaning the rotor 3 moves directly in the combined motion, eliminating the need for separate, single-direction motions controlled by the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2. This significantly shortens both response time and motion time compared to conventional ultrasonic motors, where the rotor moves in a single, step-by-step manner. This significantly improves the motor's efficiency.

[0053] When an AC voltage is applied to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 at the same time, and the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 simultaneously drive the rotor 3 to move in the arc slot 6, the rotor 3 is controlled to move in different directions by controlling the amplitude of the AC voltage applied to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2.

[0054] In the universal ultrasonic motor, when an AC voltage is applied to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 at the same time, and the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 simultaneously drive the rotor 3 to move in the arc groove 6, the rotor 3 can directly move in one direction under the simultaneous drive of the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2, thereby completing the required movement, improving movement accuracy, and reducing movement error and control error.

[0055] See Figure 5 , Figure 5 As shown in (a), (b), and (c), the amplitude of the AC voltage applied to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 is changed, so that the rotor 3 obtains different movement directions. Figure 5 V shown in (a), (b), and (c) 合 is the movement direction of the rotor 3.

[0056] In some embodiments, a first AC signal is applied to the X-direction piezoelectric vibrator 1 and a second AC signal is applied to the Y-direction piezoelectric vibrator 2 . The first AC signal and the second AC signal are applied at the same frequency and have a phase difference.

[0057] The first AC signal and the second AC signal are applied at the same frequency, and the first AC signal and the second AC signal have a phase difference, which can effectively prevent the friction forces applied by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 to the rotor 3 from influencing each other when the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 drive the rotor 3 at the same time, thereby ensuring the accuracy of the movement direction and movement path or distance of the rotor 3.

[0058] In some embodiments, the first AC signal is a first sinusoidal AC signal, the second AC signal is a second sinusoidal AC signal, the first sinusoidal AC signal and the second sinusoidal AC signal are applied at the same frequency, and the first sinusoidal AC signal and the second sinusoidal AC signal have a phase difference, that is, the maximum amplitude simultaneously obtained by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 due to piezoelectric drive can be avoided, that is, the rotor 3 can be prevented from being subjected to the maximum friction force applied by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2, that is, the mutual influence of the friction forces applied by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 on the rotor 3 can be avoided.

[0059] In some embodiments, the first AC signal is a first pulse wave AC signal, the second AC signal is a second pulse wave AC signal, the first pulse wave AC signal and the second pulse wave AC signal are applied at the same frequency, and the first pulse wave AC signal and the second pulse wave AC signal have a phase difference, that is, it can avoid the maximum amplitude obtained simultaneously by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 due to piezoelectric drive, that is, it can avoid the rotor 3 being subjected to the maximum friction force applied by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2, that is, it can avoid the mutual influence of the friction forces applied by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 on the rotor 3.

[0060] In some embodiments, an AC voltage is applied to the X-direction piezoelectric vibrator 1 or the Y-direction piezoelectric vibrator 2 , causing the X-direction piezoelectric vibrator 1 or the Y-direction piezoelectric vibrator 2 to vibrate, thereby driving the rotor 3 to move in the arc slot 6 .

[0061] In some movement directions, the rotor 3 only needs to move along the X direction or the Y direction, and an AC voltage can be applied to the X-direction piezoelectric vibrator 1 or the Y-direction piezoelectric vibrator 2 separately to obtain the target movement direction, thereby realizing the diversification of the movement direction and control means of the ultrasonic motor of this application.

[0062] In some embodiments, AC voltage is applied to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 successively, and the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 successively drive the rotor 3 to move in the arc slot 6.

[0063] Alternatively, AC voltage is applied to the Y-direction piezoelectric vibrator 2 and the X-direction piezoelectric vibrator 1 in sequence, and the Y-direction piezoelectric vibrator 2 and the X-direction piezoelectric vibrator 1 vibrate in sequence, and the Y-direction piezoelectric vibrator 2 and the X-direction piezoelectric vibrator 1 drive the rotor 3 to move in the arc slot 6 in sequence.

[0064] In some movements of the rotor 3 , of course, the movement of the rotor 3 can also be controlled by the Y-direction piezoelectric vibrator 2 and the X-direction piezoelectric vibrator 1 respectively, and the final or target movement direction can be realized to achieve diversified control, which can be selected as needed.

[0065] In some embodiments, the X-direction piezoelectric vibrator 1 includes a first circular arc vibrator, and the Y-direction piezoelectric vibrator 2 includes a second circular arc vibrator. The radii of the first circular arc vibrator and the second circular arc vibrator are adapted to each other, and the first circular arc vibrator and the second circular arc vibrator are connected. Furthermore, the midpoint of the arc of the first circular arc vibrator is connected to the midpoint of the arc of the second circular arc vibrator, and the chord of the arc of the first circular arc vibrator is perpendicular to the chord of the arc of the second circular arc vibrator.

[0066] The radii of the first and second circular arc vibrators are adapted to each other. After the first and second circular arc vibrators are connected, a circular arc groove 6 with a consistent inner diameter is formed. The rotor 3 is placed in the circular arc groove 6 and can maintain good contact with both the first and second circular arc vibrators. The rotor 3 maintains contact with the first and second circular arc vibrators, either directly or indirectly, to facilitate the smooth and efficient transmission of the vibrations of the first and second circular arc vibrators to the rotor 3.

[0067] The arc midpoint of the first arc vibrator is connected to the arc midpoint of the second arc vibrator. That is, with the central axis of the arc slot 6 as a reference, the first arc vibrator itself is symmetrically arranged about the central axis of the arc slot 6, and the second arc vibrator itself is symmetrically arranged about the central axis of the arc slot 6. On the arc slot 6, with the bottom of the arc slot 6 as a reference, the first and second arc vibrators are each divided into two equal sections. The arc midpoint of the first arc vibrator is connected to the arc midpoint of the second arc vibrator. This facilitates convenient and precise motion control when the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 control the motion of the rotor 3.

[0068] The chord of the arc of the first circular arc vibrator is perpendicular to the chord of the arc of the second circular arc vibrator, so that the first circular arc vibrator and the second circular arc vibrator are evenly distributed along the circumferential direction of the circular arc slot 6, which makes it convenient for the first circular arc vibrator and the second circular arc vibrator to support and lift the rotor 3. In addition, it is convenient to apply AC voltage to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 to control the movement of the rotor 3.

[0069] In some embodiments, the arc length of the first arc vibrator is adapted to the arc length of the second arc vibrator, that is, the lengths of the first arc vibrator and the second arc vibrator are consistent, which further facilitates the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 to drive the rotor 3 to move, thereby realizing multi-directional movement of the rotor 3.

[0070] In some embodiments, the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 are both piezoelectric ceramic vibrators. Piezoelectric ceramic vibrators can achieve high-precision electromechanical conversion, so that the ultrasonic motor has high-precision positioning capabilities. Piezoelectric ceramic vibrators have fast response characteristics and can generate mechanical vibrations in a short time, thereby achieving rapid motor start and stop. Piezoelectric ceramic vibrators do not generate electromagnetic interference in ultrasonic motors and are not easily affected by external electromagnetic fields. The size of the piezoelectric ceramic vibrator can be made smaller, making the overall structure of the ultrasonic motor compact and suitable for use in space-constrained environments. Piezoelectric ceramic vibrators usually have a high electromechanical coupling coefficient, and ultrasonic motors have a high efficiency in converting electrical energy to mechanical energy. Piezoelectric ceramic vibrators can maintain a certain holding torque to prevent the rotor from displacement and lag.

[0071] In some embodiments, an elastomer 4 is respectively provided on the surface of the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 facing the rotor 3. The elastomer 4 is an important component that works closely with the piezoelectric vibrator. The function of the elastomer 4 is to transmit the microscopic vibration generated by the piezoelectric vibrator to the entire stator structure. Since the deformation of the piezoelectric vibrator is relatively small, the elastomer 4 can effectively transmit this tiny vibration to the surface in contact with the rotor 3. When the surface of the elastomer 4 is in contact with the rotor 3, it can provide sufficient friction to drive the rotor 3 to move. The elastomer 4 provides mechanical support for the piezoelectric vibrator to ensure that the piezoelectric vibrator remains stable during operation. The elastomer 4 can withstand the force generated by the piezoelectric vibrator and distribute it evenly to the entire stator structure to avoid damage to the piezoelectric vibrator due to excessive local stress in the stator. In summary, the provision of the elastomer 4 can improve driving efficiency, enhance reliability, optimize vibration modes, improve accuracy and stability, and adapt to various working conditions.

[0072] In some embodiments, the rotor 3 is provided with a bearing 5. The bearing 5 is positioned at the notch of the arc groove 6. The bearing 5 provides support for the rotor 3, ensuring its stability and the accuracy of its motion trajectory. In some embodiments, the bearing 5 may be a self-lubricating bearing 5, comprising a self-lubricating upper bearing 51 and a self-lubricating lower bearing 52. In some embodiments, the bearing 5 may also be a ball bearing 5.

[0073] The technical solution of the present application is described above in conjunction with the embodiments and drawings. Obviously, the specific implementation of the present application is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present application, or the concept and technical solution of the application are directly applied to other occasions without improvement, they are all within the scope of protection of the present application.

Claims

1. A universal ultrasonic motor, characterized in that: The invention comprises a rotor (3) and a piezoelectric vibrator for driving the rotor (3) to move, wherein the piezoelectric vibrator comprises an X-direction piezoelectric vibrator (1) and a Y-direction piezoelectric vibrator (2), wherein the X-direction piezoelectric vibrator (1) and the Y-direction piezoelectric vibrator (2) form an arc groove (6), and the rotor (3) is placed in the arc groove (6); The X-direction piezoelectric vibrator (1) drives the rotor (3) to move in the X-direction within the circular arc slot (6); and the Y-direction piezoelectric vibrator (2) drives the rotor (3) to move in the Y-direction within the circular arc slot (6).

2. The universal ultrasonic motor according to claim 1, characterized in that: An alternating current voltage is applied to the X-direction piezoelectric vibrator (1) and the Y-direction piezoelectric vibrator (2) at the same time, and the X-direction piezoelectric vibrator (1) and the Y-direction piezoelectric vibrator (2) vibrate simultaneously, and the X-direction piezoelectric vibrator (1) and the Y-direction piezoelectric vibrator (2) simultaneously drive the rotor (3) to move in the circular arc slot (6).

3. The universal ultrasonic motor according to claim 2, characterized in that: A first alternating current signal is applied to the X-direction piezoelectric vibrator (1), and a second alternating current signal is applied to the Y-direction piezoelectric vibrator (2), wherein the first alternating current signal and the second alternating current signal are applied at the same frequency and have a phase difference.

4. The universal ultrasonic motor according to claim 1, characterized in that: An alternating current voltage is applied to the X-direction piezoelectric vibrator (1) or the Y-direction piezoelectric vibrator (2), and the X-direction piezoelectric vibrator (1) or the Y-direction piezoelectric vibrator (2) vibrates, and the X-direction piezoelectric vibrator (1) or the Y-direction piezoelectric vibrator (2) drives the rotor (3) to move in the circular arc slot (6).

5. The universal ultrasonic motor according to claim 1, characterized in that: An alternating current voltage is applied to the X-direction piezoelectric vibrator (1) and the Y-direction piezoelectric vibrator (2) in sequence, the X-direction piezoelectric vibrator (1) and the Y-direction piezoelectric vibrator (2) vibrate in sequence, and the X-direction piezoelectric vibrator (1) and the Y-direction piezoelectric vibrator (2) drive the rotor (3) to move in the circular arc groove (6) in sequence; or an alternating current voltage is applied to the Y-direction piezoelectric vibrator (2) and the X-direction piezoelectric vibrator (1) in sequence, the Y-direction piezoelectric vibrator (2) and the X-direction piezoelectric vibrator (1) vibrate in sequence, and the Y-direction piezoelectric vibrator (2) and the X-direction piezoelectric vibrator (1) drive the rotor (3) to move in the circular arc groove (6) in sequence.

6. The universal ultrasonic motor according to any one of claims 1 to 5, characterized in that: The X-direction piezoelectric vibrator (1) includes a first circular arc vibrator, the Y-direction piezoelectric vibrator (2) includes a second circular arc vibrator, the radii of the first circular arc vibrator and the second circular arc vibrator are adapted to each other, and the first circular arc vibrator and the second circular arc vibrator are connected; Furthermore, a midpoint of the arc of the first circular arc vibrator is connected to a midpoint of the arc of the second circular arc vibrator, and a chord of the arc of the first circular arc vibrator is perpendicular to a chord of the arc of the second circular arc vibrator.

7. The universal ultrasonic motor according to claim 6, characterized in that: The arc length of the first circular arc vibrator is adapted to the arc length of the second circular arc vibrator.

8. The universal ultrasonic motor according to any one of claims 1 to 5, characterized in that: The arc groove (6) is a hemispherical groove, and the depth of the hemispherical groove is less than the radius; or the depth of the hemispherical groove is equal to the radius; or the depth of the hemispherical groove is greater than the radius and less than the diameter.

9. The universal ultrasonic motor according to any one of claims 1 to 5, characterized in that: An elastic body (4) is respectively provided on the surface of the X-direction piezoelectric vibrator (1) and the surface of the Y-direction piezoelectric vibrator (2) facing the rotor (3); The X-direction piezoelectric vibrator (1) and the Y-direction piezoelectric vibrator (2) are both piezoelectric ceramic vibrators.

10. The universal ultrasonic motor according to any one of claims 1 to 5, characterized in that: The rotor (3) is a ball rotor; a bearing (5) is sleeved on the rotor (3).

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