Motor and electronic equipment

Abstract

The invention provides a motor and electronic equipment. The motor comprises a rotor and a harmonic oscillator; the rotor comprises a rotating disc and a bearing, the rotating disc sleeves the bearing, and the rotating disc can rotate around the bearing; the harmonic oscillator and the rotating disc are arranged in a first direction, the harmonic oscillator abuts against the rotating disc in the direction parallel to the first direction, the harmonic oscillator and the bearing are arranged in a second direction at intervals, the second direction is perpendicular to the first direction, the harmonic oscillator is used for driving the rotating disc to rotate around the axial direction of the bearing, and the first direction is parallel to the axial direction of the rotating disc. The arrangement direction of the harmonic oscillators and the rotor is designed to be parallel to the axial direction of the rotor, the harmonic oscillators and the bearings are arranged in the second direction at intervals, and the harmonic oscillators drive the rotor to rotate, so that large-torque low-rotating-speed output is achieved, and the machining structure is simple.

Description

Technical Field

[0001] This application relates to the field of ultrasonic motors, specifically to a motor and electronic device. Background Technology

[0002] With the development of technology, more and more instruments are using electric motors for driving. Currently, the demand for driving precision and control of electric motors is increasing; for example, high-torque, low-speed motors are becoming increasingly popular. Traveling wave piezoelectric motors (ultrasonic motors) are commonly used to achieve high torque, low-speed output, but traveling wave motors present challenges such as high precision requirements for stator structure machining. Therefore, designing a motor with a simple structure that can achieve high torque, low-speed output has become a problem to be solved. Summary of the Invention

[0003] This application provides an electric motor and an electronic device. The motor includes a mover and a resonator. By designing the arrangement direction of the resonator and the mover to be parallel to the axial direction of the bearing of the mover, and the resonator driving the mover to rotate, a high torque and low speed output can be achieved, and the manufacturing structure is simple.

[0004] In a first aspect, this application provides an electric motor. The electric motor includes a mover and a resonator; the mover includes a rotating disk and a bearing, the rotating disk being sleeved on the bearing and rotatable about the axial direction of the bearing; the resonator and the rotating disk are arranged in a first direction, the resonator abutting against the rotating disk along a direction parallel to the first direction, the resonator and the bearing being arranged at intervals in a second direction, the second direction being perpendicular to the first direction, the resonator being used to drive the rotating disk to rotate, the first direction being parallel to the axial direction of the rotating disk.

[0005] In this application, the motor drives the mover through the frictional force between the resonator and the mover, simplifying the motor's drive structure. Furthermore, when the drive signal is disconnected, the frictional force between the resonator and the mover creates resistance against the mover, enabling the motor to achieve power-off self-locking. Additionally, changing the drive signal to reverse the driving force of the resonator allows for deceleration or stopping the rotation.

[0006] In this application, the resonator and bearing are spaced apart in the second direction, which avoids contact between the resonator and bearing, thus preventing the resonator from interfering with the rotation of the rotating disk. Furthermore, the spaced arrangement between the resonator and bearing helps to increase the torque by which the resonator drives the rotating disk, thereby facilitating the low-speed, high-torque output of the motor.

[0007] In some possible implementations, the harmonic oscillator is used to generate a force parallel to the tangential direction of the rotating disk to drive the disk to rotate.

[0008] In this implementation, since the motor generates linear drive for the mover through the friction between the resonator and the mover, it can achieve low speed and high torque while greatly reducing the assembly complexity, thus simplifying the motor structure.

[0009] In some possible implementations, the harmonic oscillator is used to generate a force parallel to a third direction by vibrating in a first plane, which drives the rotating disk to rotate. The third direction is perpendicular to both the first and second directions, and the first plane is parallel to both the first and third directions.

[0010] In this implementation, since the resonator and the rotating disk are arranged in the first direction, they are stacked along the thickness direction of the rotating disk. This reduces the space occupied by the resonator in both directions, thus facilitating the miniaturization of the motor. Furthermore, the resonator abuts against the rotating disk in the first direction, ensuring that the force generated by the contact between the resonator and the rotating disk is parallel to the axial direction of the rotating disk. This reduces or even eliminates interference from the contact force between the resonator and the rotating disk on the rotation of the rotating disk.

[0011] In some possible implementations, the resonator is used to extend and retract along a third direction according to a sawtooth wave signal, which is perpendicular to both the first and second directions. The sawtooth wave signal includes multiple consecutive cycles, each cycle including a first segment and a second segment. In the first segment, the absolute value of the voltage in the first segment increases linearly at an angle that satisfies: 30°≤|α1|≤60°. The resonator deforms along the third direction in the initial state to drive the rotating disk to rotate. In the second segment, the absolute value of the voltage in the second segment decreases linearly at an angle that satisfies: |α2|≤10°. The resonator returns to its initial state along the third direction.

[0012] In this implementation, the resonator is driven by a sawtooth wave signal, which enables the resonator to deform and recover along a third direction. Through repeated deformation and recovery of the resonator, the rotating disk can be continuously driven to rotate, thereby realizing the linear motion of the resonator to drive the rotating disk to rotate.

[0013] In this implementation, because the linear increase angle |α1| of the absolute value of the voltage in the first segment satisfies the above relationship, the voltage change rate in the first segment is relatively slow, resulting in a slower deformation rate of the resonator. This leads to static friction between the driving foot and the rotating disk, causing the driving foot to move along a third direction under the deformation of the resonator, thus rotating the rotating disk. Because the linear decrease angle |α2| of the absolute value of the voltage in the second segment satisfies the above relationship, the voltage change rate in the second segment is relatively fast, resulting in a faster recovery rate of the resonator's deformation. This leads to dynamic friction between the driving foot and the rotating disk, allowing the resonator to recover to its initial state with minimal or no impact on the rotating disk. Therefore, through periodic excitation of the sawtooth wave signal, the periodic alternation of static and sliding friction between the resonator and the mover can be achieved, utilizing the stick-slip effect (inertia effect). Continuous rotation of the mover is achieved through the linear drive of the resonator.

[0014] In some possible implementations, the resonator includes an elastomer and a piezoelectric component. The elastomer abuts against the rotating disk, and the piezoelectric component is mounted on the surface of the elastomer facing away from the rotating disk. The piezoelectric component is used to drive the elastomer to vibrate, and the elastomer is used to generate a force parallel to a third direction to drive the rotating disk to rotate.

[0015] In this implementation, by setting up a piezoelectric component, the vibration of the piezoelectric component can be flexibly controlled, which is beneficial to improving the flexibility of the rotation drive of the rotating disk. After receiving the drive signal, the piezoelectric component can vibrate in the first plane. The piezoelectric component can drive the elastic body to enter the resonant mode together to realize the out-of-plane vibration mode. Therefore, the entire resonator can vibrate in the first plane, thereby generating a force parallel to the third direction to drive the rotating disk to rotate.

[0016] In some possible implementations, the piezoelectric component includes a first piezoelectric component and a second piezoelectric component; at least one of the first piezoelectric component and the second piezoelectric component is used to drive the elastomer to vibrate, so as to generate a driving force parallel to a third direction, driving the rotating disk to rotate.

[0017] In this implementation, by designing a first piezoelectric component and a second piezoelectric component, the driving flexibility of the resonator on the rotating disk can be improved. The first and second piezoelectric components can work independently to simplify the driving method, or they can work together to control the rotation direction and speed of the rotating disk to cope with different application scenarios of the motor.

[0018] The first piezoelectric component can work independently to drive the elastic body to vibrate, thereby generating a force pointing in a third direction and driving the rotating disk to rotate along the first rotation direction.

[0019] The second piezoelectric component can work independently to drive the elastic body to vibrate, thereby generating a force in the opposite direction to the third direction, driving the rotating disk to rotate in the second rotation direction, which is opposite to the first rotation direction.

[0020] The first piezoelectric component and the second piezoelectric component can be simultaneously connected to a drive signal. By superimposing the drive signals of the first piezoelectric component and the second piezoelectric component, the vibration of the resonator can be achieved, thereby driving the rotating disk, including but not limited to changing the rotation direction and speed of the driving rotating disk.

[0021] The first piezoelectric component and the second piezoelectric component can simultaneously drive the rotating disk to rotate in the first rotation direction or simultaneously drive the rotating disk to rotate in the second rotation direction under the excitation of the driving signal.

[0022] Precise speed adjustment can be achieved by coordinating the first and second piezoelectric components. For example, the first drive signal of the first piezoelectric component has a larger signal adjustment unit, which can be designed for coarse adjustment, allowing for rapid adjustment of the rotation speed of the rotating disk. The second drive signal of the second piezoelectric component has a smaller signal adjustment unit, which can be designed for fine adjustment, allowing for precise adjustment of the rotation speed of the rotating disk. The coordination of the first and second piezoelectric components enables flexible adjustment of the motor speed. The driving directions of the second and first piezoelectric components on the rotating disk can be the same or opposite.

[0023] In some possible implementations, the elastomer includes an elastic plate and a driving foot, with the driving foot and the piezoelectric component located on opposite sides of the elastic plate. The elastic plate and the rotating disk are at least partially facing each other along a first direction, and the driving foot abuts against the surface of the rotating disk facing the elastic plate. The driving foot and the elastic plate are an integral structure, or the driving foot is fixedly mounted on the elastic plate.

[0024] In this implementation, the contact area between the elastomer and the rotating disk can be reduced by driving the foot, which is beneficial for better driving the rotating disk to rotate.

[0025] In some possible implementations, the drive foot is positioned near the edge of the rotating disk to increase the distance between the drive foot and the bearing, thereby increasing the torque with which the drive foot drives the rotating disk, which is beneficial for achieving high torque at low speeds. In this embodiment, because the resonator and the mover are arranged in the first direction, the size occupied by the resonator in the second and third directions is small, allowing the rotating disk to be designed to be larger. This further increases the distance between the drive foot and the bearing, thereby further increasing the torque with which the drive foot drives the rotating disk, which is beneficial for achieving high torque at low speeds.

[0026] In some possible implementations, the motor also includes a preload assembly for providing preload, which keeps the resonator abutting the rotating disk.

[0027] In this implementation, by setting a pre-pressure component, a pre-pressure force can be generated acting on the resonator. The pre-pressure force enables the resonator to remain in contact with the rotating disk, which can prevent the resonator from detaching from the rotating disk when driving the rotating disk to rotate, thereby improving the stability of the rotating disk.

[0028] In some possible implementations, the preload assembly includes a preload component, a preload elastic component, and a rolling component; the preload component and the resonator are located on opposite sides of the rotating disk; the preload elastic component is connected between the preload component and the resonator, and the preload elastic component is in a stretched state; the rolling component is installed between the rotating disk and the preload component.

[0029] In this implementation, a preloaded elastic element connects the preloaded component and the resonator, and the preloaded elastic element is in a stretched state. This allows the preloaded elastic element to act on the resonator through elastic restoring force, generating preload and thus pressing the resonator against the rotating disk. By incorporating a rolling element, the rotating disk can rotate relative to the preloaded component during rotation, preventing the preloaded component from interfering with the rotation of the rotating disk.

[0030] In some possible implementations, the preload component has a first limiting groove, which forms an opening on the surface of the preload component facing the rotating disk, and the rolling component is installed in the first limiting groove.

[0031] In this implementation, the first limiting groove can prevent the rolling element from being displaced relative to the preloaded element when the rotating disk rotates, so that the rolling element can roll in place.

[0032] In some possible implementations, the preload elastic element includes a first elastic element and a second elastic element disposed opposite to each other; the first elastic element connects one end of the resonator to one end of the preload element, and the second elastic element connects the other end of the resonator to the other end of the preload element.

[0033] In this implementation, a first elastic element generates a first preload acting on the resonator, and a second elastic element generates a second preload acting on the resonator. Both the first and second preloads point in the opposite direction to the first direction. The first and second preloads provide a more stable preload to the resonator, which helps improve the stability of the resonator driving the rotating disk.

[0034] In some possible implementations, the resonator and bearing are spaced apart in a second direction, which is perpendicular to the first direction. The resonator is used to generate a force parallel to a third direction to drive the rotating disk to rotate. The third direction is perpendicular to both the first and second directions. The first and second elastic elements are arranged in the third direction.

[0035] In this implementation, the aforementioned arrangement direction allows the installation of the first and second elastic elements to avoid the rotating disk, thus eliminating the need for an excessively large size for the resonator and promoting overall miniaturization. Furthermore, since the force exerted by the resonator on the rotating disk is parallel to a third direction, arranging the first and second elastic elements in this direction helps to resist the reaction force of the rotating disk on the resonator, thereby reducing the overturning phenomenon of the resonator.

[0036] In some possible implementations, the motor also includes a housing, which includes a first sidewall and a second sidewall disposed opposite to each other. The mover, the resonator and the preload assembly are all installed between the first sidewall and the second sidewall, with the resonator closer to the first sidewall than the mover. The preload assembly includes a preload elastic element connected between the resonator and the first sidewall, and the preload elastic element is in a compressed state.

[0037] In this implementation, a pre-compression elastic element is connected to the first sidewall and is in a compressed state. This allows the pre-compression elastic element to act on the resonator through elastic restoring force, generating pre-pressure that abuts the resonator against the rotating disk. Furthermore, since the pre-compression elastic element and the resonator are located on the same side of the rotating disk, the installation difficulty of the pre-compression elastic element is reduced, and the interference of its installation on the rotating disk is minimized.

[0038] In some other possible implementations, the preloaded elastic element is connected between the resonator and the second sidewall, and the preloaded elastic element is in a stretched state.

[0039] In this implementation, the second sidewall is connected by a pre-compression elastic element, and the pre-compression elastic element is in a stretched state so that the pre-compression elastic element can act on the resonator through elastic restoring force to generate pre-compression force, thereby abutting the resonator against the rotating disk.

[0040] In some possible implementations, the preload elastic element is connected between the resonator and the first sidewall, and the preload elastic element is in a compressed state; the preload assembly also includes a rolling element, which is installed between the rotating disk and the second sidewall.

[0041] In this implementation, the rolling element is installed between the rotating disk and the second side wall so that the rotating disk is supported by the rolling element during rotation, thereby reducing the interference of preload on the bearing and improving the bearing life.

[0042] In some possible implementations, the motor further includes a housing, which includes a first sidewall and a second sidewall disposed opposite to each other. The mover, the resonator, and the preload assembly are all installed between the first sidewall and the second sidewall, with the resonator closer to the first sidewall than the mover. The preload assembly includes a preload member, a preload elastic member, and a rolling member. The preload member and the resonator are located on opposite sides of the rotating disk. The rolling member is installed between the rotating disk and the preload member. The preload elastic member is connected between the preload member and the second sidewall and is in a compressed state.

[0043] In this implementation, the second sidewall and the pre-compression member are connected by a pre-compression elastic element, which is in a compressed state. This allows the pre-compression elastic element to act on the resonator through elastic restoring force, generating pre-pressure that abuts the resonator against the rotating disk. Furthermore, since the pre-compression elastic element is located entirely on one side of the rotating disk, the installation difficulty of the pre-compression elastic element is reduced, and the interference of the installation of the pre-compression elastic element on the rotating disk is minimized.

[0044] In some possible implementations, the motor also includes a retaining component connected to the resonator. The retaining component is used to provide an anti-sway force to balance the reaction force of the rotating disk on the resonator.

[0045] In this implementation, by setting a retaining component, an anti-sway force can be generated to balance the reaction force of the rotating disk on the resonator, thereby avoiding the overturning phenomenon of the resonator during the rotation of the rotating disk, which is beneficial to improving the stable rotation of the resonator driving the rotating disk.

[0046] In some possible implementations, the retaining assembly includes a retainer, an anti-sway elastic element, and a roller; the retainer has a frame structure, including a first frame and a second frame disposed opposite each other, with the resonator located between the first frame and the second frame; the anti-sway elastic element is connected between the first frame and one end of the resonator, and the anti-sway elastic element is in a compressed state; the roller is connected between the second frame and the other end of the resonator, and the axis of the roller is parallel to the extension direction of the second frame.

[0047] In this implementation, the anti-sway elastic element is in a compressed state, allowing it to abut the resonator against the roller shaft, thus ensuring the resonator is stably mounted within the cage. Furthermore, during the rotation of the resonator-driven rotating disk, for example, when the disk rotates in the second rotation direction, the disk generates an overturning force on the resonator. The anti-sway elastic element can then generate an anti-sway force opposite to this force through its own elastic recovery, thereby balancing the forces on the resonator and preventing it from rotating around the second direction. This maintains the stability of the resonator and contributes to the stable rotation of the rotating disk.

[0048] In some possible implementations, the motor also includes a preload assembly, which includes a preload element, a preload elastic element, and a rolling element. The preload element and the resonator are located on opposite sides of the rotating disk. The rolling element is installed between the rotating disk and the preload element. The preload elastic element is connected between the preload element and the cage and is in a stretched state.

[0049] In this implementation, during the rotation of the resonator-driven rotating disk, for example, when the rotating disk rotates along the second rotation direction, the rotating disk generates an overturning force on the resonator. The anti-sway elastic element can generate an anti-sway force opposite to the overturning force through its own elastic recovery, thereby balancing the forces on the resonator and preventing the resonator from rotating around the second direction, thus maintaining the stability of the resonator and facilitating the stable rotation of the rotating disk. Furthermore, the retaining component not only maintains the driving balance of the resonator but also, in conjunction with the preload elastic element, stably abuts the resonator against the rotating disk, which is beneficial for the stable driving of the rotating disk by the resonator.

[0050] In some possible implementations, the motor also includes a housing and a preload assembly; the housing includes a first sidewall and a second sidewall disposed opposite to each other, the mover, the resonator and the preload assembly are all mounted between the first sidewall and the second sidewall, the resonator being closer to the first sidewall than the mover; the preload assembly includes a preload elastic element connected between the cage and the first sidewall, the preload elastic element being in a compressed state.

[0051] In this implementation, during the rotation of the resonator-driven rotating disk, for example, when the rotating disk rotates along the second rotation direction, the rotating disk generates an overturning force on the resonator. The anti-sway elastic element can generate an anti-sway force opposite to the overturning force through its own elastic recovery, thereby balancing the forces on the resonator and preventing the resonator from rotating around the second direction, thus maintaining the stability of the resonator and facilitating the stable rotation of the rotating disk. Furthermore, the retaining component not only maintains the driving balance of the resonator but also, in conjunction with the preload elastic element, stably abuts the resonator against the rotating disk, which is beneficial for the stable driving of the rotating disk by the resonator.

[0052] In some other possible implementations, the preload elastic element is connected between the cage and the second sidewall, and the preload elastic element is in a stretched state.

[0053] In this implementation, during the rotation of the resonator-driven rotating disk, for example, when the rotating disk rotates along the second rotation direction, the rotating disk generates an overturning force on the resonator. The anti-sway elastic element can generate an anti-sway force opposite to the overturning force through its own elastic recovery, thereby balancing the forces on the resonator and preventing the resonator from rotating around the second direction, thus maintaining the stability of the resonator and facilitating the stable rotation of the rotating disk. Furthermore, the retaining component not only maintains the driving balance of the resonator but also, in conjunction with the preload elastic element, stably abuts the resonator against the rotating disk, which is beneficial for the stable driving of the rotating disk by the resonator.

[0054] In some possible implementations, the motor further includes a housing and a preload assembly, with a cage connected to the housing; the housing includes a first sidewall and a second sidewall disposed opposite to each other, and the mover, resonator, and preload assembly are all installed between the first sidewall and the second sidewall, with the resonator closer to the first sidewall than the mover; the preload assembly includes a preload member, a preload elastic member, and a rolling member, with the preload member and the resonator located on opposite sides of the rotating disk, the rolling member installed between the rotating disk and the preload member, and the preload elastic member connected between the preload member and the second sidewall, and the preload elastic member being in a compressed state.

[0055] In this implementation, by placing the holding component and the preload component on opposite sides of the rotating disk, the structures of the holding component and the preload component are decoupled, reducing the overall installation difficulty and minimizing force interference between them, thereby improving the balance of the resonator driving the rotor's rotation. During the rotation of the rotating disk driven by the resonator, for example, when the rotating disk rotates along the second rotation direction, the rotating disk generates an overturning force on the resonator. The anti-sway elastic element can generate an anti-sway force opposite to the overturning force through its own elastic recovery, thereby balancing the forces on the resonator and preventing the resonator from rotating around the second direction, thus maintaining the stability of the resonator and contributing to the stable rotation of the rotating disk.

[0056] In some possible implementations, the pre-compression elastic element includes a first elastic element and a second elastic element disposed opposite to each other, the first elastic element being connected to the first frame and the second elastic element being connected to the second frame.

[0057] In this implementation, the connection between the first elastic element and the second elastic element provides a pre-pressure in the opposite direction to the first direction to the resonator, thereby enabling the resonator to stably abut against the rotating disk, which is beneficial for the resonator to stably drive the rotating disk to rotate.

[0058] In some possible implementations, the resonator and bearing are arranged at intervals in a second direction, which is perpendicular to the first direction. The resonator is used to generate a force parallel to a third direction to drive the rotating disk to rotate. The third direction is perpendicular to both the first and second directions. The first and second frame sides are arranged in the third direction.

[0059] In this implementation, the arrangement direction described above helps to ensure that the installation of the first and second elastic elements avoids the rotating disk, so that the cage does not need to be set to an excessively large size, which is beneficial to the overall miniaturization of the cage.

[0060] In some possible implementations, the second frame has a second limiting groove located on the surface of the second frame facing the resonator; the resonator has a third limiting groove located on the surface of the resonator facing the second frame; and the roller is installed between the second limiting groove and the third limiting groove.

[0061] In this implementation, by setting the second and third limiting grooves to form a limiting installation for the roller shaft, the roller shaft can be kept from displacement during the process of balancing the resonator by the anti-sway elastic element, which is conducive to the anti-sway elastic element balancing the resonator better.

[0062] In some possible implementations, the second limiting groove is a V-groove, which is beneficial for limiting the installation of the roller shaft by the second limiting groove.

[0063] In some possible implementations, the third limiting groove is a V-shaped groove, which is beneficial for limiting the installation of the roller shaft by the third limiting groove.

[0064] Secondly, this application also provides an electronic device. The electronic device includes any of the aforementioned motors.

[0065] In this application, the low-speed, high-torque output achieved by the motor is beneficial to the drive design of electronic devices. Furthermore, by simplifying the structure of the motor, the space utilization rate of the motor in the electronic device is improved, thereby facilitating the optimization of the size design of the electronic device. Attached Figure Description

[0066] Figure 1A This is a schematic diagram of the structure of the motor provided in this application in some embodiments;

[0067] Figure 1B yes Figure 1A A schematic diagram of the motor from another perspective;

[0068] Figure 2A yes Figure 1B The diagram shows the driving schematic of the first piezoelectric component of the motor in some embodiments from another perspective.

[0069] Figure 2B yes Figure 2A A schematic diagram of a resonator driving a rotating disk in a motor.

[0070] Figure 3A yes Figure 1B The diagram shows the driving schematic of the second piezoelectric component of the motor in some embodiments from another perspective.

[0071] Figure 3B yes Figure 3A A schematic diagram of a resonator driving a rotating disk in a motor.

[0072] Figure 4 yes Figure 1B The diagram shows a schematic of the drive signal for the resonator in the motor in some embodiments;

[0073] Figure 5 Is adopted Figure 4The diagram shown illustrates how the driving signal excites the resonator to drive the mover to rotate in some embodiments.

[0074] Figure 6 yes Figure 5 The schematic diagram of the motor drive shown is a structural diagram from another perspective.

[0075] Figure 7A yes Figure 1A The diagram shows a preload assembly for the motor in some embodiments.

[0076] Figure 7B yes Figure 7A A schematic diagram of the motor from another perspective;

[0077] Figure 7C yes Figure 7A A schematic diagram of the motor shown from another perspective;

[0078] Figure 8 This is a schematic diagram illustrating the overturning phenomenon of the resonator in some embodiments of a motor in the prior art;

[0079] Figure 9A yes Figure 7A The diagram shows a structural schematic of the motor mounting and retaining assembly in some embodiments.

[0080] Figure 9B yes Figure 9A A schematic diagram of the motor from another perspective;

[0081] Figure 10A yes Figure 1A The diagram shows a structural schematic of the motor equipped with a preload assembly in some other embodiments;

[0082] Figure 10B yes Figure 10A A schematic diagram of the motor from another perspective;

[0083] Figure 10C yes Figure 10B The diagram shows a structural schematic of the motor mounting and retaining assembly in some embodiments.

[0084] Figure 11A yes Figure 1A The diagram shows a structural schematic of the motor equipped with a preload assembly in some other embodiments;

[0085] Figure 11B yes Figure 11A A schematic diagram of the motor from another perspective;

[0086] Figure 11C yes Figure 11B The diagram shows a structural schematic of the motor mounting and retaining assembly in some embodiments.

[0087] Figure 12A yes Figure 1A The diagram shows a structural schematic of the motor equipped with a preload assembly in some other embodiments;

[0088] Figure 12B yes Figure 12A A schematic diagram of the motor from another perspective;

[0089] Figure 12C yes Figure 12B The diagram shows a structural schematic of the motor mounting and retaining assembly in some embodiments. Detailed Implementation

[0090] The embodiments of this application are described below with reference to the accompanying drawings.

[0091] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Multiple" refers to at least two.

[0092] The directional terms mentioned in the embodiments of this application, such as "upper", "lower", "inner", "outer", "top", "bottom", "side", etc., are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0093] In the embodiments of this application, the relative positional relationships mentioned, such as parallel, perpendicular, and aligned, are defined in relation to the current technological level, rather than being absolutely strict. Slight deviations are permissible; approximations of parallelism, perpendicularity, or alignment are all acceptable. For example, "A and B are parallel" means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 and 10 degrees. Similarly, "A and B are perpendicular" means that A and B are perpendicular or approximately perpendicular, and the angle between A and B can be between 80 and 100 degrees.

[0094] In the embodiments of this application, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," and "fourth" may explicitly or implicitly include one or more of that feature.

[0095] Please refer to the following: Figure 1A and Figure 1B , Figure 1A This is a schematic diagram of the structure of the motor 10 provided in this application in some embodiments; Figure 1B yes Figure 1A The diagram shows the structure of the motor 10 from another perspective.

[0096] In some embodiments, the motor 10 can achieve rotational output by rotating to output torque. The motor 10 is a rotary ultrasonic motor, also known as a rotary piezoelectric motor. The motor 10 can be applied to electronic devices requiring rotational drive, such as robot joints, precision rotary tables, and optical devices requiring position adjustment (e.g., microscopes).

[0097] In some embodiments, the motor 10 may include a mover 1 and a resonator 2, with the resonator 2 abutting against the mover 1. The resonator 2 can vibrate to generate a linear driving force parallel to the tangential direction of the mover 1, which drives the mover 1 to rotate, thereby achieving torque output. It should be noted that the driving force is the frictional force between the resonator 2 and the mover 1.

[0098] In this embodiment, since the motor 10 generates linear drive for the mover 1 through the friction between the resonator 2 and the mover 1, it can achieve low speed and high torque while significantly reducing assembly complexity, thus simplifying the structure of the motor 10. Furthermore, after the drive signal is disconnected, the friction between the resonator 2 and the mover 1 generates resistance against the mover 1, enabling the motor 10 to achieve power-off self-locking. Moreover, by changing the drive signal to reverse the driving force of the resonator 2, deceleration or stopping rotation can be achieved.

[0099] For example, the resonator 2 can receive a driving signal to form an out-of-plane vibration mode, so that the resonator 2 can vibrate to generate a linear driving force parallel to the tangential direction of the mover 1. It should be noted that the out-of-plane vibration mode is a concept in solid mechanics.

[0100] For example, the mover 1 may include a rotating disk 11 and a bearing 12, with the rotating disk 11 sleeved on the bearing 12 and rotatable about the axial direction of the bearing 12. A resonator 2 and the rotating disk 11 may be arranged in a first direction Z, with the resonator 2 abutting against the rotating disk 11. The resonator 2 is used to generate a force parallel to the tangential direction of the rotating disk 11 by vibrating within a first plane YZ, thereby driving the rotating disk 11 to rotate about the bearing 12. Both the first direction Z and the first plane YZ are parallel to the axial direction of the rotating disk 11.

[0101] In this embodiment, since the resonator 2 and the rotating disk 11 are arranged in the first direction Z, the resonator 2 and the rotating disk 11 are stacked along the thickness direction of the rotating disk 11. This helps to reduce the space occupied by the resonator 2 in the X and Y directions, thereby facilitating the miniaturization of the motor 10. Furthermore, the resonator 2 abuts against the rotating disk 11 in the first direction Z, so that the force generated by the abutment between the resonator 2 and the rotating disk 11 can be parallel to the axial direction of the rotating disk 11. This reduces or even eliminates interference from the force of the abutment between the resonator 2 and the rotating disk 11 on the rotation of the rotating disk 11.

[0102] It should be noted that the rotating disk 11 can be disc-shaped, including axial, radial, and tangential directions. The axial direction of the rotating disk 11 is the direction of the straight line containing its axis of rotation; the radial direction of the rotating disk 11 is the direction of the line connecting a point on any cross-section perpendicular to the axis of rotation to the center of that cross-section; the tangential direction of the rotating disk 11 is the direction perpendicular to the radial direction of the rotating disk 11 within any cross-section perpendicular to the axis of rotation. In this embodiment, the force generated by the vibration of the resonator 2 parallel to the tangential direction of the rotating disk 11 means that the direction of the force acting on the rotating disk 11 after the resonator 2 vibrates is parallel to the tangential direction of the rotating disk 11.

[0103] In some other embodiments, the resonator 2 can also vibrate in other planes (e.g., in the XY plane, XZ plane, etc.), as long as the resonator 2 can generate a force parallel to the tangential direction of the rotating disk 11 to drive the rotating disk 11 to rotate around the bearing 12.

[0104] It should be noted that the resonator 2 can be directly or intermittently mounted on the housing of the motor 10 (not shown in the figure) to provide support for the resonator 2, which is beneficial for the resonator 2 to stably drive the actuator 1 to rotate.

[0105] In some embodiments, the resonator 2 and the bearing 12 can be arranged at intervals in a second direction X, which is perpendicular to the first direction Z. The resonator 2 can be used to generate a force parallel to a third direction Y by vibrating in a first plane YZ, thereby driving the rotating disk 11 to rotate. The third direction Y is perpendicular to both the first direction Z and the second direction X. The third direction Y is parallel to the first plane YZ.

[0106] In this embodiment, the resonator 2 and the bearing 12 are spaced apart in the second direction X, which avoids contact between the resonator 2 and the bearing 12, thus preventing the resonator 2 from interfering with the rotation of the rotating disk 11. Furthermore, the spaced arrangement of the resonator 2 and the bearing 12 helps to increase the torque by which the resonator 2 drives the rotating disk 11, thereby facilitating the low-speed, high-torque output of the motor 10. The resonator 2 can vibrate in the first plane YZ through an out-of-plane vibration mode, thereby generating a force parallel to the third direction Y. Since the third direction Y is perpendicular to the first direction Z, the resonator 2 can achieve linear motion to drive the rotating disk 11 to rotate.

[0107] In some embodiments, the resonator 2 may include an elastic body 21 and a piezoelectric component 22, the elastic body 21 being able to abut against the rotating disk 11. The piezoelectric component 22 may be mounted on the surface of the elastic body 21 facing away from the rotating disk 11. The piezoelectric component 22 is used to vibrate within a first plane YZ to drive the elastic body 21 to vibrate within the first plane YZ, and the elastic body 21 is used to generate a force parallel to a third direction Y by vibrating within the first plane YZ to drive the rotating disk 11 to rotate.

[0108] In this embodiment, by providing the piezoelectric component 22, the vibration of the piezoelectric component 22 can be flexibly controlled, which is beneficial to improving the flexibility of the rotation drive of the rotating disk 11. After receiving the drive signal, the piezoelectric component 22 can vibrate in the first plane YZ. The piezoelectric component 22 can drive the elastic body 21 to enter the resonant mode together to realize the out-of-plane vibration mode. Therefore, the resonator 2 as a whole can vibrate in the first plane YZ, thereby generating a force parallel to the third direction Y to drive the rotating disk 11 to rotate.

[0109] For example, the elastomer 21 may include an elastic plate 211 and a driving foot 212. The driving foot 212 and the piezoelectric component 22 may be located on opposite sides of the elastic plate 211, and the elastic plate 211 and the rotating disk 11 may be at least partially facing each other along a first direction. The driving foot 212 may abut against the surface of the rotating disk 11 facing the elastic plate 211. In this embodiment, the driving foot 212 reduces the contact area between the elastomer 21 and the rotating disk 11, which is beneficial for better driving the rotating disk 11 to rotate.

[0110] The drive foot 212 can be positioned near the edge of the rotating disk 11 to increase the distance between the drive foot 212 and the bearing 12, thereby increasing the torque with which the drive foot 212 drives the rotating disk 11, which is beneficial for achieving high torque at low speeds. In this embodiment, since the resonator 2 and the mover 1 are arranged in the first direction Z, the size occupied by the resonator 2 in the second direction X and the third direction Y is small, which allows the size of the rotating disk 11 to be designed to be larger, further increasing the distance between the drive foot 212 and the bearing 12, thereby further increasing the torque with which the drive foot 212 drives the rotating disk 11, which is beneficial for achieving high torque at low speeds.

[0111] It should be noted that the larger the size of the rotating disk 11, the greater the torque exerted by the resonator 2 on the rotating disk 11.

[0112] Among them, the piezoelectric component 22 can be a piezoelectric ceramic, a piezoelectric crystal, a piezoelectric polymer, a composite piezoelectric material, etc.

[0113] Among them, the elastomer 21 can be a metallic elastomer.

[0114] The driving foot 212 and the elastic plate 211 can be an integral structure to improve the overall structural stability of the elastomer 21. For example, the driving foot 212 and the elastic plate 211 can be manufactured by integral stamping.

[0115] The driving foot 212 can be fixedly installed on the elastic plate 211 to improve the flexibility of the driving foot 212's position installation. For example, the driving foot 212 can be glued to the elastic plate 211 with adhesive, or it can be welded to the elastic plate 211 by welding.

[0116] In some other embodiments, there can be multiple driving feet 212, each located between the elastic plate 211 and the rotating disk 11, and abutting against the rotating disk 11. In some examples, the multiple driving feet 212 can be arranged linearly, with the arrangement direction parallel to the third direction Y. In other examples, the multiple driving feet 212 can be arranged in an arc shape, and the center of the arc of the arrangement of the multiple driving feet 212 can be located on the rotation axis of the rotating disk 11. In still other examples, the multiple driving feet 212 can be arranged according to other rules, or arranged irregularly.

[0117] Please refer to the following: Figures 2A to 3B , Figure 2A yes Figure 1B The motor 10 shown is a schematic diagram of the first piezoelectric component 221 in some embodiments, viewed from another perspective. Figure 2B yes Figure 2A A schematic diagram of the resonator 2 driving the rotating disk 11 to rotate in the motor 10 shown; Figure 3A yes Figure 1BThe motor 10 shown is a schematic diagram of the second piezoelectric component 222 in some embodiments, viewed from another perspective. Figure 3B yes Figure 3A A schematic diagram of the resonator 2 driving the rotating disk 11 to rotate in the motor 10 shown.

[0118] In some embodiments, the piezoelectric component 22 may include a first piezoelectric component 221 and a second piezoelectric component 222. Both the first piezoelectric component 221 and the second piezoelectric component 222 may be located on the surface of the elastic plate 211 facing away from the rotating disk 11. At least one of the first piezoelectric component 221 and the second piezoelectric component 222 is used to drive the rotating disk 11 to rotate.

[0119] In this embodiment, by designing the first piezoelectric component 221 and the second piezoelectric component 222, the driving flexibility of the resonator 2 on the rotating disk 11 can be improved. The first piezoelectric component 221 and the second piezoelectric component 222 can work independently to simplify the driving method, or they can work together to control the rotation direction, speed and other parameters of the rotating disk 11 to cope with different application scenarios of the motor 10.

[0120] For example, the first piezoelectric component 221 can work independently to drive the elastomer 21 to vibrate, thereby generating a force pointing in the third direction Y, driving the rotating disk 11 to rotate along the first rotation direction D1.

[0121] The driving signal for the first piezoelectric component 221 can be an alternating signal such as a sine wave or a square wave.

[0122] by Figure 2A and Figure 2B For example, under the excitation of the first driving signal, the first piezoelectric component 221 can drive the elastic body 21 to generate a shape within the first plane YZ. Figure 2A The vibration shown by the dashed line generates a first driving force F1. The first driving force F1 has a component force F11 pointing in the third direction Y and a component force F12 pointing in the opposite direction of the first direction Z. The component force F11 pointing in the third direction Y can drive the rotating disk 11 to rotate along the first rotation direction D1.

[0123] It should be noted that, Figure 2A The vibration shown by the dashed line is for illustrative purposes only and represents only one achievable vibration mode of the harmonic oscillator 2. The harmonic oscillator 2 may also have other vibration modes, which are not limited here, as long as they can generate a component force F11 pointing in the third direction Y.

[0124] It should be noted that in some other embodiments, the first piezoelectric component 221 may generate only a component force F11 pointing in the third direction Y under the excitation of the driving signal.

[0125] It should be noted that, Figure 2Aand Figure 2B The illustration shows that the first piezoelectric component 221 can independently drive the rotating disk 11. In this embodiment, the first piezoelectric component 221 drives the rotating disk 11 to rotate along the first rotation direction D1. It can be understood that in some other embodiments, the phase of the driving signal can be changed so that the first piezoelectric component 221 drives the rotating disk 11 to rotate in the opposite direction of the first rotation direction D1.

[0126] For example, the second piezoelectric component 222 can operate independently to drive the elastomer 21 to vibrate, thereby generating a force pointing in the opposite direction of the third direction Y, driving the rotating disk 11 to rotate along the second rotation direction D2, which is opposite to the first rotation direction D1.

[0127] The driving signal for the second piezoelectric component 222 can be an alternating signal such as a sine wave or a square wave.

[0128] by Figure 3A and Figure 3B For example, under the excitation of the second driving signal, the second piezoelectric component 222 can drive the elastic body 21 to generate a piezoelectric effect within the first plane YZ. Figure 3A The vibration shown by the dashed line generates a second driving force F2. This second driving force F2 has a component F21 pointing in the opposite direction to the third direction Y and a component F22 pointing in the opposite direction to the first direction Z. The component F21 pointing in the opposite direction to the third direction Y can drive the rotating disk 11 to rotate along the second rotation direction D2. The second driving signal can be mirror-distributed with respect to the horizontal axis of the waveform as the first driving signal, so that the vibrations of the first piezoelectric component 221 and the second piezoelectric component 222 are mirror-distributed, thereby achieving driving of the rotating disk 11 in different directions.

[0129] In some examples, the first piezoelectric component 221 and the second piezoelectric component 222 may be arranged in a third direction Y. In other examples, the first piezoelectric component 221 and the second piezoelectric component 222 may be arranged in a second direction X.

[0130] It should be noted that, Figure 3A The vibration shown by the dashed line is for illustrative purposes only and represents only one achievable vibration mode of the harmonic oscillator 2. The harmonic oscillator 2 may also have other vibration modes, which are not limited here, as long as they can generate a component force F21 pointing in the opposite direction of the third direction Y.

[0131] It should be noted that in some other embodiments, the second piezoelectric component 222, under the excitation of the driving signal, may only generate a component force F21 pointing in the opposite direction of the third direction Y.

[0132] It should be noted that, Figure 3A and Figure 3BThe illustration shows that the second piezoelectric component 222 can independently drive the rotating disk 11. In this embodiment, the second piezoelectric component 222 drives the rotating disk 11 to rotate along the second rotation direction D2. It can be understood that in some other embodiments, the phase of the driving signal can be changed so that the second piezoelectric component 222 drives the rotating disk 11 to rotate in the opposite direction of the second rotation direction D2.

[0133] In some other embodiments, the first piezoelectric component 221 and the second piezoelectric component 222 can be simultaneously connected to the drive signal. By superimposing the drive signal of the first piezoelectric component 221 and the drive signal of the second piezoelectric component 222, the vibration of the resonator 2 can be achieved, thereby driving the rotating disk 11, including but not limited to changing the rotation direction and rotation speed of the driving rotating disk 11.

[0134] In some examples, the first piezoelectric component 221 and the second piezoelectric component 222 can simultaneously drive the rotating disk 11 to rotate along the first rotation direction D1 or simultaneously drive the rotating disk 11 to rotate along the second rotation direction D2 under the excitation of the driving signal.

[0135] In other examples, precise speed adjustment can be achieved by coordinating the first piezoelectric component 221 and the second piezoelectric component 222. For example, the first drive signal of the first piezoelectric component 221 has a larger signal adjustment unit and can be designed for coarse adjustment, so that the rotation speed of the rotating disk 11 can be quickly adjusted by the first piezoelectric component 221; the second drive signal of the second piezoelectric component 222 has a smaller signal adjustment unit and can be designed for fine adjustment, so that the rotation speed of the rotating disk 11 can be precisely adjusted by the second piezoelectric component 222. The coordination of the first piezoelectric component 221 and the second piezoelectric component 222 can achieve flexible adjustment of the speed of the motor 10, wherein the driving direction of the second piezoelectric component 222 and the first piezoelectric component 221 on the rotating disk 11 can be the same or opposite.

[0136] In some other embodiments, the number of piezoelectric components 22 can be three or more (for example, the piezoelectric components 22 may include a first piezoelectric component 221, a second piezoelectric component 222, a third piezoelectric component, etc.). The specific number can be designed according to the actual application. Each piezoelectric component 22 can work independently, or two or more piezoelectric components 22 can work together to drive the rotating disk 11.

[0137] In some other embodiments, the piezoelectric component 22 may include only the first piezoelectric component 221 or the second piezoelectric component 222. By exciting a single piezoelectric component 22, the resonator 2 can be excited to produce different vibrations, thereby driving the rotating disk 11 to rotate around the bearing 12 in different directions or at different speeds.

[0138] It should be noted that the greater the voltage of the driving signal of the piezoelectric component 22, the greater the driving force of the resonator 2 on the rotating disk 11.

[0139] The above describes embodiments in which the resonator drives the rotating disk to rotate according to a driving signal. The following describes embodiments in which the resonator drives the rotating disk to rotate according to a driving signal. It should be noted that... Figures 4 to 6 The driving signal used in the illustrated embodiment is different from the driving signal used in the above embodiments.

[0140] Specifically, please refer to the following: Figures 4 to 6 , Figure 4 yes Figure 1B A schematic diagram of the drive signal of the resonator 2 in some embodiments of the motor 10 shown; Figure 5 Is adopted Figure 4 The diagram shown illustrates how the driving signal excites the resonator 2 to drive the mover 1 to rotate in some embodiments. Figure 6 yes Figure 5 The diagram shows the structure of the motor 10 drive from another perspective. It should be noted that... Figure 5 and Figure 6 The motor 10 shown may include Figures 1A to 3B At least some features of the motor 10 shown are described, and the same features will not be repeated here.

[0141] In some embodiments, the resonator 2 can expand and contract along the third direction Y according to a sawtooth wave signal (driving signal) to drive the mover 1. The sawtooth wave signal can include multiple consecutive cycles, each cycle including a first segment and a second segment. The absolute value of the excitation voltage in the first segment is increasing, and the absolute value of the excitation voltage in the second segment is decreasing. When the driving signal is in the first segment, the resonator 2 can deform along the third direction Y in its initial state, driving the rotating disk 11 to rotate through friction of the driving foot 212. When the driving signal is in the second segment, the resonator 2 can deform back to its initial state along the third direction Y, at which point dynamic friction occurs between the driving foot 212 and the rotating disk 11. Through signal excitation of multiple consecutive cycles, the resonator 2 can drive the rotating disk 11 to rotate through repeated deformation and deformation recovery.

[0142] In this embodiment, the resonator 2 is driven by a sawtooth wave signal, which enables the resonator 2 to deform and recover along the third direction Y. Through the repeated deformation and recovery of the resonator 2, the rotating disk 11 can be continuously driven to rotate, thereby realizing the linear motion of the resonator 2 to drive the rotating disk 11 to rotate.

[0143] For example, the linear rise angle of the absolute value of the voltage in the first segment satisfies: 30° ≤ |α1| ≤ 60°. For example, the value of |α1| can be, but is not limited to, 30°, 35°, 40°, 45°, 50°, 55°, 60°, or other values ​​between 30° and 60°. The linear fall angle of the absolute value of the voltage in the second segment satisfies: |α2| ≤ 10°. For example, the value of |α2| can be, but is not limited to, 10°, 9°, 8°, 7°, 6°, 5°, 4°, or other values ​​less than 10°.

[0144] In this embodiment, because the linear increase angle |α1| of the absolute value of the voltage in the first segment satisfies the above relationship, the voltage change rate in the first segment is relatively slow, resulting in a slower deformation rate of the resonator 2. Consequently, static friction is generated between the driving foot 212 and the rotating disk 11. Driven by the deformation of the resonator 2, the driving foot 212 moves along the third direction Y, thereby driving the rotating disk 11 to rotate. Because the linear decrease angle |α2| of the absolute value of the voltage in the second segment satisfies the above relationship, the voltage change rate in the second segment is relatively fast, resulting in a faster recovery rate of the resonator 2. Consequently, dynamic friction is generated between the driving foot 212 and the rotating disk 11, allowing the resonator 2 to recover to its initial state without significantly affecting or with minimal impact on the rotating disk 11. Therefore, by periodically exciting the sawtooth wave signal, the periodic alternation of static friction and sliding friction between the resonator 2 and the mover 1 can be achieved. By utilizing the stick-slip effect (inertia effect), the continuous rotation of the mover 1 is realized through the linear drive of the resonator 2.

[0145] Specifically, with Figure 5 and Figure 6 The illustration is provided from two perspectives. Figure 5 The diagram illustrates the deformation and recovery of the harmonic oscillator 2. Figure 6 The diagram illustrates the deformation and recovery of the resonator 2, and also shows the rotation of the rotating disk 11.

[0146] Figure 5 (a) and Figure 6 In the diagram, (a) indicates that both the harmonic oscillator 2 and the mover 1 are in their initial state. Figure 5 (b) and Figure 6 (b) in the diagram represents the position of the driving foot 212 after the resonator 2 deforms in the first segment of the sawtooth wave signal, and also shows the angle of rotation of the rotating disk 11. Figure 5 (c) and Figure 6 (c) in the diagram represents the restoration of the resonator 2 to its initial state after deformation in the second segment of the sawtooth wave signal. Figure 5The position of the driving foot 212 in the resonator 2 is marked by dashed lines. The dashed line L1 on the left indicates the initial position of the driving foot 212, and the dashed line L2 on the right indicates the position of the driving foot 212 after the resonator 2 is deformed. Figure 6 In the diagram, dashed line L3 represents the position of the driving foot 212 in the resonator 2, and dashed line L4 represents the position of the driving group after the resonator 2 is deformed. The angle α3 between dashed line L3 and dashed line L4 represents the angle of rotation of the rotating disk 11 within one cycle of the sawtooth wave signal.

[0147] In this embodiment, after being excited by a sawtooth wave signal, the resonator 2 extends along the third direction Y in the first segment of the signal, driving the driving foot 212 to move linearly along the third direction Y. At this time, because the movement speed of the driving foot 212 is relatively slow, static friction occurs between the driving foot 212 and the rotating disk 11, causing the driving foot 212 to rotate the rotating disk 11 by an angle α3. In the second segment of the signal, the resonator 2 retracts back to its initial state along the third direction Y, driving the driving foot 212 to move linearly in the opposite direction Y. At this time, because the movement speed of the driving foot 212 is relatively fast, dynamic friction occurs between the driving foot 212 and the rotating disk 11, causing the driving foot 212 to return to its initial state, but the rotating disk 11 can still remain in the position after the rotation angle α3. Through the periodic excitation of the signal, the resonator 2 can achieve linear reciprocating motion to drive the rotating disk 11 to rotate continuously.

[0148] It should be noted that, Figure 5 and Figure 6 Since the resonator 2 drives the mover 1 by extending, it is understandable that by changing the driving signal, the resonator 2 can drive the mover 1 in the opposite direction by contracting.

[0149] It should be noted that, from the perspective of a single cycle of the sawtooth wave signal, in the second segment, the rotating disk 11 may remain stationary, continue to rotate due to inertia, or rotate in the opposite direction by a small angle under the drive of the driving foot 212. It may seem that there is a problem of the rotating disk 11's motion stopping or reversing. However, since the multiple cycles of the sawtooth wave signal are continuous, the drive of the resonator 2 on the mover 1 is continuous. Without changing the signal, the rotating disk 11 can maintain continuous rotation in one direction.

[0150] Please refer to the following: Figures 7A to 7C , Figure 7A yes Figure 1A The diagram shown is a structural schematic of the motor 10 with preload assembly 3 in some embodiments; Figure 7B yes Figure 7A A schematic diagram of the structure of the motor 10 shown from another perspective; Figure 7C yes Figure 7AThe diagram shows the structure of motor 10 from another perspective.

[0151] In some embodiments, the motor 10 may further include a preload assembly 3 connected to the resonator 2. The preload assembly 3 is used to provide preload, which keeps the resonator 2 abutting against the rotating disk 11.

[0152] In this embodiment, by setting the pre-pressure component 3, a pre-pressure F3 can be generated to act on the resonator 2. The pre-pressure F3 enables the resonator 2 to remain in contact with the rotating disk 11, which can prevent the resonator 2 from disengaging from the rotating disk 11 when driving the rotating disk 11 to rotate, thereby improving the stability of the rotation of the rotating disk 11.

[0153] It should be noted that the resonator 2 can be directly or spaced within the housing of the motor 10 (not shown in the figure) to provide support for the resonator 2, which is beneficial for the resonator 2 to stably drive the actuator 1 to rotate. When the motor 10 includes a preload assembly 3, there is a guide structure between the resonator 2 and the housing of the motor 10 to provide the resonator 2 with a space for movement relative to the housing along the first direction Z, which is beneficial for the preload assembly 3 to provide preload to the resonator 2.

[0154] For example, the preload assembly 3 may include a preload member 31, a preload elastic member 32, and a rolling member 33. The preload member 31 and the resonator 2 are located on opposite sides of the rotating disk 11. The preload elastic member 32 is connected between the preload member 31 and the resonator 2, and the preload elastic member 32 is in a stretched state. The rolling member 33 is installed between the rotating disk 11 and the preload member 31.

[0155] In this embodiment, a preload elastic element 32 connects the preload element 31 and the resonator 2, and the preload elastic element 32 is in a stretched state so that the preload elastic element 32 can act on the resonator 2 through elastic restoring force to generate a preload F3, thereby abutting the resonator 2 against the rotating disk 11. By providing a rolling element 33, the rotating disk 11 can rotate relative to the preload element 31 during rotation, preventing the preload element 31 from interfering with the rotation of the rotating disk 11.

[0156] The pre-compression member 31 may have a first limiting groove 311, which forms an opening on the surface of the pre-compression member 31 facing the rotating disk 11, and the rolling member 33 may be installed in the first limiting groove 311.

[0157] In this embodiment, the first limiting groove 311 can prevent the rolling element 33 from being displaced relative to the pre-pressing element 31 when the rotating disk 11 rotates, so that the rolling element 33 can roll in place.

[0158] In some examples, the first limiting groove 311 can be a circular groove to better accommodate the rolling element 33 and facilitate the rotation of the rolling element 33. For example, the cross-section of the first limiting groove 311 in the XY plane is circular, and the first limiting groove 311 as a whole is hemispherical or 3 / 4 sphere, etc., which are not limited here.

[0159] In other examples, the first limiting groove 311 can be a V-shaped groove, so that while accommodating the rolling element 33, the first limiting groove 311 can prevent the rolling element 33 from dislodging from the first limiting groove 311. For example, the cross-section of the first limiting groove 311 in the XZ plane is V-shaped.

[0160] In some other examples, the first limiting groove 311 can also be of other shapes, as long as it can accommodate the rolling element 33 and limit the rolling element 33 to roll in place, and no limitation is made here.

[0161] The preloaded component 31 can have high rigidity to ensure good support for the resonator 2 and prevent the resonator 2 from becoming unbalanced due to bending deformation caused by the preloaded elastic component 32. Specifically, the deformation of the preloaded component 31 can be less than or equal to 1 / 5 of the deformation of the preloaded elastic component 32, so that the preloaded component 31 can play a good supporting role.

[0162] In some embodiments, the preload elastic element 32 may include a first elastic element 321 and a second elastic element 322 disposed opposite to each other. The first elastic element 321 may connect one end of the resonator 2 to one end of the preload element 31. The second elastic element 322 may connect the other end of the resonator 2 to the other end of the preload element 31.

[0163] In this embodiment, the first elastic element 321 generates a first preload F31 acting on the resonator 2, and the second elastic element 322 generates a second preload F32 acting on the resonator 2. Both the first preload F31 and the second preload F32 point in the opposite direction to the first direction Z. The first preload F31 and the second preload F32 provide a more stable preload for the resonator 2, which helps to improve the stability of the resonator 2 driving the rotating disk 11 to rotate.

[0164] For example, the first elastic member 321 and the second elastic member 322 can be arranged in the third direction Y.

[0165] In this embodiment, the arrangement direction described above facilitates the installation of the first elastic element 321 and the second elastic element 322 away from the rotating disk 11, thus eliminating the need for an excessively large size for the resonator 2 and promoting overall miniaturization. Furthermore, since the force exerted by the resonator 2 on the rotating disk 11 is parallel to a third direction Y, arranging the first elastic element 321 and the second elastic element 322 in the third direction Y helps to resist the reaction force of the rotating disk 11 on the resonator 2, thereby reducing the overturning phenomenon of the resonator 2.

[0166] In some other embodiments, the preload elastic element 32 may also include other numbers of elastic elements, depending on the specific application.

[0167] In some other embodiments, the preload elastic element 32 can also be connected to other positions of the resonator 2, and the preload elastic element 32 can also be connected to other positions of the preload element 31. It is not necessary to keep the extension direction of the preload elastic element 32 parallel to the first direction Z. As long as the preload elastic element 32 is connected between the resonator 2 and the preload element 31, and the force acting on the resonator 2 has a component force pointing in the opposite direction to the first direction Z.

[0168] It should be noted that the greater the preload, the greater the driving force of the resonator 2 on the rotating disk 11. Understandably, the preload needs to be within a certain range, rather than being infinitely large.

[0169] Please refer to the following: Figure 7B and Figure 8 , Figure 8 This is a schematic diagram of the overturning phenomenon of the resonator 2 in some embodiments of the motor 10 in the prior art.

[0170] In some existing technologies, when the resonator 2 drives the rotating disk 11 to rotate along the second rotation direction D2, the driving force exerted by the resonator 2 on the rotating disk 11 points in the opposite direction to the third direction Y, causing the rotating disk 11 to generate a driving reaction force pointing in the third direction Y. Furthermore, due to the presence of the preload component 3, the resonator 2 also exerts a preload force on the rotating disk 11 in the opposite direction to the first direction Z, causing the rotating disk 11 to generate a preload reaction force pointing in the first direction Z. The driving reaction force and the preload reaction force are superimposed, resulting in an overturning force F4 that drives the resonator 2 to rotate around the second direction X, causing the resonator 2 to overturn, which is detrimental to the stable rotation of the rotating disk 11 driven by the resonator 2.

[0171] Please refer to the following: Figure 7B , Figure 9A and Figure 9B , Figure 9A yes Figure 7A The diagram shown is a structural schematic of the motor 10 mounting and retaining assembly 4 in some embodiments; Figure 9B yes Figure 9A The diagram shows the structure of the motor 10 from another perspective.

[0172] In some embodiments, the motor 10 may further include a retaining assembly 4. The retaining assembly 4 is connected to the resonator 2. The retaining assembly 4 is used to provide an anti-sway force to balance the reaction force of the rotating disk 11 on the resonator 2.

[0173] In this embodiment, by setting the retaining component 4, an anti-sway force can be generated to balance the reaction force of the rotating disk 11 on the resonator 2, thereby avoiding the overturning phenomenon of the resonator 2 during the rotation of the rotating disk 11, which is beneficial to improving the stable rotation of the resonator 2 driving the rotating disk 11.

[0174] It should be noted that when the motor 10 includes the retaining component 4, the resonator 2 is mounted on the retaining component 4. The retaining component 4 can be directly or intermittently mounted on the housing of the motor 10 (not shown in the figure) to provide support for the resonator 2, which is beneficial for the resonator 2 to stably drive the actuator 1 to rotate.

[0175] For example, the retaining assembly 4 may include a retainer 41, an anti-sway elastic member 42, and a roller 43. The retainer 41 may have a frame-like structure and may include a first frame 411 and a second frame 412 disposed opposite to each other, with the resonator 2 located between the first frame 411 and the second frame 412. A preload assembly 3 is connected to the retainer 41 and is used to provide preload, which acts on the retainer 41 to keep the resonator 2 abutting against the rotating disk 11. The anti-sway elastic member 42 is connected between the first frame 411 and one end of the resonator 2 and is in a compressed state. The roller 43 is connected between the second frame 412 and the other end of the resonator 2. The axis of the roller 43 is parallel to the extending direction of the second frame 412.

[0176] In this embodiment, by setting the anti-sway elastic element 42 to a compressed state, the anti-sway elastic element 42 can abut the resonator 2 against the roller shaft 43, thereby keeping the resonator 2 stably installed in the cage 41. Furthermore, during the process of the resonator 2 driving the rotating disk 11 to rotate, for example, when the rotating disk 11 rotates along the second rotation direction D2, the rotating disk 11 generates an overturning force F5 on the resonator 2. The anti-sway elastic element 42 can generate an anti-sway force F6 opposite to the overturning force F5 through its own elastic recovery, thereby balancing the force on the resonator 2 and preventing the resonator 2 from rotating around the second direction X, thus maintaining the stability of the resonator 2 and facilitating the stable rotation of the rotating disk 11.

[0177] The first elastic element 321 can be connected between the first frame 411 and one end of the pre-compression element 31, and the second elastic element 322 can be connected between the second frame 412 and the other end of the pre-compression element 31.

[0178] In this embodiment, the connection between the first elastic element 321 and the second elastic element 322 provides a pre-pressure in the opposite direction to the first direction Z to the resonator 2, thereby enabling the resonator 2 to stably abut against the rotating disk 11, which is beneficial for the resonator 2 to stably drive the rotating disk 11 to rotate.

[0179] The first border 411 and the second border 412 can be arranged in a third direction.

[0180] In this embodiment, the arrangement direction described above helps to ensure that the installation of the first elastic member 321 and the second elastic member 322 avoids the rotating disk 11, so that the retainer 41 does not need to be set to an excessively large size, which is conducive to the miniaturization of the retainer 41 as a whole.

[0181] The second frame 412 may have a second limiting groove 4121, which may be located on the surface of the second frame 412 facing the resonator 2. The resonator 2 may have a third limiting groove 23, which may be located on the surface of the resonator 2 facing the second frame 412.

[0182] In this embodiment, by setting the second limiting groove 4121 and the third limiting groove 23 to form a limiting installation of the roller shaft 43, the roller shaft 43 can be kept from displacement during the process of the anti-sway elastic element 42 balancing the resonator 2, which is beneficial for the anti-sway elastic element 42 to better balance the resonator 2.

[0183] The second limiting groove 4121 can be a V-shaped groove, which is beneficial for limiting the installation of the roller shaft 43 by the second limiting groove 4121.

[0184] The third limiting groove 23 can be a V-shaped groove, which is beneficial for limiting the installation of the roller shaft 43 by the third limiting groove 23.

[0185] In some other embodiments, the retaining component 4 may also adopt other structures, as long as the retaining component 4 can provide the resonator 2 with a reaction force against the rotating disk 11.

[0186] Please refer to the following: Figure 10A and Figure 10B , Figure 10A yes Figure 1A The diagram shows a structural schematic of the motor 10 equipped with the preload assembly 3 in some other embodiments; Figure 10B yes Figure 10A The diagram shows the structure of the motor 10 from another perspective. It should be noted that... Figure 10A and Figure 10B The preload assembly 3 in the motor 10 shown may include Figures 7A to 7C Some features of the preload component 3 in the motor 10 shown are described below; the same features will not be repeated here.

[0187] In some embodiments, the motor 10 may further include a housing 5, which may include a first sidewall 51 and a second sidewall 52 disposed opposite to each other. The mover 1, the resonator 2, and the preload assembly 3 may all be mounted between the first sidewall 51 and the second sidewall 52, wherein the resonator 2 intersects the mover 1 near the first sidewall 51. The preload elastic member 32 may be connected between the resonator 2 and the second sidewall 52, and the preload elastic member 32 may be in a stretched state.

[0188] It should be noted that, for illustrative purposes only, Figure 10A and Figure 10B The middle housing 5 shows a portion of its structure to illustrate the structure of the motor 10 located inside the housing 5.

[0189] In this embodiment, the second sidewall 52 is connected by a pre-compression elastic member 32, and the pre-compression elastic member 32 is in a stretched state so that the pre-compression elastic member 32 can act on the resonator 2 through elastic restoring force to generate pre-compression force F3, thereby abutting the resonator 2 against the rotating disk 11.

[0190] For example, the preload assembly 3 may also include a rolling element (not shown in the figure), which is installed between the rotating disk 11 and the second side wall 52, so that the rotating disk 11 is supported by the rolling element 33 during rotation, thereby reducing the interference of the preload F3 on the bearing 12 and improving the life of the bearing 12.

[0191] For example, the pre-compression elastic element 32 can be directly connected to the second side wall 52, or the pre-compression elastic element 32 can be connected to the second side wall 52 through an auxiliary plate (not shown in the figure). For example, the pre-compression elastic element 32 can connect the resonator 2 and the auxiliary plate, and fix the auxiliary plate to the second side wall 52, so that the pre-compression elastic element 32 is spacedly connected to the second side wall 52.

[0192] Please see Figure 10C , Figure 10C yes Figure 10B The diagram shows the structure of the motor 10 mounting and retaining assembly 4 in some embodiments. It should be noted that... Figure 10C The retaining assembly 4 in the motor 10 shown may include Figure 9A and Figure 9B Some features of the retaining component 4 in the motor 10 shown are described below; the same features will not be repeated here.

[0193] In some embodiments, the preload elastic element 32 may be connected between the retainer 41 and the second sidewall 52, and the preload elastic element 32 is in a stretched state.

[0194] In this embodiment, during the rotation of the resonator 2 driving the rotating disk 11, for example, when the rotating disk 11 rotates along the second rotation direction D2, the rotating disk 11 generates an overturning force F5 on the resonator 2. The anti-sway elastic member 42 can generate an anti-sway force F6 opposite to the overturning force F5 through its own elastic recovery, thereby balancing the force on the resonator 2 and preventing the resonator 2 from rotating around the second direction X, thus maintaining the stability of the resonator 2 and facilitating the stable rotation of the rotating disk 11. In addition, the retaining component 4 can not only maintain the driving balance of the resonator 2, but also work with the preload elastic member 32 to stably abut the resonator 2 against the rotating disk 11, which is beneficial for the resonator 2 to stably drive the rotating disk 11.

[0195] Please refer to the following: Figure 11A and Figure 11B , Figure 11A yes Figure 1A The diagram shows a preload assembly 3 installed on the motor 10 in some other embodiments; Figure 11B yes Figure 11A The diagram shows the structure of the motor 10 from another perspective. It should be noted that... Figure 11A and Figure 11B The preload assembly 3 in the motor 10 shown may include Figure 10A and Figure 10B Some features of the preload component 3 in the motor 10 shown are described below; the same features will not be repeated here.

[0196] In some embodiments, the pre-compression elastic element 32 can be connected between the resonator 2 and the first sidewall 51, and the pre-compression elastic element 32 can be in a compressed state.

[0197] It should be noted that, for illustrative purposes only, Figure 11A and Figure 11B The middle housing 5 shows a portion of its structure to illustrate the structure of the motor 10 located inside the housing 5.

[0198] In this embodiment, the first sidewall 51 is connected by a pre-compression elastic element 32, which is in a compressed state. This allows the pre-compression elastic element 32 to act on the resonator 2 through elastic restoring force, generating a pre-compression force F3, thereby abutting the resonator 2 against the rotating disk 11. Furthermore, since the pre-compression elastic element 32 and the resonator 2 are located on the same side of the rotating disk 11, the installation difficulty of the pre-compression elastic element 32 is reduced, and the interference of the installation of the pre-compression elastic element 32 on the rotating disk 11 is reduced.

[0199] For example, the preload assembly 3 may also include a rolling element (not shown in the figure), which is installed between the rotating disk 11 and the second side wall 52, so that the rotating disk 11 is supported by the rolling element 33 during rotation, thereby reducing the interference of the preload F3 on the bearing 12 and improving the life of the bearing 12.

[0200] For example, the preload assembly 3 may also include a mounting plate 34, which is fixed to the first sidewall 51, and a preload elastic member 32 is connected between the mounting plate 34 and the resonator 2.

[0201] In this embodiment, since the pre-compression elastic element 32 is in a compressed state during installation, the installation plate 34 is used to compress the pre-compression elastic element 32 before fixing it to the first side wall 51, which is beneficial for the installation of the pre-compression elastic element 32.

[0202] In some other embodiments, the pre-compression elastic element 32 may also be directly connected to the first sidewall 51.

[0203] Please see Figure 11C , Figure 11C yes Figure 11B The diagram shows the structure of the motor 10 mounting and retaining assembly 4 in some embodiments. It should be noted that... Figure 11C The retaining assembly 4 in the motor 10 shown may include Figure 10C Some features of the retaining component 4 in the motor 10 shown are described below; the same features will not be repeated here.

[0204] In some embodiments, the pre-compression elastic element 32 may be connected between the retainer 41 and the first sidewall 51, and the pre-compression elastic element 32 is in a compressed state.

[0205] In this embodiment, during the rotation of the resonator 2 driving the rotating disk 11, for example, when the rotating disk 11 rotates along the second rotation direction D2, the rotating disk 11 generates an overturning force F5 on the resonator 2. The anti-sway elastic member 42 can generate an anti-sway force F6 opposite to the overturning force F5 through its own elastic recovery, thereby balancing the force on the resonator 2 and preventing the resonator 2 from rotating around the second direction X, thus maintaining the stability of the resonator 2 and facilitating the stable rotation of the rotating disk 11. In addition, the retaining component 4 can not only maintain the driving balance of the resonator 2, but also work with the preload elastic member 32 to stably abut the resonator 2 against the rotating disk 11, which is beneficial for the resonator 2 to stably drive the rotating disk 11.

[0206] Please refer to the following: Figure 12A and Figure 12B , Figure 12A yes Figure 1A The diagram shows a preload assembly 3 installed on the motor 10 in some other embodiments; Figure 12B yes Figure 12A The diagram shows the structure of the motor 10 from another perspective. It should be noted that... Figure 12A and Figure 12B The preload assembly 3 in the motor 10 shown may include Figures 7A to 7C , Figure 11A and Figure 11BSome features of the preload component 3 in the motor 10 shown are described below; the same features will not be repeated here.

[0207] In some embodiments, the pre-compression elastic element 32 may be connected between the pre-compression element 31 and the second sidewall 52, and the pre-compression elastic element 32 is in a compressed state.

[0208] It should be noted that, for illustrative purposes only, Figure 12A and Figure 12B The middle housing 5 shows a portion of its structure to illustrate the structure of the motor 10 located inside the housing 5.

[0209] In this embodiment, the second sidewall 52 and the pre-compression member 31 are connected by a pre-compression elastic member 32, and the pre-compression elastic member 32 is in a compressed state. This allows the pre-compression elastic member 32 to act on the resonator 2 through elastic restoring force, generating a pre-compression force F3, thereby abutting the resonator 2 against the rotating disk 11. Furthermore, since the pre-compression elastic member 32 is located entirely on one side of the rotating disk 11, the installation difficulty of the pre-compression elastic member 32 can be reduced, and the interference of the installation of the pre-compression elastic member 32 on the rotating disk 11 can be reduced.

[0210] For example, the pre-compression assembly 3 may also include a mounting plate 34, which is fixed to the second side wall 52, and a pre-compression elastic member 32 is connected between the mounting plate 34 and the pre-compression member 31.

[0211] In this embodiment, since the pre-compression elastic member 32 is in a compressed state during installation, the installation plate 34 is used to compress the pre-compression elastic member 32 before fixing it to the second side wall 52, which is beneficial for the installation of the pre-compression elastic member 32.

[0212] In some other embodiments, the pre-compression elastic element 32 may also be directly connected to the second sidewall 52.

[0213] Please see Figure 12C , Figure 12C yes Figure 12B The diagram shows the structure of the motor 10 mounting and retaining assembly 4 in some embodiments. It should be noted that... Figure 12C The retaining assembly 4 in the motor 10 shown may include Figure 9A , Figure 9B and Figure 11C Some features of the retaining component 4 in the motor 10 shown are described below; the same features will not be repeated here.

[0214] In some embodiments, the retainer 41 may be mounted on the first sidewall 51.

[0215] In this embodiment, by placing the retaining component 4 and the pre-compression component 3 on opposite sides of the rotating disk 11, the structure between the retaining component 4 and the pre-compression component 3 is decoupled, reducing the overall installation difficulty and minimizing force interference between the retaining component 4 and the pre-compression component 3, thereby improving the balance of the resonator 2 driving the rotor 1 to rotate. During the rotation of the rotating disk 11 driven by the resonator 2, for example, when the rotating disk 11 rotates along the second rotation direction D2, the rotating disk 11 generates an overturning force F5 on the resonator 2. The anti-sway elastic element 42 can generate an anti-sway force F6 opposite to the overturning force F5 through its own elastic recovery, thereby balancing the force on the resonator 2 and preventing the resonator 2 from rotating around the second direction X, thus maintaining the stability of the resonator 2 and facilitating the stable rotation of the rotating disk 11.

[0216] In some examples, the cage 41 can be fixedly mounted to the first sidewall 51 to improve the stability of the cage 41, which helps to provide anti-sway force for the resonator 2, thereby helping the resonator 2 to maintain balance.

[0217] In other examples, the cage 41 can be connected to the first sidewall 51 via an elastic member 44, which is in a compressed state. On the one hand, the elastic member 44 can provide pressure to the resonator 2 through the cage 41, so that the resonator 2 can better abut against the rotating disk 11; on the other hand, the elastic member 44 can provide movement space for the cage 41 through its deformation capability, so that the cage 41 has a margin of safety in balancing the overturning force of the rotating disk 11 on the resonator 2, which is beneficial for the cage 41 to balance the overturning force more flexibly.

[0218] It should be noted that the number, type, and position of the components in the motor 10 in this embodiment are merely illustrative and are not intended to limit the scope. The motor 10 may include more or fewer components. For example, in some other embodiments, the motor 10 may include a holding component 4 but not a preload component 3.

[0219] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other, and any combination of features in different embodiments is also within the protection scope of this application. That is to say, the multiple embodiments described above can also be arbitrarily combined according to actual needs.

[0220] It should be noted that all the above figures are exemplary illustrations of this application and do not represent the actual size of the product. Furthermore, the dimensional proportions between the components in the figures are not intended to limit the actual product of this application.

[0221] The above are merely some embodiments and implementation methods of this application. The scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An electric motor (10), characterized in that, It includes a mover (1) and a harmonic oscillator (2); The moving part (1) includes a rotating disk (11) and a bearing (12). The rotating disk (11) is sleeved on the bearing (12), and the rotating disk (11) can rotate about the axial direction of the bearing (12). The resonator (2) and the rotating disk (11) are arranged in a first direction (Z). The resonator (2) abuts against the rotating disk (11) along a direction parallel to the first direction (Z). The resonator (2) and the bearing (12) are arranged at intervals in a second direction (X). The second direction (X) is perpendicular to the first direction (Z). The resonator (2) is used to drive the rotating disk (11) to rotate. The first direction (Z) is parallel to the axial direction of the rotating disk (11).

2. The motor (10) as described in claim 1, characterized in that, The resonator (2) is used to generate a tangential force parallel to the rotating disk (11) to drive the rotating disk (11) to rotate.

3. The motor (10) as described in claim 1 or 2, characterized in that, The resonator (2) is used to generate a force parallel to a third direction (Y) by vibrating in a first plane (YZ) to drive the rotating disk (11) to rotate. The third direction (Y) is perpendicular to both the first direction (Z) and the second direction (X), and the first plane (YZ) is parallel to both the first direction (Z) and the third direction (Y).

4. The motor (10) as described in claim 1 or 2, characterized in that, The resonator (2) is used to extend and retract along a third direction (Y) according to the sawtooth wave signal, and the third direction (Y) is perpendicular to both the first direction (Z) and the second direction (X); The sawtooth wave signal includes multiple consecutive cycles, each cycle including a first segment and a second segment. In the first segment, the absolute value of the voltage in the first segment increases linearly at an angle that satisfies: 30°≤|α1|≤60°. The resonator (2) deforms along the third direction (Y) in the initial state to drive the rotating disk (11) to rotate. In the second segment, the absolute value of the voltage in the second segment decreases linearly at an angle that satisfies: |α2|≤10°. The resonator (2) deforms along the third direction (Y) to return to the initial state.

5. The motor (10) as described in claim 3 or 4, characterized in that, The resonator (2) includes an elastic body (21) and a piezoelectric component (22). The elastic body (21) abuts against the rotating disk (11). The piezoelectric component (22) is mounted on the surface of the elastic body (21) facing away from the rotating disk (11). The piezoelectric component (22) is used to drive the elastic body (21) to vibrate. The elastic body (21) is used to generate a force parallel to the third direction (Y) to drive the rotating disk (11) to rotate.

6. The motor (10) as described in claim 5, characterized in that, The piezoelectric component (22) includes a first piezoelectric component (221) and a second piezoelectric component (222); At least one of the first piezoelectric component (221) and the second piezoelectric component (221) is used to drive the elastic body (21) to vibrate, so as to generate a driving force parallel to the third direction (Y) and drive the rotating disk (11) to rotate.

7. The motor (10) as described in claim 5 or 6, characterized in that, The elastic body (21) includes an elastic plate (211) and a driving foot (212). The driving foot (212) and the piezoelectric component (22) are located on opposite sides of the elastic plate (211). The elastic plate (211) and the rotating disk (11) are at least partially opposite each other along the first direction (Z). The driving foot (212) abuts against the surface of the rotating disk (11) facing the elastic plate (211). The driving foot (212) and the elastic plate (211) are an integral structure, or the driving foot (212) is fixedly installed on the elastic plate (211).

8. The motor (10) as described in claim 7, characterized in that, The drive foot (212) is positioned adjacent to the edge of the rotating disk (11).

9. The motor (10) as described in any one of claims 1 to 8, characterized in that, The motor (10) also includes a preload assembly (3) for providing preload, which keeps the resonator (2) abutting against the rotating disk (11).

10. The motor (10) as claimed in claim 9, characterized in that, The pre-compression assembly (3) includes a pre-compression component (31), a pre-compression elastic component (32), and a rolling component (33); The pre-compression component (31) and the resonator (2) are located on opposite sides of the rotating disk (11); The preloaded elastic element (32) is connected between the preloaded element (31) and the resonator (2), and the preloaded elastic element (32) is in a stretched state; The rolling element (33) is installed between the rotating disk (11) and the pre-compression element (31).

11. The motor (10) as claimed in claim 10, characterized in that, The pre-pressing member (31) has a first limiting groove (311), the first limiting groove (311) forms an opening on the surface of the pre-pressing member (31) facing the rotating disk (11), and the rolling member (33) is installed in the first limiting groove (311).

12. The motor (10) as claimed in claim 10 or 11, characterized in that, The pre-compression elastic element (32) includes a first elastic element (321) and a second elastic element (322) disposed opposite to each other; The first elastic element (321) connects one end of the resonator (2) to one end of the preload element (31), and the second elastic element (322) connects the other end of the resonator (2) to the other end of the preload element (31).

13. The motor (10) as claimed in claim 12, characterized in that, The resonator (2) and the bearing (12) are arranged at intervals in the second direction (X), which is perpendicular to the first direction (Z). The resonator (2) is used to generate a force parallel to the third direction (Y) to drive the rotating disk (11) to rotate. The third direction (Y) is perpendicular to both the first direction (Z) and the second direction (X). The first elastic member (321) and the second elastic member (322) are arranged in the third direction (Y).

14. The motor (10) as claimed in claim 9, characterized in that, The motor (10) also includes a housing (5), which includes a first sidewall (51) and a second sidewall (52) disposed opposite to each other. The mover (1), the resonator (2) and the preload assembly (3) are all installed between the first sidewall (51) and the second sidewall (52). The resonator (2) is closer to the first sidewall (51) than the mover (1). The pre-compression assembly (3) includes a pre-compression elastic element (32), which is connected between the resonator (2) and the first sidewall (51) and is in a compressed state; or, the pre-compression elastic element (32) is connected between the resonator (2) and the second sidewall (52) and is in a stretched state.

15. The motor (10) as claimed in claim 14, characterized in that, The pre-compression elastic element (32) is connected between the resonator (2) and the first sidewall (51), and the pre-compression elastic element (32) is in a compressed state; The pre-compression assembly (3) also includes a rolling element (33), which is installed between the rotating disk (11) and the second sidewall (52).

16. The motor (10) as claimed in claim 9, characterized in that, The motor (10) also includes a housing (5), which includes a first sidewall (51) and a second sidewall (52) disposed opposite to each other. The mover (1), the resonator (2) and the preload assembly (3) are all installed between the first sidewall (51) and the second sidewall (52). The resonator (2) is closer to the first sidewall (51) than the mover (1). The pre-compression assembly (3) includes a pre-compression component (31), a pre-compression elastic component (32), and a rolling component (33); The pre-compression component (31) and the resonator (2) are located on opposite sides of the rotating disk (11); The rolling element (33) is installed between the rotating disk (11) and the pre-compression element (31); The pre-compression elastic element (32) is connected between the pre-compression element (31) and the second sidewall (52), and the pre-compression elastic element (32) is in a compressed state.

17. The motor (10) as claimed in any one of claims 1 to 16, characterized in that, The motor (10) also includes a retaining component (4) connected to the resonator (2), the retaining component (4) being used to provide an anti-sway force to balance the reaction force of the rotating disk (11) on the resonator (2).

18. The motor (10) as claimed in claim 17, characterized in that, The retaining assembly (4) includes a retainer (41), an anti-sway elastic element (42), and a roller (43); The retainer (41) has a frame structure and includes a first frame (411) and a second frame (412) disposed opposite to each other. The resonator (2) is located between the first frame (411) and the second frame (412). The anti-sway elastic element (42) is connected between the first frame (411) and one end of the resonator (2), and the anti-sway elastic element (42) is in a compressed state; The roller (43) is connected between the second frame (412) and the other end of the resonator (2), and the axis of the roller (43) is parallel to the extension direction of the second frame (412).

19. The motor (10) as claimed in claim 18, characterized in that, The motor (10) also includes a preload assembly (3), which includes a preload member (31), a preload elastic member (32), and a rolling member (33). The preload member (31) and the resonator (2) are located on opposite sides of the rotating disk (11). The rolling member (33) is installed between the rotating disk (11) and the preload member (31). The preload elastic member (32) is connected between the preload member (31) and the retainer (41). The preload elastic member (32) is in a stretched state.

20. The motor (10) as claimed in claim 18, characterized in that, The motor (10) also includes a housing (5) and a preload assembly (3); The housing (5) includes a first sidewall (51) and a second sidewall (52) disposed opposite to each other. The mover (1), the resonator (2) and the preload assembly (3) are all installed between the first sidewall (51) and the second sidewall (52). The resonator (2) is closer to the first sidewall (51) than the mover (1). The pre-compression assembly (3) includes a pre-compression elastic element (32), which is connected between the retainer (41) and the first sidewall (51) and is in a compressed state; or, the pre-compression elastic element (32) is connected between the retainer (41) and the second sidewall (52) and is in a stretched state.

21. The motor (10) as claimed in claim 18, characterized in that, The motor (10) also includes a housing (5) and a preload assembly (3), and the retainer (41) is connected to the housing (5); The housing (5) includes a first sidewall (51) and a second sidewall (52) disposed opposite to each other. The mover (1), the resonator (2) and the preload assembly (3) are all installed between the first sidewall (51) and the second sidewall (52). The resonator (2) is closer to the first sidewall (51) than the mover (1). The pre-compression assembly (3) includes a pre-compression component (31), a pre-compression elastic component (32), and a rolling component (33). The pre-compression component (31) and the resonator (2) are located on opposite sides of the rotating disk (11). The rolling component (33) is installed between the rotating disk (11) and the pre-compression component (31). The pre-compression elastic component (32) is connected between the pre-compression component (31) and the second sidewall (52). The pre-compression elastic component (32) is in a compressed state.

22. The motor (10) as claimed in claim 19 or 20, characterized in that, The pre-compression elastic element (32) includes a first elastic element (321) and a second elastic element (322) disposed opposite to each other. The first elastic element (321) is connected to the first frame (411), and the second elastic element (322) is connected to the second frame (412).

23. The motor (10) as described in any one of claims 18 to 22, characterized in that, The resonator (2) and the bearing (12) are arranged at intervals in the second direction (X), which is perpendicular to the first direction (Z). The resonator (2) is used to generate a force parallel to the third direction (Y) to drive the rotating disk (11) to rotate. The third direction (Y) is perpendicular to both the first direction (Z) and the second direction (X). The first border (411) and the second border (412) are arranged in the third direction (Y).

24. The motor (10) as described in any one of claims 18 to 23, characterized in that, The second frame (412) has a second limiting groove (4121), which is located on the surface of the second frame (412) facing the resonator (2); The resonator (2) has a third limiting groove (23) located on the surface of the resonator (2) facing the second frame (412); The roller (43) is installed between the second limiting groove (4121) and the third limiting groove (23).

25. The motor (10) as claimed in claim 24, characterized in that, The second limiting groove (4121) is a V-shaped groove, and / or the third limiting groove (23) is a V-shaped groove.

26. An electronic device, characterized in that, Includes the motor (10) as described in any one of claims 1 to 25.

Images