Ultrasonic motor

Abstract

The utility model relates to the technical field of ultrasonic motor manufacturing, and discloses an ultrasonic motor, which comprises a base, a stator module, an output shaft, a rotor module, a belleville spring and a shell, and is characterized in that the stator module is mounted in the base; the first end of the output shaft penetrates through the stator module and penetrates out of the base; the output shaft is axially provided with a through hole in a penetrating manner, at least one end of the output shaft is integrally provided with a gear structure, and the peripheral wall of the output shaft is provided with a flange part; the rotor module is movably arranged on the output shaft in a sleeving mode in the axial direction and connected with the flange part. The belleville spring elastically abuts against the position between the flange part and the rotor module and is used for making the rotor module make abutting contact with the stator module. The shell is detachably arranged on the base in a covering mode, and the second end of the output shaft penetrates out of the shell. According to the utility model, coaxial design of the load shaft and the ultrasonic motor shaft can be realized, and space is saved; gear installation can be simplified, and the use reliability of the motor is improved; the abrasion of the friction plate of the rotor module is more uniform, the rotation stability of the motor is improved, and the service life is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of ultrasonic motor manufacturing, in particular to an ultrasonic motor. Background Art

[0002] An ultrasonic motor (Ultrasonic Motor) is a motor that uses ultrasonic vibrations to generate mechanical motion. Its operating principle is based on the piezoelectric effect or magnetostrictive effect, which states that certain materials undergo dimensional changes under the influence of an electric field. Ultrasonic motors exploit this property by applying an alternating electric field to piezoelectric or magnetostrictive materials, causing them to vibrate at ultrasonic frequencies. This in turn drives a rotor or slider through friction, achieving rotational or linear motion.

[0003] Ultrasonic motors mainly include the following parts:

[0004] Piezoelectric elements: The core component of ultrasonic motors is the piezoelectric element, which is usually a piezoelectric ceramic or a piezoelectric crystal. These elements produce mechanical deformation when voltage is applied, thereby exciting vibrations.

[0005] Vibrator: A component connected to the piezoelectric element, the vibrator amplifies the vibrations generated by the element and transmits them to the rotor or slider. The shape and size of the vibrator affect the performance of the motor and are usually precisely designed to produce a specific vibration pattern.

[0006] Rotor or Slider: In a rotary ultrasonic motor, the rotor is the part that contacts the vibrator and is driven to rotate. In a linear ultrasonic motor, the slider is the part that performs linear motion.

[0007] Preload mechanism: To ensure efficient energy transfer, ultrasonic motors usually require a preload mechanism to maintain the contact pressure between the vibrator and the rotor (or slider). This can be achieved through springs, gravity, or other mechanical means.

[0008] Excitation power supply: Ultrasonic motors require an excitation power supply with a specific frequency and waveform to drive the piezoelectric element. This is usually a high-frequency power supply whose output matches the resonant frequency of the piezoelectric element.

[0009] Friction material: In order to improve the energy conversion efficiency, the contact surface between the vibrator and the rotor (or slider) is usually covered with special friction material to enhance friction.

[0010] Housing and bracket: The housing and bracket of the ultrasonic motor are used to fix and protect the internal components, while providing an interface for installation and connection.

[0011] Compared with traditional electromagnetic motors, ultrasonic motors have the following significant advantages:

[0012] No electromagnetic interference: Ultrasonic motors do not generate electromagnetic fields and therefore do not generate electromagnetic interference.

[0013] High torque, low speed: They can directly output high torque at low speed without the use of a reducer.

[0014] Compact design: Due to their operating principle, ultrasonic motors can be designed to be smaller than traditional motors.

[0015] Quiet operation: Ultrasonic motors generally operate quietly.

[0016] Fast response: Because the piezoelectric or magnetostrictive material responds quickly, this type of motor can start and stop quickly.

[0017] Based on the above advantages, ultrasonic motors have unique advantages in fields such as precision positioning, medical equipment, and applications without electromagnetic environment requirements.

[0018] However, the output shafts of most common ultrasonic motors on the market are solid cylindrical shafts or shafts with keyways, which are inconvenient to use in certain special application scenarios. This results in the ultrasonic motor and load being arranged side by side taking up a large amount of space. Furthermore, when using an ultrasonic motor, it is often necessary to install gears on the shaft, which is cumbersome, time-consuming, and labor-intensive, resulting in low reliability. Furthermore, the friction blocks of the rotor modules of existing ultrasonic motors are typically compressed using springs. A significant disadvantage of spring compression is uneven pressure, which can easily cause uneven force on the friction blocks, leading to unstable motor rotation, localized wear of the friction blocks, and a shorter motor life. Utility Model Content

[0019] Based on the above, the purpose of the present invention is to provide an ultrasonic motor that can effectively reduce the space occupied by the ultrasonic motor and the load, simplify the gear installation, increase the reliability of the ultrasonic motor, and make the wear of the rotor module friction plate more uniform, thereby improving the motor's rotation stability and service life.

[0020] To achieve this purpose, the present invention adopts the following technical solutions:

[0021] An ultrasonic motor, comprising:

[0022] base;

[0023] A stator module is installed in the base;

[0024] an output shaft, wherein a first end of the output shaft passes through the stator module and exits from the base; a through hole is axially extending through the output shaft, a gear structure is integrally formed on at least one end of the output shaft, and a flange portion is provided on an outer peripheral wall of the output shaft;

[0025] A rotor module is movably sleeved on the output shaft along the axial direction and connected to the flange portion, and the rotor module can drive the output shaft to rotate synchronously;

[0026] a disc spring elastically pressed between the flange and the rotor module to ensure tight contact between the rotor module and the stator module;

[0027] A housing and a detachable cover are arranged on the base; the stator module, the output shaft, the rotor module and the disc spring are all located between the housing and the base; and the second end of the output shaft passes through the housing.

[0028] In some possible embodiments, the stator module includes a stator bracket, a piezoelectric ceramic and a first friction plate, the stator bracket is fixed to the base, the piezoelectric ceramic is fixed to the stator bracket, and the first friction plate is fixed to the piezoelectric ceramic; the rotor module includes a rotor and a second friction plate fixed to the rotor, the second friction plate is arranged relative to the first friction plate, and the disc spring can make the second friction plate contact tightly with the first friction plate.

[0029] In some possible implementations, one of the flange portion and the rotor is provided with a guide boss, and the other is provided with a guide groove, and the guide boss and the guide groove are plug-fitted along the axial direction of the output shaft.

[0030] In some possible embodiments, when the rotor and the flange portion are assembled, a first gap is formed between the top of the guide boss and the bottom of the guide groove; when the shell and the base are assembled, the disc spring is further compressed, and a second gap is formed between the top of the guide boss and the bottom of the guide groove, and the second gap is smaller than the first gap.

[0031] In some possible implementations, at least one end of the output shaft is provided with a load mounting hole for fixing to an external load via a first fastener.

[0032] In some possible implementations, the external load includes a gear, a shaft, an encoder, or a synchronous pulley.

[0033] In some possible implementations, the stator bracket, the piezoelectric ceramic, and the first friction plate are fixed by bonding.

[0034] In some possible implementations, the rotor and the second friction plate are fixed by bonding.

[0035] In some possible implementations, the rotor and the flange are fixedly connected via a second fastener; and / or the housing and the base are fixedly connected via a third fastener.

[0036] In some possible embodiments, a first bearing is installed in the base, and the first end of the output shaft is rotatably connected to the base through the first bearing; a second bearing is installed in the housing, and the second end of the output shaft is rotatably connected to the housing through the second bearing.

[0037] Beneficial effects of the utility model:

[0038] The ultrasonic motor provided by the utility model, by setting the output shaft as a hollow shaft, can make some shafts that move back and forth and rotate along the axis of the ultrasonic motor output shaft pass through the hollow shaft of the ultrasonic motor, thereby realizing a coaxial design of the load shaft and the ultrasonic motor shaft, which can effectively reduce the space occupied by the ultrasonic motor and the load; by providing a gear structure at at least one end of the output shaft, the output shaft and the gear are integrated, which not only simplifies the installation and avoids the process of adding gears to the optical axis later, but also increases the reliability of the ultrasonic motor and overcomes the problem that the gears installed later are easy to loosen and have low reliability; by using a disc spring to compress the rotor module, since the planes of the upper and lower circular openings of the disc spring are parallel to each other, when using it to compress the rotor module, the pressure is more uniform, so that the wear of the friction plate of the rotor module is more uniform, which is beneficial to improving the smoothness of motor rotation and increasing the service life of the motor, and the volume of the disc spring is relatively smaller, which is beneficial to saving installation space. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the first angle structure of the ultrasonic motor provided by an embodiment of the present utility model;

[0040] Figure 2 This is a schematic diagram of the second angle structure of the ultrasonic motor provided by an embodiment of the utility model;

[0041] Figure 3 This is an exploded schematic diagram of an ultrasonic motor provided by an embodiment of the present utility model;

[0042] Figure 4 This is an assembly cross-sectional view of an ultrasonic motor provided by an embodiment of the present utility model;

[0043] Figure 5 This is a diagram of the assembly structure of the ultrasonic motor and the external load provided by an embodiment of the utility model;

[0044] Figure 6 This is a cross-sectional view of the assembly of the ultrasonic motor and the external load provided by an embodiment of the utility model;

[0045] Figure 7 This is a schematic structural diagram of a base provided by an embodiment of the present utility model;

[0046] Figure 8 This is an assembly structure diagram of the base and the first bearing provided in an embodiment of the utility model;

[0047] Figure 9 This is a structural diagram of a stator module provided by an embodiment of the present utility model;

[0048] Figure 10 This is an assembly cross-sectional view of the base, the first bearing, and the stator module provided in an embodiment of the present utility model;

[0049] Figure 11 This is a schematic structural diagram of a housing provided by an embodiment of the present utility model;

[0050] Figure 12 This is an assembly structure diagram of the housing and the second bearing provided by an embodiment of the utility model;

[0051] Figure 13 This is a schematic structural diagram of the output shaft provided by an embodiment of the present utility model;

[0052] Figure 14 This is a schematic structural diagram of a disc spring provided by an embodiment of the present utility model;

[0053] Figure 15 This is a diagram of the assembly structure of the output shaft and disc spring provided in an embodiment of the utility model;

[0054] Figure 16 This is a schematic structural diagram of a rotor module provided by an embodiment of the present utility model;

[0055] Figure 17 This is an assembly diagram of the output shaft, disc spring and rotor module provided by an embodiment of the utility model;

[0056] Figure 18 This is a cross-sectional view of the assembly of the output shaft, disc spring, and rotor module provided by an embodiment of the present utility model;

[0057] Figure 19 This is an exploded structural diagram of the output shaft, disc spring and rotor module provided by an embodiment of the present utility model.

[0058] In the picture:

[0059] 1. Base; 11. Third fastener; 12. Stator module mounting slot; 13. First bearing mounting slot;

[0060] 2. Stator module; 21. Stator bracket; 22. Piezoelectric ceramic; 23. First friction plate; 24. Fourth fastener;

[0061] 3. Output shaft; 31. Through hole; 32. Gear structure; 33. Flange; 331. Guide groove; 34. Load mounting hole; 35. First fastener;

[0062] 4. Rotor module; 41. Rotor; 411. Guide boss; 42. Second friction plate; 43. Second fastener;

[0063] 5. Disc spring;

[0064] 6. Housing; 61. Second bearing mounting groove;

[0065] 7. External load; 8. First bearing; 9. Second bearing. DETAILED DESCRIPTION

[0066] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of its components.

[0067] In the description of this utility model, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0068] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0069] In the description of this utility model, the terms "upper," "lower," "left," and "right," etc., regarding orientations or positions, are based on the orientations or positions shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0070] This embodiment provides an ultrasonic motor to solve the problems in the prior art that ultrasonic motors use a solid cylindrical optical shaft, which is inconvenient to use in certain special application scenarios, the motor and load occupy a large space, and the prior ultrasonic motors need to be additionally installed with gears on the optical shaft when in use, which is cumbersome to operate and has low reliability. At the same time, it overcomes the problem that the prior ultrasonic motors use springs to compress the friction blocks of the rotor module, resulting in uneven force on the friction blocks, which leads to unstable rotation of the motor and a short service life.

[0071] like Figures 1 to 19 As shown, this embodiment provides an ultrasonic motor comprising a base 1, a stator module 2, an output shaft 3, a rotor module 4, a disc spring 5, and a housing 6. A stator module mounting slot 12 is provided within the base 1, into which the stator module 2 is mounted. The first end of the output shaft 3 passes through the stator module 2 and out of the base 1. A through hole 31 is axially extending through the output shaft 3 for passage of other shaft components. This allows loads mounted on other shaft components to be arranged along the same axis as the ultrasonic motor, rather than being arranged side by side, thus saving space. A gear structure 32 is integrally formed on at least one end of the output shaft 3 for meshing with other external gear components. Specifically, the gear structure 32 can be either a spur gear or a helical gear. The rotor module 4 is axially movably mounted on the output shaft 3. When the friction plate of the rotor module 4 wears, the rotor module 4 can be axially displaced a certain distance to compensate for wear under the action of the disc spring 5. The outer peripheral wall of the output shaft 3 is provided with a flange portion 33, and the rotor module 4 is fixedly connected to the flange portion 33 to lock the radial position of the rotor module 4 relative to the output shaft 3, so that the output shaft 3 can be driven to rotate synchronously when the rotor module 4 rotates. The disc spring 5 is tightly installed between the flange portion 33 and the rotor module 4, and is used to make the rotor module 4 and the stator module 2 tightly contact. The housing 6 is detachably covered on the base 1, and the stator module 2, the output shaft 3, the rotor module 4 and the disc spring 5 are all located between the housing 6 and the base 1, and the second end of the output shaft 3 passes through the housing 6. Specifically, the housing 6 and the base 1 can be fixedly connected by a number of third fasteners 11. The third fastener 11 is preferably a screw.

[0072] In this embodiment, by setting the output shaft 3 as a hollow shaft, some shafts that move back and forth and rotate along the axial direction of the ultrasonic motor output shaft 3 can pass through the hollow shaft of the ultrasonic motor, thereby realizing a coaxial design of the load shaft and the ultrasonic motor shaft, which can effectively reduce the space occupied by the ultrasonic motor and the load; by providing a gear structure 32 at at least one end of the output shaft 3, the output shaft 3 and the gear are integrated, which not only simplifies the installation and avoids the process of adding gears to the optical axis later, but also increases the reliability of the ultrasonic motor and overcomes the problem that the gears installed later are easy to loosen and have low reliability; by using the disc spring 5 to press the rotor module 4, since the planes of the upper and lower circular openings of the disc spring 5 are parallel to each other, when it is used to press the rotor module 4, the pressure is more uniform, so that the friction plate of the rotor module 4 wears more evenly, which is beneficial to improving the smoothness of the motor rotation and increasing the service life of the motor. In addition, the volume of the disc spring 5 is relatively smaller, which is beneficial to saving installation space.

[0073] refer to Figure 7 and Figure 8 A first bearing mounting groove 13 is further provided in the base 1, and the first bearing 8 is mounted in the first bearing mounting groove 13. The first end of the output shaft 3 is rotatably connected to the base 1 through the first bearing 8. Figure 11 and Figure 12 A second bearing mounting groove 61 is provided in the housing 6, and a second bearing 9 is mounted in the second bearing mounting groove 61. The second end of the output shaft 3 is rotatably connected to the housing 6 via the second bearing 9. The above arrangement effectively ensures stable and smooth rotation of the output shaft 3 between the base 1 and the housing 6, thereby improving the reliability of the ultrasonic motor.

[0074] refer to Figure 9 and Figure 10 The stator module 2 of this embodiment includes a stator bracket 21, a piezoelectric ceramic 22, and a first friction plate 23, wherein the stator bracket 21 is fixed to the base 1 by a fourth fastener 24, the piezoelectric ceramic 22 is fixed to the stator bracket 21, and the first friction plate 23 is fixed to the piezoelectric ceramic 22. Optionally, the stator bracket 21, the piezoelectric ceramic 22, and the first friction plate 23 are fixed by bonding, which has a simple structure and reliable connection. Figure 4 、 Figure 10 、 Figure 16-19In this embodiment, the rotor module 4 includes a rotor 41 and a second friction plate 42 secured to the rotor 41. The rotor 41 is fixedly connected to the flange portion 33 via a second fastener 43. The second friction plate 42 is positioned opposite the first friction plate 23. The disc spring 5 ensures tight contact between the second friction plate 42 and the first friction plate 23. When wear occurs between the second friction plate 42 and the first friction plate 23, the disc spring 5 effectively compensates for the wear, thereby increasing the service life of the motor. Optionally, the second friction plate 42 and the rotor 41 are secured by bonding, which provides a simple structure and a reliable connection. For example, epoxy adhesive is used to bond the stator bracket 21, the piezoelectric ceramic 22, and the first friction plate 23. Epoxy adhesive is also used to bond the second friction plate 42 to the rotor 41. Epoxy adhesive has high bonding strength and excellent resistance to high and low temperatures, acids and alkalis, and shock and vibration, thereby improving motor performance.

[0075] Alternatively, as Figures 13-19 As shown, in this embodiment, one end surface of the flange portion 33 is provided with a limiting step for mounting the disc spring 5. Several guide grooves 331 are also provided on this end surface of the flange portion 33, and several guide bosses 411 are provided on the rotor 41. Each guide boss 411 engages with each guide groove 331 in a one-to-one correspondence along the axis of the output shaft 3. The precise fit between the guide bosses 411 and the guide grooves 331 guides the axial movement of the rotor module 4, ensuring high rotational accuracy of the output shaft 3 of the ultrasonic motor. Furthermore, the engagement between the guide bosses 411 and the guide grooves 331 restricts the rotor 41 to axial movement relative to the output shaft 3, preventing relative rotation, thereby improving the synchronization of the rotation of the rotor 41 and the output shaft 3. Of course, in other embodiments, guide bosses can be provided on the flange portion 33 and guide grooves can be provided on the rotor 41 to achieve the same function.

[0076] In this embodiment, when the rotor 41 and flange portion 33 are assembled, a first gap exists between the top of the guide boss 411 and the bottom of the guide groove 331. When the housing 6 is placed on the base 1, a third gap exists between the lower end surface of the housing 6 and the upper end surface of the base 1. When the housing 6 and base 1 are assembled (i.e., when the third fastener 11 is tightened to align the lower end surface of the housing 6 with the upper end surface of the base 1), the housing 6 presses against the rotor module 4, further compressing the disc spring 5. The third gap becomes zero, and the first gap between the top of the guide boss 411 and the bottom of the guide groove 331 is reduced to the second gap. This further increases the preload force of the disc spring 5, thereby compensating for wear between the second friction plate 42 and the first friction plate 23 over a wider range. In this embodiment, the second gap between the top of the guide boss 411 and the bottom of the guide groove 331 when the housing 6 and base 1 are assembled prevents collision and friction between the rotor 41 and the flange portion 33, thereby ensuring the safe and reliable operation of the motor. Exemplarily, the value of the second gap may be 0.2 mm.

[0077] Optionally, refer to Figure 2 、 Figure 4-Figure 6 , at least one end of the output shaft 3 is provided with a load mounting hole 34, which is used to fix it to the external load 7 through a first fastener 35. Specifically, a plurality of load mounting holes 34 are provided on the end face of the first end of the output shaft 3 of this embodiment, and the first fastener 35 passes through the external load 7 and is threadedly connected to the load mounting hole 34, thereby achieving reliable fixation of the external load 7 to the output shaft 3. Preferably, the first fastener 35 is a screw. At the same time, in this embodiment, a gear structure 32 is integrally formed on the outer peripheral surface of the second end of the output shaft 3, so that the bidirectional output of the output shaft 3 can be achieved, thereby improving the efficiency of the motor. By adding a load mounting hole 34 to the end of the output shaft 3, this embodiment allows users to flexibly install the corresponding external load 7 according to usage requirements. The installed external load 7 can be a gear, a shaft, an encoder or a synchronous pulley, etc., or it can be other forms of loads.

[0078] The assembly process of the ultrasonic motor provided in this embodiment is as follows:

[0079] S1, such as Figure 8 As shown, a first bearing 8 is installed in the base 1;

[0080] S2, such as Figure 10 As shown, the stator module 2 is installed in the base 1;

[0081] S3, such as Figure 12 As shown, a second bearing 9 is installed in the housing 6;

[0082] S4, such as Figure 15 As shown, a disc spring 5 is installed on the output shaft 3;

[0083] S5, such as Figure 17 As shown, the rotor module 4 is mounted on the output shaft 3 so that the guide boss 411 on the rotor 41 is aligned with the guide groove 331 on the flange portion 33;

[0084] S6, such as Figure 18 As shown, the rotor module 4, the disc spring 5 and the output shaft 3 are fixedly connected by the second fastener 43;

[0085] In this step, the second fastener 43 is a screw. When tightening the screw, a first gap should be left between the top of the guide boss 411 and the bottom of the guide groove 331. A feeler gauge can be used to assist in assembly. This first gap should be large enough to ensure that the disc spring 5 is in a tightly compressed state. For example, the first gap can be 0.5 mm.

[0086] S7, such as Figure 3 As shown, the three assemblies assembled in the above steps S2, S3, and S6 are assembled, wherein the base 1 and the shell 6 are fixedly connected by the third fastener 11;

[0087] In this step, the third fastener 11 is a screw. Under normal circumstances, when the screw is not tightened, the disc spring 5 creates a third gap between the base 1 and the housing 6. If the motor fails to rotate when the wear of the second friction plate 42 exceeds 0.3 mm, then the value of this third gap should be 0.3 mm. When the screw is tightened, the disc spring 5 is compressed by 0.3 mm, eliminating the third gap between the base 1 and the housing 6. The mounting surfaces of the base 1 and the housing 6 mate, and the value of the first gap in step S6 changes from 0.5 mm to a second gap of 0.2 mm. In other words, when the wear of the second friction plate 42 on the rotor 41 is within 0.3 mm, the disc spring 5 consistently exerts a force on the rotor module 4, thereby ensuring constant pressure between the second friction plate 42 on the rotor module 4 and the first friction plate 23 on the stator module 2.

[0088] It should be noted that the maximum wear value of the second friction plate 42 varies depending on the specific structure of the rotor module 4 and can be set based on actual conditions. For example, if the motor fails to rotate when the wear of the second friction plate 42 exceeds 1 mm, the third gap should be set to 1 mm, and the first gap in step S6 should be set to 1.2 mm. When the screws are tightened, the disc spring 5 is compressed by 1 mm, and the first gap decreases from 1.2 mm to 0.2 mm.

[0089] S8, such as Figure 5 As shown, the external load 7 is fixed to the end of the output shaft 3 by the first fastener 35, and the entire ultrasonic motor is assembled.

[0090] In this step, the type of the external load 7 can be changed according to the actual use requirements of the ultrasonic motor, such as a spur gear, a helical gear, a bevel gear, or an encoder. Of course, when the external load 7 is not needed, the external load 7 can be not installed or removed from the output shaft 3.

[0091] Obviously, the above-described embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the manner in which the present invention is to be implemented. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. An ultrasonic motor, characterized in that: include: Base (1); A stator module (2) is installed in the base (1); An output shaft (3), wherein a first end of the output shaft (3) passes through the stator module (2) and exits from the base (1); a through hole (31) is provided in the output shaft (3) along the axial direction, a gear structure (32) is integrally formed at at least one end of the output shaft (3), and a flange portion (33) is provided on the outer peripheral wall of the output shaft (3); A rotor module (4) is movably sleeved on the output shaft (3) along the axial direction and connected to the flange portion (33). The rotor module (4) can drive the output shaft (3) to rotate synchronously. a disc spring (5) elastically pressed between the flange portion (33) and the rotor module (4) for pressing the rotor module (4) and the stator module (2) into contact with each other; A housing (6) with a detachable cover is provided on the base (1); the stator module (2), the output shaft (3), the rotor module (4) and the disc spring (5) are all located between the housing (6) and the base (1); and the second end of the output shaft (3) passes through the housing (6).

2. The ultrasonic motor according to claim 1, wherein: The stator module (2) includes a stator bracket (21), a piezoelectric ceramic (22) and a first friction plate (23), wherein the stator bracket (21) is fixed to the base (1), the piezoelectric ceramic (22) is fixed to the stator bracket (21), and the first friction plate (23) is fixed to the piezoelectric ceramic (22); the rotor module (4) includes a rotor (41) and a second friction plate (42) fixed to the rotor (41), wherein the second friction plate (42) and the first friction plate (23) are arranged relative to each other, and the disc spring (5) can make the second friction plate (42) and the first friction plate (23) contact each other tightly.

3. The ultrasonic motor according to claim 2, wherein: One of the flange portion (33) and the rotor (41) is provided with a guide boss (411), and the other is provided with a guide groove (331). The guide boss (411) and the guide groove (331) are plug-fitted along the axial direction of the output shaft (3).

4. The ultrasonic motor according to claim 3, characterized in that When the rotor (41) and the flange portion (33) are assembled, a first gap is formed between the top of the guide boss (411) and the bottom of the guide groove (331); when the housing (6) and the base (1) are assembled, the disc spring (5) is further compressed, and a second gap is formed between the top of the guide boss (411) and the bottom of the guide groove (331), and the second gap is smaller than the first gap.

5. The ultrasonic motor according to claim 1, wherein: At least one end of the output shaft (3) is provided with a load mounting hole (34) for fixing to an external load (7) via a first fastener (35).

6. The ultrasonic motor according to claim 5, characterized in that The external load (7) includes a gear, a shaft, an encoder or a synchronous pulley.

7. The ultrasonic motor according to claim 2, wherein: The stator bracket (21), the piezoelectric ceramic (22), and the first friction plate (23) are fixed by bonding.

8. The ultrasonic motor according to claim 2, wherein: The rotor (41) and the second friction plate (42) are fixed by bonding.

9. The ultrasonic motor according to claim 2, wherein: The rotor (41) and the flange portion (33) are fixedly connected via a second fastener (43); and / or the housing (6) and the base (1) are fixedly connected via a third fastener (11).

10. The ultrasonic motor according to claim 1, wherein A first bearing (8) is installed in the base (1), and a first end of the output shaft (3) is rotatably connected to the base (1) via the first bearing (8); a second bearing (9) is installed in the housing (6), and a second end of the output shaft (3) is rotatably connected to the housing (6) via the second bearing (9).

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