Rotary traveling wave ultrasonic motor

Abstract

The utility model belongs to the technical field of motors, and particularly relates to a rotating traveling wave ultrasonic motor, which comprises a rotor assembly, a driving assembly and a driving assembly, the stator assembly comprises a stator base and a driving part used for driving the stator base to rotate relative to the rotor assembly, and the driving part is located in the stator base and connected to the stator base; the bearing assembly comprises a bearing part with the inner side connected with the rotor assembly and a bearing sleeve connected to the outer side of the bearing part in a sleeving mode, and a connecting structure used for disassembly and assembly is arranged between the outer side of the bearing sleeve and the stator base. According to the rotary traveling wave ultrasonic motor provided by the invention, the technical problems of complex assembly, high maintenance difficulty and cost and limited application scene of the rotary traveling wave ultrasonic motor in the prior art are solved.

Description

Technical Field

[0001] This application belongs to the field of motor technology, and more specifically, relates to a rotating traveling wave ultrasonic motor. Background Technology

[0002] The rotating traveling wave ultrasonic motor is a new type of micro motor based on the piezoelectric effect. Its core principle is to apply a high-frequency AC voltage to the stator to excite mechanical vibration in the ultrasonic frequency band, and form a traveling wave on the surface of the stator that propagates in a specific direction. When the traveling wave contacts the rotor, it generates frictional force to drive the rotor to rotate. It has the characteristics of compact structure, fast response, power-off self-locking, and low speed with high torque. It is widely used in fields that require high-precision control, such as precision instruments, aerospace, robotics and medical devices.

[0003] Existing rotating traveling wave ultrasonic motors mostly adopt an integrated design, resulting in a complex assembly process, high maintenance difficulty and cost, difficulty in replacing damaged parts, and difficulty in cleaning fine debris of friction material, leading to frictional loss and short circuits, and low fatigue life. In addition, the stator of the rotating traveling wave ultrasonic motor, which is electrically excited, is often fixed, while the rotor rotates, which limits the application of rotating traveling wave ultrasonic motors in scenarios where the rotational motion is on the circuit input side. Utility Model Content

[0004] The purpose of this application is to provide a rotating traveling wave ultrasonic motor to solve the technical problems of complex assembly, difficult and costly maintenance, and limited application scenarios of existing rotating traveling wave ultrasonic motors.

[0005] To achieve the above objectives, the technical solution adopted in this application embodiment is: to provide a rotating traveling wave ultrasonic motor, comprising:

[0006] Rotor assembly;

[0007] A stator assembly includes a stator base and a drive component for driving the stator base to rotate relative to the rotor assembly, the drive component being located inside the stator base and connected to the stator base;

[0008] The bearing assembly includes a bearing member connected to the rotor assembly on the inner side and a bearing sleeve sleeved on the outer side of the bearing member. A connection structure for disassembly and assembly is provided between the outer side of the bearing sleeve and the stator seat.

[0009] Optionally, the connection structure includes a groove located outside the bearing sleeve and a slide rail located on the stator seat, the slide rail being slidably connected to the groove.

[0010] Optionally, the bearing assembly is located inside the stator housing, the inner side of the stator housing is provided with multiple slide rails, and the outer side of the bearing sleeve is provided with a slide groove corresponding to the stator housing.

[0011] Optionally, the connection structure further includes a positioning groove disposed in the stator seat and a positioning component disposed in the bearing sleeve and used to extend into the positioning groove.

[0012] Optionally, the positioning component includes a receiving groove disposed on the outside of the bearing sleeve, an elastic element and a positioning element located in the receiving groove, one end of the elastic element being connected to the receiving groove, and the other end of the elastic element being connected to the positioning element, so that the positioning element extends into the positioning groove and abuts against the positioning groove.

[0013] Optionally, the drive component includes a circuit board, a piezoelectric ceramic, and a stator elastomer. One end of the circuit board is connected to the piezoelectric ceramic, and the other end of the circuit board extends out of the stator base. The piezoelectric ceramic is connected to the stator elastomer, and the stator elastomer is connected to the rotor assembly.

[0014] Optionally, the stator base has a cylindrical structure, and the bottom of the stator base is provided with a positioning boss that is connected to the stator elastomer. The stator elastomer is annular and sleeved on the positioning boss, and the stator elastomer has multiple tooth grooves on the side facing the rotor assembly.

[0015] Optionally, the positioning boss includes a first boss and a second boss arranged coaxially. The first boss is connected to the bottom of the stator base. The circuit board and piezoelectric ceramic are annular and sleeved on the first boss. The second boss is disposed on the side of the second boss facing the rotor assembly, and the stator elastomer is interference-fitted to the second boss.

[0016] Optionally, the rotor assembly includes a rotor and a friction pad for frictional connection with the drive component, the friction pad being connected to the rotor.

[0017] Optionally, the rotor includes a fixing part for fixed installation at the work station and a mounting part connected to the fixing part. The mounting part and the fixing part have a cylindrical structure and are coaxially arranged. The mounting part is located inside the stator seat, and the bearing is sleeved on the outside of the mounting part. The friction pad is disposed on the side of the mounting part facing the drive component.

[0018] The rotating traveling wave ultrasonic motor provided in this application embodiment has at least the following beneficial effects: Compared with the prior art, the rotating traveling wave ultrasonic motor provided in this application embodiment uses a bearing assembly to rotatably connect the stator assembly and the rotor assembly. The bearing components in the bearing assembly realize the relative rotation of the stator assembly and the rotor assembly. The bearing sleeve sleeved on the outside of the bearing component realizes quick and convenient disassembly and assembly through the connection structure between it and the stator base, realizing the modular disassembly of the rotating traveling wave ultrasonic motor, simplifying the assembly of the rotating traveling wave ultrasonic motor, and reducing the difficulty and cost of maintenance. At the same time, the drive component is set in the stator base and drives the stator assembly to rotate relative to the rotor assembly, which can meet the needs of the scenario where the drive component (i.e., the stator assembly) performs rotational motion. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A three-dimensional structural diagram of the traveling wave ultrasonic motor provided in the embodiments of this application. Figure 1 ;

[0021] Figure 2 A three-dimensional structural diagram of the traveling wave ultrasonic motor provided in the embodiments of this application. Figure 2 ;

[0022] Figure 3 Schematic diagram of the exploded structure of the traveling wave ultrasonic motor provided in the embodiments of this application. Figure 1 ;

[0023] Figure 4 Schematic diagram of the exploded structure of the traveling wave ultrasonic motor provided in the embodiments of this application. Figure 2 ;

[0024] Figure 5 This is an exploded structural diagram of the stator seat and bearing sleeve used in the embodiments of this application;

[0025] Figure 6 This is a top view of the traveling wave ultrasonic motor provided in an embodiment of this application;

[0026] Figure 7 For along Figure 6 Cross-sectional view of line AA in the middle.

[0027] The following are the labeling elements in the figure:

[0028] 1. Stator assembly; 11. Stator base; 111. Slide rail; 112. Positioning groove; 113. Positioning boss; 113a. First boss; 113b. Second boss; 12. Drive component; 121. Circuit board; 122. Piezoelectric ceramic; 123. Stator elastomer; 123a. Gear groove;

[0029] 2. Bearing assembly; 21. Bearing component; 22. Bearing sleeve; 221. Slide groove; 222. Positioning component; 222a. Positioning element;

[0030] 3. Rotor assembly; 31. Rotor; 311. Fixing part; 312. Mounting part; 32. Friction pad. Detailed Implementation

[0031] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0032] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0033] It should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first" and "second" 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 as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] The various specific technical features and embodiments described in the detailed implementation can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different specific technical features / implementations / implementation methods. In order to avoid unnecessary repetition, the various possible combinations of the various specific technical features / implementations / implementation methods in this application will not be described separately.

[0035] Please refer to this as well. Figures 1 to 3 This application provides a rotating traveling wave ultrasonic motor, including a rotor assembly 3, a stator assembly 1, and a bearing assembly 2. The rotor assembly 3 and the stator assembly 1 are rotatably connected through the bearing assembly 2, and the stator assembly 1 can rotate relative to the rotor assembly 3 through the bearing assembly 2.

[0036] Specifically, the stator assembly 1 includes a stator base 11 and a drive component 12. The stator base 11 has a cavity inside, and the drive component 12 can be disposed in the cavity of the stator base 11. The drive component 12 is connected to the stator base 11 and is used to drive the stator base 11 to rotate relative to the rotor assembly 3.

[0037] The bearing assembly 2 includes a bearing component 21 and a bearing sleeve 22. The inner side of the bearing component 21 is connected to the rotor assembly 3. The inner side of the bearing sleeve 22 is fitted onto the outer side of the bearing component 21. A connection structure is provided between the outer side of the bearing sleeve 22 and the stator base 11. The bearing sleeve 22 and the stator base 11 are connected by the connection structure, and disassembly and assembly are realized through the connection structure, thereby realizing the disassembly and assembly of the stator assembly 1 and the rotor assembly 3.

[0038] This design has two advantages. First, during assembly and disassembly, the stator housing 11 can be easily removed from the bearing sleeve 22 using the connecting structure, allowing for quick disassembly of the rotor assembly 3 and the stator assembly 1. This facilitates rapid cleaning of small debris and replacement of damaged parts inside the rotating traveling wave ultrasonic motor, simplifying assembly, maintenance, and cleaning. It also achieves modularity, reducing maintenance costs. Second, the design of the drive component 12 within the stator housing 11 allows the drive component 12 to rotate the stator housing 11 relative to the rotor 31, meeting the needs of scenarios where the drive component 12 needs to rotate with the rotating traveling wave ultrasonic motor, thus improving the practicality of the motor.

[0039] As one of the optional implementation methods in this embodiment, please also refer to... Figure 4 and Figure 5The connecting structure includes a groove 221 and a slide rail 111, which are slidably connected. Specifically, in this embodiment, the groove 221 can be located on the outer side of the bearing sleeve 22, and the slide rail 111 can be located on the inner side of the stator seat 11, that is, the slide rail 111 is the only part of the cavity sidewall of the stator seat 11. During installation, the slide rail 111 inside the stator seat 11 can be aligned with the groove 221 on the outer side of the bearing sleeve 22, and the two can be slidably connected together. Thus, the stator seat 11 fits the bearing sleeve 22 and the bearing component 21 into the cavity, thereby installing the stator seat 11 and the bearing sleeve 22 together. Conversely, during disassembly, the sliding design of the groove 221 and the slide rail 111 can be used to separate the connection in different directions to achieve disassembly. In this way, the rotor assembly 3 and the stator assembly 1 can be quickly assembled and disassembled using the slide groove 221 and the slide rail 111, and the bearing assembly 2 can be encased in the cavity of the stator seat 11, reducing the impact of external debris and foreign matter on the rotation of the bearing 21 and increasing the maintenance frequency.

[0040] Specifically, the bearing assembly 2 is located in the internal cavity of the stator housing 11. Multiple slide rails 111 can be provided on the inner side of the stator housing 11, and a corresponding groove 221 is provided on the outer side of the bearing sleeve 22. For example, the stator housing 11 can be a cylindrical or frustum-shaped structure with an internal cavity, and four slide rails 111 can be evenly spaced inside. Each slide rail 111 can have two single-row tracks arranged side-by-side. Correspondingly, four grooves 221 are also spaced apart on the outer side of the bearing sleeve 22, and each groove 221 has two single-row grooves 221.

[0041] In specific applications, the slide groove 221 can also be set inside the stator seat 11, and the slide rail 111 can be set outside the bearing sleeve 22. The number of slide grooves 221 and slide rails 111 can also be reasonably set according to the size of the rotating traveling wave ultrasonic motor, such as 2, 3, 5, 6, etc. In this way, similar technical effects as the embodiments of this application can be achieved.

[0042] As one of the optional implementation methods in this embodiment, please refer to Figures 5 to 7The connecting structure also includes a positioning groove 112 and a positioning component 222. Specifically, the positioning groove 112 can be located on the inner side of the stator seat 11, and the positioning component 222 can be located on the outer side of the bearing sleeve 22, extending into the positioning groove 112. During the assembly of the stator seat 11 and the bearing sleeve 22, the slide rail 111 of the stator seat 11 and the slide groove 221 of the bearing sleeve 22 slide together. When the stator seat 11 and the bearing sleeve 22 slide to a preset position, the positioning component 222 of the bearing sleeve 22 extends into the positioning groove 112 of the stator seat 11, indicating that the stator seat 11 and the bearing sleeve 22 have been installed in place. Meanwhile, when assembling the stator seat 11 and the bearing sleeve 22, a certain preload can be applied between the stator seat 11 and the bearing sleeve 22, and the positioning component 222 extending into the positioning groove 112 plays a fixing role, so that there is sufficient contact friction between the stator assembly 1 and the rotor assembly 3, thereby enabling the drive component 12 to drive the rotation of the stator assembly 1 under the action of the traveling wave.

[0043] Specifically, the positioning component 222 includes a receiving groove (not shown in the figure), an elastic element (not shown in the figure), and a positioning element 222a. The receiving groove is disposed on the outside of the bearing sleeve 22. The elastic element and the positioning element 222a are located in the receiving groove. One end of the elastic element is connected to the receiving groove, and the other end of the elastic element is connected to the positioning element 222a, so that the positioning element 222a extends into the positioning groove 112 and abuts against the positioning groove 112. For example, the elastic element can be a spring, and the spring force causes the positioning element 222a to be engaged in the positioning groove 112, thus improving the stability of the assembly. The end of the positioning element 222a facing the positioning groove 112 can be a pointed tip, that is, the end of the positioning element 222a has a bevel or an arc surface, to facilitate the smooth engagement of the positioning element 222a into the positioning groove 112.

[0044] Specifically, multiple positioning components 222 and positioning grooves 112 can be provided, and their quantity and position can correspond one-to-one. For example, four positioning components 222 and four positioning grooves 112 can be provided, and the positioning components 222 can be evenly spaced around the bearing sleeve 22. The positioning components 222 and the sliding grooves 221 can be alternately spaced.

[0045] Of course, in other embodiments, the positioning component 222 and the positioning groove 112 can also be set to other quantities, such as 2, 3, 5, etc., and the positioning component 222 can also be set on the inner side of the stator seat 11 and the positioning groove 112 can be set on the outer side of the bearing sleeve 22.

[0046] As one of the optional implementation methods in this embodiment, please refer to Figure 3 and Figure 7The driving component 12 includes a circuit board 121, a piezoelectric ceramic 122, and a stator elastomer 123. One end of the circuit board 121 is connected to the piezoelectric ceramic 122, and the other end of the circuit board 121 extends out of the stator base 11. The piezoelectric ceramic 122 is connected to the stator elastomer 123, and the stator elastomer 123 is connected to the rotor assembly 3. Specifically, the circuit board 121 can be a flexible circuit board 121. The circuit board 121, the piezoelectric ceramic 122, and the stator elastomer 123 can be stacked sequentially. The circuit board 121 transmits electrical signals to the piezoelectric ceramic 122. The inverse piezoelectric effect of the piezoelectric ceramic 122 can excite the elliptical motion of the particles on the surface of the stator elastomer 123. This motion is converted into rotational motion through the friction between the stator elastomer 123 and the rotor assembly 3, thereby driving the rotation of the rotor base 31 and the driving component 12.

[0047] For details, please refer to Figure 5 and Figure 7 The stator base 11 has a cylindrical structure. A positioning boss 113 is provided at the bottom of the stator base 11. The stator elastic body 123 is annular and sleeved on the positioning boss 113. Multiple tooth grooves 123a are provided on the side of the stator elastic body 123 facing the rotor assembly 3. The other side of the stator elastic body 123 is connected to the piezoelectric ceramic 122.

[0048] Specifically, the positioning boss 113 includes a first boss 113a and a second boss 113b coaxially arranged. The first boss 113a is connected to the bottom of the stator base 11. The piezoelectric ceramic 122 and the circuit board 121 can both be in annular structure and sleeved on the first boss 113a. The second boss 113b is disposed on the side of the first boss 113a facing the rotor assembly 3, and the stator elastic body 123 is interference-fitted to the second boss 113b. In this way, the stator elastic body 123 can be positioned using the larger first boss 113a, and the stator elastic body 123 can be fixed using the second boss 113b.

[0049] For example, the stator elastomer 123 can be a metallic elastomer with an inner diameter of 4 mm and an outer diameter of 8 mm. The piezoelectric ceramic 122 can be divided into an A-pole region, a B-pole region, and a grounding region along the circumference. Its inner diameter can be 4 mm, its outer diameter can be 8 mm, and its thickness can be 0.3 mm. Correspondingly, the circuit board 121 can also be divided into an A-pole region, a B-pole region, and a grounding region along the circumference, corresponding to the regions of the piezoelectric ceramic 122.

[0050] As one of the optional implementation methods in this embodiment, please refer to Figure 3 and Figure 7The rotor assembly 3 includes a rotor 31 and a friction pad 32. The friction pad 32 is connected to the rotor 31 and is frictionally connected to the stator elastic body 123 of the drive component 12. After the rotating traveling wave ultrasonic motor is assembled, thanks to the cooperation of the stator base 11 and the positioning component 222, the elastic positioning body and the friction pad 32 have a certain pre-pressure, which can maintain good frictional contact and facilitate the normal operation of the rotating traveling wave ultrasonic motor.

[0051] For example, the friction pad 32 can be a circular sheet structure made of polytetrafluoroethylene composite material with a diameter of 8 mm.

[0052] In one optional embodiment of this invention, the rotor 31 includes a fixing part 311 and a mounting part 312. The fixing part 311 and the mounting part 312 are connected. The mounting part 312 and the fixing part 311 are cylindrical and coaxially arranged. The mounting part 312 is located inside the stator housing 11, and the bearing member 21 is sleeved on the outside of the mounting part 312. The friction pad 32 is disposed on the side of the mounting part 312 facing the drive member 12. In this way, the mounting part 312, which is in contact with the stator assembly 1, can be disposed in the cavity of the stator housing 11, ensuring the cooperation between the rotor 31 and the bearing member 21 and the drive member 12.

[0053] For example, the mounting part 312 and the fixing part 311 can be two concentric cylinders. The diameter of the mounting part 312 can be 8mm, and the diameter of the fixing part 311 can be 16mm. The inner diameter of the bearing component 21 can be 8mm, and the outer diameter can be 10mm. The bearing component 21 and the mounting part 312 can be connected by an interference fit. The outer diameter of the bearing sleeve 22 can be 10mm, and the inner diameter can be 12mm. The bearing sleeve 22 can be connected by an interference fit with the bearing component 21.

[0054] In specific applications, when the rotating traveling wave ultrasonic motor of this embodiment is used, the fixing part 311 of the rotor 31 can be installed on some fixed work positions to keep the rotor 31 fixed. The electrical signal transmitted by the circuit board 121 is conducted to the piezoelectric ceramic 122 connected thereto. The inverse piezoelectric effect of the piezoelectric ceramic 122 is used to excite the stator elastic body 123 connected thereto, so that the side of the stator elastic body 123 with the tooth groove 123a forms a traveling wave. When the traveling wave contacts the friction pad 32 of the rotor 31, it generates friction force to drive the stator assembly 1 to rotate.

[0055] The rotating traveling wave ultrasonic motor provided in this application embodiment uses a bearing assembly 2 to rotatably connect the stator assembly 1 and the rotor assembly 3. The bearing component 21 in the bearing assembly 2 enables the relative rotation of the stator assembly 1 and the rotor assembly 3. The bearing sleeve 22, which is sleeved on the outside of the bearing component 21, enables quick and convenient disassembly and assembly through the connection structure between it and the stator base 11. This realizes the modular disassembly of the rotating traveling wave ultrasonic motor, simplifies the assembly of the rotating traveling wave ultrasonic motor, and reduces the difficulty and cost of maintenance. At the same time, the drive component 12 is set in the stator base 11 and drives the stator assembly 1 to rotate relative to the rotor assembly 3, which can meet the needs of the scenario where one side of the drive component 12 (i.e., the stator assembly 1) performs rotational motion.

[0056] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A rotating traveling wave ultrasonic motor, characterized in that, include: Rotor (31) assembly (3); The stator assembly (1) includes a stator base (11) and a drive component (12) for driving the stator base (11) to rotate relative to the rotor (31) assembly (3), the drive component (12) being located inside the stator base (11) and connected to the stator base (11); The bearing assembly (2) includes a bearing member (21) connected to the rotor (31) assembly (3) on the inner side and a bearing sleeve (22) sleeved on the outer side of the bearing member (21). A connection structure for disassembly and assembly is provided between the outer side of the bearing sleeve (22) and the stator seat (11).

2. The rotating traveling wave ultrasonic motor as described in claim 1, characterized in that, The connection structure includes a groove (221) located outside the bearing sleeve (22) and a slide rail (111) located on the stator seat (11), the slide rail (111) being slidably connected to the groove (221).

3. The rotating traveling wave ultrasonic motor as described in claim 2, characterized in that, The bearing assembly (2) is located inside the stator seat (11). The stator seat (11) has multiple slide rails (111) on its inner side, and the bearing sleeve (22) has a slide groove (221) on its outer side that corresponds to the stator seat (11).

4. The rotating traveling wave ultrasonic motor as described in claim 1, characterized in that, The connection structure also includes a positioning groove (112) disposed in the stator seat (11) and a positioning component (222) disposed in the bearing sleeve (22) and used to extend into the positioning groove (112).

5. The rotating traveling wave ultrasonic motor as described in claim 4, characterized in that, The positioning component (222) includes a receiving groove disposed on the outside of the bearing sleeve (22), an elastic element located in the receiving groove, and a positioning element (222a). One end of the elastic element is connected to the receiving groove, and the other end of the elastic element is connected to the positioning element (222a), so that the positioning element (222a) extends into the positioning groove (112) and abuts against the positioning groove (112).

6. The rotating traveling wave ultrasonic motor as described in any one of claims 1 to 5, characterized in that, The drive component (12) includes a circuit board (121), a piezoelectric ceramic (122), and a stator elastomer (123). One end of the circuit board (121) is connected to the piezoelectric ceramic (122), and the other end of the circuit board (121) extends out of the stator base (11). The piezoelectric ceramic (122) is connected to the stator elastomer (123), and the stator elastomer (123) is connected to the rotor (31) assembly (3).

7. The rotating traveling wave ultrasonic motor as described in claim 6, characterized in that, The stator base (11) has a cylindrical structure. The bottom of the stator base (11) is provided with a positioning boss (113) connected to the stator elastic body (123). The stator elastic body (123) is annular and sleeved on the positioning boss (113). The stator elastic body is provided with multiple tooth grooves (123a) on the side facing the rotor (31) assembly (3).

8. The rotating traveling wave ultrasonic motor as described in claim 7, characterized in that, The positioning boss includes a first boss (113a) and a second boss (113b) arranged coaxially. The first boss (113a) is connected to the bottom of the stator base (11). The circuit board (121) and the piezoelectric ceramic (122) are annular and sleeved on the first boss (113a). The second boss (113b) is located on the side of the second boss (113b) facing the rotor (31) assembly (3). The stator elastomer (123) is interference-fitted to the second boss (113b).

9. The rotating traveling wave ultrasonic motor as described in any one of claims 1 to 5, characterized in that, The rotor (31) assembly (3) includes a rotor (31) and a friction pad (32) for frictional connection with the drive component (12), the friction pad (32) being connected to the rotor (31).

10. The rotating traveling wave ultrasonic motor as described in claim 9, characterized in that, The rotor (31) includes a fixing part (311) for fixed installation at the work station and a mounting part (312) connected to the fixing part (311). The mounting part (312) and the fixing part (311) are cylindrical and coaxially arranged. The mounting part (312) is located inside the stator seat (11), and the bearing (21) is sleeved on the outside of the mounting part (312). The friction pad (32) is disposed on the side of the mounting part (312) facing the drive component (12).

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