A universal ultrasonic motor

Abstract

This application discloses a universal ultrasonic motor, including a rotor and piezoelectric vibrators that drive the rotor. The piezoelectric vibrators include an X-axis piezoelectric vibrator and a Y-axis piezoelectric vibrator, which form an arcuate groove. The rotor is placed within the arcuate groove. The X-axis piezoelectric vibrator drives the rotor to move along the X-axis within the arcuate groove; the Y-axis piezoelectric vibrator drives the rotor to move along the Y-axis within the arcuate groove. In this universal ultrasonic motor, the X-axis and Y-axis piezoelectric vibrators can respectively drive the rotor, giving the rotor a universal ball joint. This ultrasonic motor has only one rotor, resulting in a simple structure and low cost.

Description

Technical Field

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

[0002] An ultrasonic motor is a new type of motor that utilizes the inverse piezoelectric effect of piezoelectric materials and ultrasonic vibration to achieve mechanical motion. Traditional ultrasonic motors mainly consist of a vibrating body and a moving body. When a high-frequency AC voltage is applied to the piezoelectric ceramic transducer of the vibrating body, the inverse piezoelectric effect or electrostriction effect is used to cause the stator to generate microscopic mechanical vibration in the ultrasonic frequency band. This vibration is then transformed into rotational or linear motion through resonance amplification and frictional coupling.

[0003] In the existing field of ultrasonic motors, ultrasonic motors are only available for rotary and linear drives, while spherical kinematic pairs require motors with two or more degrees of freedom for driving. Using multiple motors for driving spherical kinematic pairs is costly, and the coupling relationships between the various degrees of freedom need to be considered, resulting in a complex structure. Furthermore, multiple motors mean a larger structural volume, making them unsuitable for miniature and confined spaces. Utility Model Content

[0004] The purpose of this application is to provide a universal ultrasonic motor, wherein the rotor of the universal ultrasonic motor has a universal spherical kinematic pair, thereby solving the problems of complex structure and high cost of existing spherical kinematic pair motors.

[0005] This application provides a universal ultrasonic motor, including a rotor and a piezoelectric vibrator for driving the rotor. The piezoelectric vibrator includes an X-axis piezoelectric vibrator and a Y-axis piezoelectric vibrator, which together form an arc groove. The rotor is placed within the arc groove.

[0006] The X-axis piezoelectric vibrator drives the rotor to move along the X-axis within the circular arc groove; the Y-axis piezoelectric vibrator drives the rotor to move along the Y-axis within the circular arc groove.

[0007] As an optional implementation, an AC voltage is simultaneously applied to the X-axis piezoelectric vibrator and the Y-axis piezoelectric vibrator, causing the X-axis piezoelectric vibrator and the Y-axis piezoelectric vibrator to vibrate simultaneously, and the X-axis piezoelectric vibrator and the Y-axis piezoelectric vibrator to simultaneously drive the rotor to move within the arc groove.

[0008] As an optional implementation, a first AC signal is applied to the X-axis piezoelectric vibrator, and a second AC signal is applied to the Y-axis piezoelectric vibrator, wherein the first AC signal and the second AC signal are applied at the same frequency and have a phase difference.

[0009] As an optional implementation, an AC voltage is applied to the X-axis piezoelectric vibrator or the Y-axis piezoelectric vibrator, causing the X-axis piezoelectric vibrator or the Y-axis piezoelectric vibrator to vibrate, and the X-axis piezoelectric vibrator or the Y-axis piezoelectric vibrator to drive the rotor to move within the arc groove.

[0010] As an optional implementation, an AC voltage is applied sequentially to the X-axis piezoelectric vibrator and the Y-axis piezoelectric vibrator, causing the X-axis piezoelectric vibrator and the Y-axis piezoelectric vibrator to vibrate sequentially, and the X-axis piezoelectric vibrator and the Y-axis piezoelectric vibrator to drive the rotor to move within the circular arc groove sequentially; or, an AC voltage is applied sequentially to the Y-axis piezoelectric vibrator and the X-axis piezoelectric vibrator, causing the Y-axis piezoelectric vibrator and the X-axis piezoelectric vibrator to vibrate sequentially, and the Y-axis piezoelectric vibrator and the X-axis piezoelectric vibrator to drive the rotor to move within the circular arc groove sequentially.

[0011] As an optional implementation, the X-axis piezoelectric vibrator includes a first circular arc vibrator, the Y-axis piezoelectric vibrator includes a second circular arc vibrator, and the radii of the first circular arc vibrator and the second circular arc vibrator are adapted to each other, and the first circular arc vibrator and the second circular arc vibrator are connected.

[0012] Furthermore, the midpoint of the arc of the first circular arc oscillator is connected to the midpoint of the arc of the second circular arc oscillator, and the chord of the arc of the first circular arc oscillator is perpendicular to the chord of the arc of the second circular arc oscillator.

[0013] As an optional implementation, the arc length of the first circular arc oscillator is adapted to the arc length of the second circular arc oscillator.

[0014] As an optional implementation, both the X-axis piezoelectric vibrator and the Y-axis piezoelectric vibrator are piezoelectric ceramic vibrators.

[0015] As an optional implementation, an elastomer is provided on the surface of both the X-axis piezoelectric vibrator and the Y-axis piezoelectric vibrator facing the rotor.

[0016] As an optional implementation, the rotor is fitted with a bearing.

[0017] As an alternative implementation, the rotor is a ball rotor or a hemispherical rotor.

[0018] The arc groove is a hemispherical groove, and the depth of the hemispherical groove is less than its radius; or, the depth of the hemispherical groove is equal to its radius; or, the depth of the hemispherical groove is greater than its radius and less than its diameter.

[0019] Compared with the prior art, the beneficial effects of the universal ultrasonic motor in this application are:

[0020] An arc groove is formed by the X-axis piezoelectric vibrator and the Y-axis piezoelectric vibrator. The rotor is placed within the arc groove and can move within it under the drive of the X-axis and Y-axis piezoelectric vibrators. The X-axis and Y-axis piezoelectric vibrators can drive the rotor to move independently, giving the rotor a universal ball joint, thus creating a universal ultrasonic motor. This ultrasonic motor has only one rotor, resulting in a simple structure and low cost. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments 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.

[0022] Figure 1 This is a schematic diagram of an embodiment of a universal ultrasonic motor according to this application.

[0023] Figure 2 This is a schematic diagram of an embodiment of a universal ultrasonic motor according to this application.

[0024] Figure 3 This is a bottom view of an embodiment of a universal ultrasonic motor according to this application.

[0025] Figure 4 This is a cross-sectional view of an embodiment of a universal ultrasonic motor according to this application.

[0026] Figure 5 This is a schematic diagram of the AC voltage application control principle for a universal ultrasonic motor according to this application.

[0027] Explanation of key figure labels:

[0028] 1. X-axis piezoelectric vibrator; 2. Y-axis piezoelectric vibrator; 3. Rotor; 4. Elastomer; 5. Bearing; 51. Self-lubricating upper bearing; 52. Self-lubricating lower bearing; 6. Circular groove. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0031] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0032] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0033] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0034] The technical solution of this application will be further described below with reference to the embodiments and accompanying drawings.

[0035] See Figure 1 and Figure 2 A universal ultrasonic motor includes a rotor 3 and a piezoelectric vibrator for driving the rotor 3. The piezoelectric vibrator includes an X-axis piezoelectric vibrator 1 and a Y-axis piezoelectric vibrator 2, which form a circular arc groove 6. The rotor 3 is placed within the circular arc groove 6. The X-axis piezoelectric vibrator 1 drives the rotor 3 to move along the X-axis within the circular arc groove 6. The Y-axis piezoelectric vibrator 2 drives the rotor 3 to move along the Y-axis within the circular arc groove 6.

[0036] An ultrasonic motor is a new type of motor that utilizes the inverse piezoelectric effect of piezoelectric materials and ultrasonic vibration to achieve mechanical motion. The working principle of an ultrasonic motor is as follows: piezoelectric ceramics undergo mechanical deformation under the action of an electric field. This mechanical deformation generates ultrasonic frequency vibrations. These vibrations are amplified and transmitted through specific structural designs (such as the shape of the stator). The vibrations are transmitted to the rotor, generating friction with the rotor and driving the rotor to move.

[0037] When an alternating voltage is applied to a piezoelectric ceramic, it undergoes periodic expansion and contraction. Ultrasonic motors utilize this deformation to generate ultrasonic frequency vibrations. The vibrations of the piezoelectric ceramic are amplified and transmitted through a specific structural design (such as the shape of the stator), generating a special traveling wave or standing wave vibration on the stator. This vibration is then transmitted to the rotor, driving its motion.

[0038] In this application, an omnidirectional ultrasonic motor is disclosed. An AC voltage is applied to an X-axis piezoelectric vibrator 1, which generates ultrasonic frequency vibration. This ultrasonic frequency vibration drives the rotor 3 to move along the X-axis within the arc groove 6. An AC voltage is applied to a Y-axis piezoelectric vibrator 2, which generates ultrasonic frequency vibration. This ultrasonic frequency vibration drives the rotor 3 to move along the Y-axis within the arc groove 6.

[0039] Furthermore, by changing or controlling the AC voltage applied to the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2, the direction of movement of the rotor 3 within the arc groove 6 can be controlled. Then, by combining X-axis and Y-axis movements, the rotor 3 can achieve movement in multiple degrees of freedom. By precisely controlling the AC voltage applied to the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2, and then combining the movements of the rotor 3 driven by the X-axis and Y-axis piezoelectric vibrators 1 and 2, the ultrasonic motor can move in any direction. An ultrasonic motor capable of moving in any direction is thus a universal ultrasonic motor.

[0040] In an ultrasonic motor, rotor 3 is a structure that converts the ultrasonic vibrations generated by the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 (stator) into macroscopic rotational motion through frictional coupling. Using rotor 3 in an ultrasonic motor allows for multiple degrees of freedom of motion. The use of rotor 3 makes the overall structure of the ultrasonic motor more compact, suitable for use in space-constrained environments. Using rotor 3 enables high-precision speed and position control, suitable for applications requiring high precision. With rotor 3, the ultrasonic motor has a self-locking function due to static friction after power is cut off, meaning the ultrasonic motor possesses a self-locking capability. Using rotor 3 allows the ultrasonic motor to operate independently of electromagnetic fields, thus preventing electromagnetic interference and making it suitable for environments with high electromagnetic compatibility requirements.

[0041] In this universal ultrasonic motor, the rotor 3 is driven to move along the X-axis within the circular arc groove 6 by an X-axis piezoelectric vibrator 1, and the rotor 3 is driven to move along the Y-axis within the circular arc groove 6 by a Y-axis piezoelectric vibrator 2, thereby achieving multi-degree-of-freedom motion of the rotor 3 and giving the ultrasonic motor a spherical kinematic pair. This ultrasonic motor has a simple structure, low cost, easy-to-control motion direction, and is less susceptible to interference.

[0042] In some embodiments, the arc groove 6 can be an arc-shaped groove, and both ends of the arc-shaped groove are open.

[0043] In some embodiments, the arc groove 6 can also be a spherical groove. However, to facilitate the movement of the rotor 3 within the spherical groove and to allow the rotor 3 to obtain a larger range of motion, the spherical groove should be a hemispherical groove. A hemispherical groove refers to a groove whose depth is less than, equal to, or greater than the radius of a spherical groove, and not simply a hemispherical groove whose depth is equal to its radius.

[0044] In this embodiment of a universal ultrasonic motor, to allow the rotor 3 to obtain more directions of motion and a larger range of motion, it is preferable to select a hemispherical groove with a depth less than or equal to the radius.

[0045] That is, the arc groove 6 is a hemispherical groove, and the depth of the hemispherical groove is less than its radius. Alternatively, the depth of the hemispherical groove is equal to its radius. Or, the depth of the hemispherical groove is greater than its radius but less than its diameter.

[0046] In some embodiments, rotor 3 is a ball rotor.

[0047] In some embodiments, rotor 3 is a hemispherical rotor.

[0048] In ultrasonic motors, the rotor can be either a ball rotor or a hemispherical rotor, enabling the ultrasonic motor to achieve rotational motion with multiple degrees of freedom. When a ball rotor is used, by rationally designing the vibration mode and layout of the stator, the ball rotor can rotate in multiple directions.

[0049] In ultrasonic motors, using a ball rotor or hemispherical rotor can improve the motor's drive efficiency and performance. The contact between the ball rotor and the stator is typically surface contact, which fully utilizes the vibrational energy of the stator surface, reduces energy loss, and improves motor efficiency. Furthermore, the ball rotor has a relatively simple structure, is easy to process and assemble, and helps reduce manufacturing costs.

[0050] The use of ball or hemispherical rotors in ultrasonic motors allows for greater flexibility in spatial layout. This allows them to adapt to different installation spaces and working environments. Furthermore, the use of ball or hemispherical rotors in ultrasonic motors results in lower noise levels during operation.

[0051] The rotor can be either a spherical rotor or a hemispherical rotor. A spherical rotor is one whose rotor is spherical. A hemispherical rotor is one whose rotor is hemispherical.

[0052] The height of the hemispherical spherical rotor is less than the radius of the sphere; or the height of the hemispherical spherical rotor is equal to the radius of the sphere; or the height of the hemispherical spherical rotor is greater than the radius of the sphere but less than the diameter of the sphere.

[0053] A spherical rotor refers to a rotor that is a complete sphere.

[0054] In some embodiments, an AC voltage is simultaneously applied to the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2, causing the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 to vibrate simultaneously, and the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 to simultaneously drive the rotor 3 to move within the arc groove 6.

[0055] In existing fields of ultrasonic motors, AC voltage is mostly applied to the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 separately. The X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 control the movement of the rotor 3 independently. That is, each time the rotor 3 moves, it moves in a single direction controlled by the X-axis piezoelectric vibrator 1 or the Y-axis piezoelectric vibrator 2. As a result, the rotor 3 has a long response time and low working efficiency.

[0056] In a universal ultrasonic motor, an AC voltage is simultaneously applied to both the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2. The X-axis and Y-axis piezoelectric vibrators 1 and 2 vibrate simultaneously, and the rotor 3 is simultaneously subjected to the frictional forces generated by the vibrations of both X-axis and Y-axis piezoelectric vibrators 1 and 2. These two frictional forces act simultaneously on the rotor 3, resulting in a combined frictional force. The rotor 3 moves directly under the drive of this combined frictional force, meaning it directly performs the combined motion, eliminating the need for separate unidirectional movements controlled by the X-axis and Y-axis piezoelectric vibrators 1 and 2. This significantly reduces the response time and motion time compared to existing ultrasonic motors where the rotor moves in a single direction step by step, greatly improving the working efficiency of the ultrasonic motor.

[0057] When AC voltage is applied to both the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2, and the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 simultaneously drive the rotor 3 to move within the circular arc groove 6, the rotor 3 can be controlled to move in different directions by controlling the amplitude of the AC voltage applied to the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2.

[0058] In a universal ultrasonic motor, when AC voltage is applied to both the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2, and the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 simultaneously drive the rotor 3 to move within the circular arc groove 6, the rotor 3 can directly move in one direction under the simultaneous drive of the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2. This can complete the required movement, improve the movement accuracy, and reduce movement and control errors.

[0059] See Figure 5 , Figure 5 As shown in (a), (b), and (c), by changing the amplitude of the AC voltage applied to the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2, the rotor 3 can obtain different directions of motion. Figure 5 V shown in (a), (b), and (c) respectively 合 This indicates the direction of motion of rotor 3.

[0060] In some embodiments, a first AC signal is applied to the X-axis piezoelectric vibrator 1, and a second AC signal is applied to the Y-axis piezoelectric vibrator 2. The first AC signal and the second AC signal are applied at the same frequency, and the first AC signal and the second AC signal have a phase difference.

[0061] The first AC signal and the second AC signal are applied at the same frequency, and the first AC signal and the second AC signal have a phase difference. This can effectively avoid the mutual influence of the frictional forces applied by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 on the rotor 3 when the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 drive the rotor 3 at the same time, and ensure that the movement direction and movement distance of the rotor 3 are accurate.

[0062] In some embodiments, the first AC signal is a first sinusoidal AC signal, and the second AC signal is a second sinusoidal AC signal. The first and second sinusoidal AC signals are applied at the same frequency, and the first and second sinusoidal AC signals have a phase difference. This avoids the maximum amplitude obtained simultaneously by the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 due to piezoelectric drive. In other words, it avoids the maximum frictional force applied to the rotor 3 by the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2, and avoids the mutual influence of the frictional forces applied to the rotor 3 by the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2.

[0063] In some embodiments, the first AC signal is a first pulse wave AC signal, and the second AC signal is a second pulse wave AC signal. The first pulse wave AC signal and the second pulse wave AC signal are applied at the same frequency, and the first pulse wave AC signal and the second pulse wave AC signal have a phase difference. This avoids the maximum amplitude obtained simultaneously by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 due to piezoelectric drive. In other words, it avoids the rotor 3 being subjected to the maximum frictional force applied by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2, and avoids the rotor 3 being affected by the mutual influence of the frictional forces applied by the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2.

[0064] In some embodiments, an AC voltage is applied to the X-axis piezoelectric vibrator 1 or the Y-axis piezoelectric vibrator 2, causing the X-axis piezoelectric vibrator 1 or the Y-axis piezoelectric vibrator 2 to vibrate, and the X-axis piezoelectric vibrator 1 or the Y-axis piezoelectric vibrator 2 to drive the rotor 3 to move within the arc groove 6.

[0065] In some motion directions, if only the rotor 3 needs to move along the X-direction or along the Y-direction, an AC voltage can be applied to the X-direction piezoelectric vibrator 1 or the Y-direction piezoelectric vibrator 2 separately to obtain the target motion direction, thereby realizing the diversification of the motion direction and control means of the ultrasonic motor of this application.

[0066] In some embodiments, an AC voltage is applied sequentially to the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2, causing the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 to vibrate sequentially, thereby driving the rotor 3 to move within the arc groove 6.

[0067] Alternatively, an AC voltage is applied to the Y-axis piezoelectric vibrator 2 and the X-axis piezoelectric vibrator 1 in sequence, causing the Y-axis piezoelectric vibrator 2 and the X-axis piezoelectric vibrator 1 to vibrate in sequence, thereby driving the rotor 3 to move within the circular arc groove 6.

[0068] In some movements of the rotor 3, the movement of the rotor 3 can also be controlled by the Y-axis piezoelectric vibrator 2 and the X-axis piezoelectric vibrator 1 respectively, so as to achieve diversified control and select as needed.

[0069] In some embodiments, the X-direction piezoelectric vibrator 1 includes a first circular arc vibrator, and the Y-direction piezoelectric vibrator 2 includes a second circular arc vibrator. The radii of the first and second circular arc vibrators are compatible, and the first and second circular arc vibrators are connected. Furthermore, the midpoint of the arc of the first circular arc vibrator is connected to the midpoint of the arc of the second circular arc vibrator, and the chord of the arc of the first circular arc vibrator is perpendicular to the chord of the arc of the second circular arc vibrator.

[0070] The radii of the first and second circular arc oscillators are adapted to each other. After the first and second circular arc oscillators are connected, a circular arc groove 6 with the same inner diameter can be obtained. The rotor 3 is placed in the circular arc groove 6, which can maintain good contact with both the first and second circular arc oscillators. Here, the rotor 3 maintains contact with the first and second circular arc oscillators, which can be direct contact or indirect contact. In short, it is to facilitate the good and smooth transmission of the vibration of the first and second circular arc oscillators to the rotor 3.

[0071] Connecting the midpoints of the arcs of the first and second circular arc vibrators, i.e., with the central axis of the circular arc groove 6 as a reference, the first and second circular arc vibrators are symmetrically arranged about the central axis of the circular arc groove 6. On the circular arc groove 6, with the bottom of the groove 6 as a reference, the first and second circular arc vibrators are each divided into two equal segments. Connecting the midpoints of the arcs of the first and second circular arc vibrators facilitates convenient and precise motion control when the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 control the movement of the rotor 3.

[0072] The chord of the arc of the first circular arc vibrator is perpendicular to the chord of the arc of the second circular arc vibrator, so that the first and second circular arc vibrators are evenly distributed along the circumference of the circular arc groove 6. This facilitates the first and second circular arc vibrators to support and lift the rotor 3. In addition, it facilitates the application of AC voltage to the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 to control the movement of the rotor 3.

[0073] In some embodiments, the arc length of the first circular arc oscillator is adapted to the arc length of the second circular arc oscillator, that is, the lengths of the first circular arc oscillator and the second circular arc oscillator are the same, which further facilitates the X-direction piezoelectric oscillator 1 and the Y-direction piezoelectric oscillator 2 to drive the rotor 3 to move, thereby realizing the multi-directional movement of the rotor 3.

[0074] In some embodiments, both the X-axis piezoelectric vibrator 1 and the Y-axis piezoelectric vibrator 2 are piezoelectric ceramic vibrators. Piezoelectric ceramic vibrators enable high-precision electromechanical conversion, giving the ultrasonic motor high-precision positioning capabilities. They exhibit rapid response characteristics, generating mechanical vibrations in a short time, thus achieving rapid motor start-up and stopping. Piezoelectric ceramic vibrators do not generate electromagnetic interference in ultrasonic motors and are not easily affected by external electromagnetic fields. Their small size allows for a compact overall structure in ultrasonic motors, making them suitable for use in space-constrained environments. Piezoelectric ceramic vibrators typically have a high electromechanical coupling coefficient, resulting in high electrical-to-mechanical energy conversion efficiency in ultrasonic motors. Furthermore, they maintain a certain holding torque, preventing rotor displacement and hysteresis.

[0075] In some embodiments, an elastic body 4 is respectively provided on the surfaces of the X-direction piezoelectric vibrator 1 and the Y-direction piezoelectric vibrator 2 facing the rotor 3. The elastic body 4 is an important component that closely cooperates with the piezoelectric vibrator, and its function is to propagate the micro-vibrations generated by the piezoelectric vibrator to the entire stator structure. Since the deformation of the piezoelectric vibrator is relatively small, the elastic body 4 can effectively transmit these minute vibrations to the surface in contact with the rotor 3. When the surface of the elastic body 4 contacts the rotor 3, it can provide sufficient friction to drive the rotor 3. The elastic body 4 provides mechanical support for the piezoelectric vibrator, ensuring its stability during operation. The elastic body 4 can withstand the force generated by the piezoelectric vibrator and distribute it evenly throughout the stator structure, preventing excessive local stress in the stator that could damage the piezoelectric vibrator. In summary, the inclusion of the elastic body 4 can improve drive efficiency, enhance reliability, optimize vibration modes, improve accuracy and stability, and adapt to various working conditions.

[0076] In some embodiments, a bearing 5 is fitted onto the rotor 3. The bearing 5 is positioned at the opening of the arc groove 6, and its function is to provide a certain supporting force to the rotor 3, ensuring the stability of the rotor 3 and the accuracy of its movement trajectory. In some embodiments, the bearing 5 may be a self-lubricating bearing 5, which includes a self-lubricating upper bearing 51 and a self-lubricating lower bearing 52. In some embodiments, the bearing 5 may also be a ball bearing 5.

[0077] The technical solution of this application has been described above with reference to the embodiments and accompanying drawings. Obviously, the specific implementation of this application is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of this application, or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of this application.

Claims

1. A gimbal ultrasonic motor characterized by comprising: The device includes a rotor (3) and a piezoelectric vibrator that drives the rotor (3) to move. The piezoelectric vibrator includes an X-axis piezoelectric vibrator (1) and a Y-axis piezoelectric vibrator (2). The X-axis piezoelectric vibrator (1) and the Y-axis piezoelectric vibrator (2) form an arc groove (6). The rotor (3) is placed in the arc groove (6). The X-axis piezoelectric vibrator (1) drives the rotor (3) to move along the X-axis in the arc groove (6); the Y-axis piezoelectric vibrator (2) drives the rotor (3) to move along the Y-axis in the arc groove (6).

2. The gimbal ultrasonic motor according to claim 1, wherein At the same time, an AC voltage is applied to the X-axis piezoelectric vibrator (1) and the Y-axis piezoelectric vibrator (2), and the X-axis piezoelectric vibrator (1) and the Y-axis piezoelectric vibrator (2) vibrate simultaneously. The X-axis piezoelectric vibrator (1) and the Y-axis piezoelectric vibrator (2) simultaneously drive the rotor (3) to move in the circular arc groove (6).

3. The gimbal ultrasonic motor of claim 2, wherein A first AC signal is applied to the X-axis piezoelectric vibrator (1), and a second AC signal is applied to the Y-axis piezoelectric vibrator (2). The first AC signal and the second AC signal are applied at the same frequency, and the first AC signal and the second AC signal have a phase difference.

4. The gimbal ultrasonic motor of claim 1, wherein An AC voltage is applied to the X-axis piezoelectric vibrator (1) or the Y-axis piezoelectric vibrator (2), causing the X-axis piezoelectric vibrator (1) or the Y-axis piezoelectric vibrator (2) to vibrate, and the X-axis piezoelectric vibrator (1) or the Y-axis piezoelectric vibrator (2) to drive the rotor (3) to move within the circular arc groove (6).

5. The gimbal ultrasonic motor of claim 1, wherein An AC voltage is applied sequentially to the X-axis piezoelectric vibrator (1) and the Y-axis piezoelectric vibrator (2), causing the X-axis piezoelectric vibrator (1) and the Y-axis piezoelectric vibrator (2) to vibrate sequentially, and the X-axis piezoelectric vibrator (1) and the Y-axis piezoelectric vibrator (2) to drive the rotor (3) to move within the circular arc groove (6); or, an AC voltage is applied sequentially to the Y-axis piezoelectric vibrator (2) and the X-axis piezoelectric vibrator (1), causing the Y-axis piezoelectric vibrator (2) and the X-axis piezoelectric vibrator (1) to vibrate sequentially, and the Y-axis piezoelectric vibrator (2) and the X-axis piezoelectric vibrator (1) to drive the rotor (3) to move within the circular arc groove (6).

6. The gimbal ultrasonic motor according to any one of claims 1 to 5, characterized by The X-axis piezoelectric vibrator (1) includes a first circular arc vibrator, and the Y-axis piezoelectric vibrator (2) includes a second circular arc vibrator. The radii of the first circular arc vibrator and the second circular arc vibrator are compatible, and the first circular arc vibrator and the second circular arc vibrator are connected. Furthermore, the midpoint of the arc of the first circular arc oscillator is connected to the midpoint of the arc of the second circular arc oscillator, and the chord of the arc of the first circular arc oscillator is perpendicular to the chord of the arc of the second circular arc oscillator.

7. The gimbal ultrasonic motor of claim 6, wherein The arc length of the first circular arc oscillator is adapted to the arc length of the second circular arc oscillator.

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

9. The gimbal ultrasonic motor according to any one of claims 1 to 5, characterized by Both the X-axis piezoelectric vibrator (1) and the Y-axis piezoelectric vibrator (2) have an elastic body (4) on their surfaces facing the rotor (3). Both the X-axis piezoelectric vibrator (1) and the Y-axis piezoelectric vibrator (2) are piezoelectric ceramic vibrators.

10. The gimbal ultrasonic motor according to any one of claims 1 to 5, characterized by The rotor (3) is a ball rotor; a bearing (5) is fitted on the rotor (3).

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