Rotary ultrasonic motor

Abstract

The utility model belongs to motor technical field especially relates to rotary ultrasonic motor, the utility model provides a kind of rotary ultrasonic motor, comprising: stator, it includes lower shell and upper cover;Rotor, it is rotatably arranged between lower shell and upper cover by a rotating shaft component;Resonator component, it is housed between lower shell and upper cover;Friction layer, it is set on the side of the rotor towards the resonator component;The resonator component includes: piezoelectric vibrator and pre-press elastic pad;The piezoelectric vibrator is set in the side of rotor towards lower shell, the pre-press elastic pad is clamped between the piezoelectric vibrator and the inner wall of lower shell;The piezoelectric vibrator includes elastomer, the elastomer has several tooth parts, deformation joint is formed between adjacent tooth parts, the upper end surface of the tooth part and friction layer are in contact with each other;The utility model is through setting the innovative elastomer structure with tooth part and deformation joint, realizes the efficient concentrated transmission of vibration energy, significantly improves energy conversion efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of motor technology, specifically relating to rotary ultrasonic motors, and more particularly to rotary ultrasonic motors. Background Technology

[0002] An ultrasonic motor is a new type of drive motor that is based on the inverse piezoelectric effect of piezoelectric ceramics and ultrasonic vibration. It converts the microscopic vibration of piezoelectric materials into macroscopic motion by relying on frictional coupling. Currently, most of the power devices for precision instruments on the market are electromagnetically driven motors.

[0003] The stator assembly is a key energy conversion component of the ultrasonic motor. Its structural design directly determines the motor's output performance, efficiency, and reliability. The stator design in related technologies often adopts a planar washer structure, where the surface of the elastic body in contact with the rotor is a smooth plane or has only a simple protrusion structure. This makes the contact between the planar washer and the rotor a surface contact. Although the friction driving force distribution area is large, the pressure per unit area is insufficient, which means that the vibration energy cannot be effectively concentrated and transmitted. The micro-vibration generated by the piezoelectric vibrator is difficult to be fully converted into the macro-motion of the rotor, resulting in problems such as large energy loss, low output torque, and low efficiency.

[0004] Therefore, how to solve the low vibration energy conversion efficiency of planar elastic bodies is a technical problem that urgently needs to be solved in this field.

[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Utility Model Content

[0006] This disclosure provides at least one rotary ultrasonic motor to solve the technical problem of low vibration energy conversion efficiency of planar elastomers.

[0007] In a first aspect, embodiments of this disclosure provide a rotary ultrasonic motor, comprising: a stator including a lower housing and an upper cover; a rotor rotatably disposed between the lower housing and the upper cover via a rotating shaft assembly; a resonator assembly housed between the lower housing and the upper cover; and a friction layer disposed on the side of the rotor facing the resonator assembly; the resonator assembly comprising: a piezoelectric vibrator and a pre-compression spring pad; the piezoelectric vibrator being disposed on the side of the rotor facing the lower housing, and the pre-compression spring pad being sandwiched between the piezoelectric vibrator and the inner wall of the lower housing to apply a preload to the piezoelectric vibrator; the piezoelectric vibrator comprising an elastic body having a plurality of teeth, with adjacent teeth forming a deformation slot, and the upper end face of the teeth abutting against the friction layer; wherein, the elastic body generates high-frequency vibration under the action of a driving signal, and the teeth deform towards the deformation slot, transmitting the contact pressure maintained by the pre-compression spring pad to the friction layer to drive the rotor to generate rotational motion.

[0008] In one alternative embodiment, the cross-sectional shape of the teeth is rectangular, trapezoidal, or triangular.

[0009] In one alternative embodiment, the width of the deformation slot is 1 / 6 to 1 / 2 of the width of the tooth.

[0010] In one optional embodiment, the piezoelectric vibrator further includes: a piezoelectric ceramic sheet, the upper end of which abuts against the lower end of the elastic body; a vibrator circuit board disposed on the lower end of the piezoelectric ceramic sheet, the piezoelectric ceramic sheet being electrically connected to the vibrator circuit board via a conductive electrode layer, the lower end of the vibrator circuit board abutting against the upper end of the pre-compressed elastic pad; wherein, the driving signal is input via the vibrator circuit board and transmitted to the piezoelectric ceramic sheet via the conductive electrode layer; the piezoelectric ceramic sheet generates periodic high-frequency vibrations due to the inverse piezoelectric effect, thereby driving the elastic body to deform.

[0011] In one optional embodiment, the rotating shaft assembly includes: a central shaft disposed at the center of the lower housing; and a rotary bearing sleeved on the central shaft, wherein the rotor is connected to the central shaft via the rotary bearing.

[0012] In one optional embodiment, the motor includes: a control component; the control component includes: a magnetic grating disposed on the end face of the rotor facing the upper cover and rotating synchronously with the rotor; a TMR controller fixedly disposed on the upper cover and disposed opposite to the magnetic grating with a certain gap, the TMR controller being adapted to detect changes in the magnetic field of the magnetic grating; and a zero-point magnet fixedly disposed on the rotor for providing a magnetic field reference zero point for the magnetic grating.

[0013] Secondly, this disclosure also provides a rotary ultrasonic motor, comprising: a resonator assembly having a ring structure; the resonator assembly including a piezoelectric vibrator; the piezoelectric vibrator including an elastic body having a plurality of teeth, with adjacent teeth forming a deformation slot; the cross-sectional shape of the teeth being rectangular, trapezoidal, or triangular; wherein, the elastic body generates high-frequency vibration under the action of a driving signal, and the teeth amplify traveling wave vibration by deforming towards the deformation slot.

[0014] In one alternative embodiment, the width of the deformation slot is 1 / 6 to 1 / 2 of the width of the tooth.

[0015] In one optional embodiment, the piezoelectric vibrator further includes: a piezoelectric ceramic sheet disposed on the lower end face of the elastic body; and a vibrator circuit board abutting against the lower end face of the piezoelectric ceramic sheet, wherein the piezoelectric ceramic sheet is electrically connected to the vibrator circuit board through a conductive electrode layer.

[0016] In one alternative embodiment, the resonator assembly further includes a preloaded spring pad clamped to the bottom surface of the oscillator circuit board to apply preload to the elastomer.

[0017] The beneficial effects of this utility model are that it provides a rotary ultrasonic motor, which, by setting teeth, allows the teeth to deform in the direction of the deformation seam as a lever, which can effectively amplify the micro-vibration amplitude of the piezoelectric vibrator. The precisely designed deformation seam provides the necessary space for the directional deformation of the teeth, which not only optimizes the transmission path of vibration energy and makes the drive more efficient, but also avoids stress concentration and improves the reliability and service life of the motor.

[0018] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description and the accompanying drawings.

[0019] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A perspective view of a rotating ultrasonic motor provided in an embodiment of this disclosure; Figure 2 A cross-sectional view of a rotating ultrasonic motor provided in an embodiment of this disclosure; Figure 3 An exploded view of the rotating ultrasonic motor provided in the embodiments of this disclosure; Figure 4 This is a perspective view of the resonator assembly separated from the friction layer and preloaded spring pad provided in an embodiment of this disclosure.

[0022] In the picture: 1. Stator; 11. Top cover; 12. Bottom shell; 2. Rotor; 3. Rotating shaft assembly; 31. Central shaft; 32. Rotary bearing; 4. Control components; 41. Magnetic grid; 42. TMR controller; 43. Zero-point magnet; 5. Resonator assembly; 6. Piezoelectric vibrator; 61. Elastomer; 611. Tooth; 612. Deformation joint; 62. Piezoelectric ceramic sheet; 63. Vibrator circuit board; 7. Pre-compression spring pad; 8. Friction layer. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] In this document, when it is mentioned that a first component is located on a second component, this can mean that the first component can be directly formed on the second component, or that a third component can be inserted between the first and second components. Furthermore, in the accompanying drawings, the thickness of the components may be exaggerated or reduced for the purpose of effectively describing the technical content.

[0025] In this document, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. As used herein, expressions such as “at least one of…” modify the entire list of elements when following a list of elements, rather than individual elements in the list. For example, the expression “at least one of a, b, and c” should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.

[0026] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise clearly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.

[0027] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

[0028] Research has revealed the following drawbacks of existing technologies: The stator assembly is a key energy conversion component of the ultrasonic motor, and its structural design directly determines the motor's output performance, efficiency, and reliability. Many stator designs in related technologies employ a planar washer structure, where the surface of the elastic body in contact with the rotor is a smooth plane or has only simple protrusions. This results in surface contact between the planar washer and the rotor. Although the frictional driving force distribution area is large, the pressure per unit area is insufficient, leading to ineffective concentration and transmission of vibrational energy. The micro-vibrations generated by the piezoelectric vibrator are difficult to fully convert into the macro-motion of the rotor, resulting in high energy loss, low output torque, and low efficiency.

[0029] Therefore, how to solve the low vibration energy conversion efficiency of planar elastic bodies is a technical problem that urgently needs to be solved in this field.

[0030] The shortcomings of the above solutions are the result of the utility model inventor's practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure should be considered as contributions made by the utility model inventor to this disclosure.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] The following detailed description, with reference to the accompanying drawings, describes some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0033] like Figures 1 to 4As shown, some embodiments provide a rotary ultrasonic motor, including: a stator 1, which includes a lower shell 12 and an upper cover 11; the stator 1 is the main support structure of the ultrasonic motor, which is jointly formed by the lower shell 12 and the upper cover 11; the lower shell 12 not only provides structural support, but also effectively dissipates heat; the upper cover 11 and the lower shell 12 are precisely fitted to form the internal space of the motor, protecting the internal components from external contamination and mechanical damage. This split design facilitates the assembly and maintenance of the motor, while ensuring the overall rigidity and stability of the structure.

[0034] The rotor 2 is rotatably disposed between the lower shell 12 and the upper cover 11 via a rotating shaft assembly 3. The rotor 2 is the motion output component of the ultrasonic motor and is rotatably disposed between the lower shell 12 and the upper cover 11 via the rotating shaft assembly 3. The groove at the lower end of the rotor 2 is combined with the friction layer 8, and the inner wall at the center position is connected to the rotating shaft assembly 3.

[0035] The rotating shaft assembly 3 is a key component that supports the rotor 2 and transmits torque. It includes a central shaft 31 and a rotary bearing 32. The central shaft 31 is fixed at the center of the lower housing 12 and is made of high strength to ensure stability under load. The rotary bearing 32 is sleeved on the central shaft 31, and the rotor 2 achieves relative rotation with the central shaft 31 through the rotary bearing 32. The selection of bearings has an important impact on motor performance. Specifically, common types include sliding bearings and rolling bearings. Precision bearings can reduce friction loss and improve motor efficiency and lifespan.

[0036] The resonator assembly 5 is housed between the lower shell 12 and the upper cover 11. The resonator assembly 5 is the energy conversion core of the ultrasonic motor and is housed between the lower shell 12 and the upper cover 11. It consists of a piezoelectric vibrator 6 and a pre-compressed spring pad 7, which together realize the conversion of electrical energy into mechanical vibration.

[0037] Friction layer 8 is disposed on the side of rotor 2 facing resonator assembly 5; friction layer 8 is disposed on the side of rotor 2 facing resonator assembly 5 and is a functional layer that directly contacts the tooth 611; the material selection and thickness design of friction layer 8 have a significant impact on motor performance and require balancing factors such as friction coefficient, wear resistance and thermal conductivity.

[0038] High-performance friction layers typically use polymer-based composite materials, such as polyphenylene sulfide (PPS) and polyether ether ketone (PEEK) and other special engineering plastics, with the addition of reinforcing materials such as carbon fiber and glass fiber, as well as friction and thermal conductivity modifiers such as nano copper powder and nano diamond powder; this composite material can ensure a sufficient coefficient of friction and has good wear resistance and thermal conductivity.

[0039] The thickness of the friction layer 8 needs to be precisely controlled. If it is too thin, it will reduce the service life, and if it is too thick, it will affect the transmission efficiency of vibration energy. The optimized design of the friction layer can significantly improve the service life of the motor while ensuring energy transmission efficiency.

[0040] The resonator assembly 5 includes a piezoelectric vibrator 6 and a preloaded spring pad 7. The piezoelectric vibrator 6 is disposed on the side of the rotor 2 facing the lower shell 12, and the preloaded spring pad 7 is sandwiched between the piezoelectric vibrator 6 and the inner wall of the lower shell 12 to apply a preload to the piezoelectric vibrator 6. The piezoelectric vibrator 6 includes an elastic body 61, which has a plurality of teeth 611. Adjacent teeth 611 form a deformation slot 612, and the upper end face of the teeth 611 abuts against the friction layer 8. Under the action of the driving signal, the elastic body 61 generates high-frequency vibration, and the teeth 611 deform in the direction of the deformation slot 612 to transmit the contact pressure maintained by the preloaded spring pad 7 to the friction layer 8, so as to generate rotational motion in driving the rotor 2.

[0041] The piezoelectric vibrator 6 is the core of the resonator assembly 5, consisting of an elastic body 61, a piezoelectric ceramic sheet 62, and a vibrator circuit board 63. The elastic body 61 has a revolutionary toothed design 611, with a deformation gap 612 formed between adjacent teeth 611. This design completely changes the defect of traditional planar pad ring structures, which have a large contact area but insufficient pressure per unit area.

[0042] The pre-pressure pad 7 is sandwiched between the piezoelectric vibrator 6 and the inner wall of the lower shell 12. Its core function is to apply a constant pre-pressure to the piezoelectric vibrator 6. This pre-pressure ensures that the teeth 611 and the friction layer 8 maintain an appropriate contact state, neither too tight, which would cause excessive friction, nor too loose, which would cause low energy transfer efficiency.

[0043] The preload spring pad 7 is usually made of spring steel or special spring alloy, which has excellent fatigue resistance and stable mechanical properties. During the long-term operation of the motor, even if the height of the tooth 611 changes slightly due to wear, the preload spring pad 7 can automatically compensate for this change and maintain stable contact pressure.

[0044] The cross-sectional shape of the tooth 611 is rectangular, trapezoidal, or triangular; the width of the deformation slot 612 is 1 / 6 to 1 / 2 of the width of the tooth 611; the cross-sectional shape of the tooth 611 can be designed as rectangular, trapezoidal, or triangular, and different shapes have different performance characteristics; rectangular teeth provide the largest contact area, trapezoidal teeth are beneficial for stress distribution, and triangular teeth can achieve the most concentrated energy transfer; the width of the deformation slot 612 is designed to be 1 / 6 to 1 / 2 of the width of the tooth 611. This optimized ratio ensures that the tooth has sufficient deformation space while maintaining structural stability.

[0045] The piezoelectric vibrator 6 further includes: a piezoelectric ceramic sheet 62, the upper end of which abuts against the lower end of the elastic body 61; a vibrator circuit board 63, which is disposed on the lower end of the piezoelectric ceramic sheet 62, the piezoelectric ceramic sheet 62 being electrically connected to the vibrator circuit board 63 through a conductive electrode layer, the lower end of the vibrator circuit board 63 abutting against the upper end of the pre-compression elastic pad 7; wherein, the driving signal is input through the vibrator circuit board 63 and transmitted to the piezoelectric ceramic sheet 62 through the conductive electrode layer; the piezoelectric ceramic sheet 62 generates periodic high-frequency vibration due to the inverse piezoelectric effect, thereby driving the elastic body 61 to deform.

[0046] The upper end face of the piezoelectric ceramic sheet 62 abuts against the lower end of the elastomer 61 and is made of high-performance piezoelectric ceramic material (such as PZT). When an alternating electric field is applied, the piezoelectric ceramic will undergo microscopic deformation due to the inverse piezoelectric effect. This deformation is transmitted to the elastomer 61, exciting its vibration. The oscillator circuit board 63 is disposed on the lower end face of the piezoelectric ceramic sheet 62 and provides electrical connection function. The piezoelectric ceramic sheet 62 is electrically connected to the oscillator circuit board 63 through a conductive electrode layer to ensure efficient transmission of drive signals. The oscillator circuit board 63 adopts a flexible circuit board design and can withstand high-frequency vibration without fatigue fracture.

[0047] The rotating shaft assembly 3 includes: a central shaft 31, which is fixed at the center of the lower housing 12; and a rotary bearing 32, which is sleeved on the central shaft 31, and the rotor 2 is connected to the central shaft 31 through the rotary bearing 32.

[0048] Control component 4; Control component 4 includes: a magnetic grating 41, which is disposed on the end face of the rotor 2 facing the upper cover 11 and rotates synchronously with the rotor 2; a TMR controller 42, which is fixedly disposed on the upper cover 11 and disposed opposite to the magnetic grating 41 with a certain gap, the TMR controller 42 being adapted to detect changes in the magnetic field of the magnetic grating 41; and a zero-point magnet 43, which is fixedly disposed on the upper cover 11 or the rotor 2 and is used to provide a magnetic field reference zero point for the magnetic grating 41.

[0049] The control component 4 is the key to achieving precise control of the ultrasonic motor. It consists of a magnetic grating 41, a TMR controller 42, and a zero-point magnet 43. The magnetic grating 41 is set on the end face of the rotor 2 facing the upper cover 11 and rotates synchronously with the rotor 2. It is engraved with precise magnetic codes.

[0050] The TMR controller 42 (tunnel magnetoresistive controller) is fixedly mounted on the upper cover 11 and is positioned opposite the magnetic grating 41 with a certain gap. It is used to detect changes in the magnetic field of the magnetic grating 41. TMR technology has high sensitivity, low temperature drift and good temperature stability, and can accurately detect the position and speed of the rotor.

[0051] The zero-point magnet 43 is fixedly mounted on the rotor 2 to provide a magnetic field reference zero point for the magnetic grating 41, ensuring the absolute accuracy of position detection. This design enables the motor to achieve high-precision position control with a resolution of micrometer or even nanometer level.

[0052] Some embodiments provide a rotary ultrasonic motor, including: a resonator assembly 5, which is a ring structure; the resonator assembly 5 includes a piezoelectric vibrator 6; the piezoelectric vibrator 6 includes an elastic body 61, the elastic body 61 having a plurality of teeth 611, and adjacent teeth 611 forming a deformation slot 612; the cross-sectional shape of the teeth 611 is rectangular, trapezoidal or triangular; wherein, the elastic body 61 generates high-frequency vibration under the action of a driving signal, and the teeth 611 deform in the direction of the deformation slot 612 to amplify the traveling wave vibration.

[0053] The width of the deformation slot 612 is 1 / 6 to 1 / 2 of the width of the tooth 611; the piezoelectric vibrator 6 also includes: a piezoelectric ceramic sheet 62, which is disposed on the lower end face of the elastic body 61; and a vibrator circuit board 63, which abuts against the lower end face of the piezoelectric ceramic sheet 62, and the piezoelectric ceramic sheet 62 is electrically connected to the vibrator circuit board 63 through a conductive electrode layer.

[0054] The resonator assembly 5 also includes a pre-compression pad 7, which is clamped on the bottom surface of the oscillator circuit board 63 to apply pre-compression to the elastomer 61.

[0055] It should be further explained that when the driving signal is input through the oscillator circuit board 63 and transmitted to the piezoelectric ceramic sheet 62 through the conductive electrode layer, the piezoelectric ceramic sheet 62 generates periodic high-frequency vibration deformation due to the inverse piezoelectric effect. This microscopic deformation drives the elastic body 61 to deform (usually at a frequency above 20kHz, which is beyond the range of human hearing).

[0056] The elastomer 61 generates high-frequency micro-amplitude vibrations in a specific mode under the action of the driving signal. The tooth 611 deforms in the direction of the deformation seam 612, which efficiently transmits the contact pressure maintained by the pre-compression elastic pad 7 to the friction layer 8. This design concentrates the vibration energy at the tip of the tooth, which greatly increases the pressure per unit area and enables the micro-vibration energy generated by the piezoelectric vibrator to be fully converted into the macro-motion of the rotor.

[0057] The elliptical motion trajectory of the tooth 611 and the friction coupling between the friction layer 8 drive the rotor 2 to generate precise rotational motion; by controlling the frequency, amplitude and phase of the drive signal, the speed, direction and output torque of the motor can be precisely adjusted.

[0058] Meanwhile, the control component 4 monitors the position and speed of the rotor 2 in real time; the magnetic grating 41 rotates synchronously with the rotor 2, and the TMR controller 42 detects the magnetic field changes of the magnetic grating and converts them into electrical signal output; the zero-point magnet 43 provides an absolute position reference, forming a closed-loop control system to ensure the accuracy and stability of motor operation.

[0059] In summary, this embodiment: By setting an innovative elastomer 61 structure with teeth 611 and deformation slots 612, the efficient and concentrated transmission of vibration energy is achieved, significantly improving the energy conversion efficiency. By setting a constant contact pressure maintained by the pre-compression spring pad 7, stable frictional coupling performance and long service life were achieved. By setting up the precision control component 4, the position detection accuracy and motion control accuracy are improved; By setting a multi-layer composite friction layer 8, the wear rate is reduced and the service life is improved; By designing a split stator structure, manufacturing, assembly, and maintenance are facilitated, and production costs are reduced.

[0060] In the description of the embodiments of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0061] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model 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 of this utility model. Furthermore, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence unless expressly indicated herein. Therefore, without departing from the teachings of the exemplary embodiments, the first element, component, region, layer, or segment discussed above may be referred to as the second element, component, region, layer, or segment.

[0062] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A rotary ultrasonic motor, characterized in that, include: The stator (1) includes a lower shell (12) and an upper cover (11). The rotor (2) is rotatably disposed between the lower shell (12) and the upper cover (11) via a rotating shaft assembly (3); The resonator assembly (5) is housed between the lower housing (12) and the upper cover (11); A friction layer (8) is disposed on the side of the rotor (2) facing the resonator assembly (5); The resonator assembly (5) includes: Piezoelectric vibrator (6) and pre-compressed elastic pad (7); The piezoelectric vibrator (6) is disposed on the side of the rotor (2) facing the lower shell (12), and the pre-compression pad (7) is sandwiched between the piezoelectric vibrator (6) and the inner wall of the lower shell (12) to apply pre-compression to the piezoelectric vibrator (6); The piezoelectric vibrator (6) includes an elastic body (61), the elastic body (61) has a plurality of teeth (611), and a deformation slot (612) is formed between adjacent teeth (611). The upper end face of the teeth (611) abuts against the friction layer (8). The elastomer (61) generates high-frequency vibration under the action of the driving signal, and the tooth (611) deforms in the direction of the deformation seam (612) to transmit the contact pressure maintained by the pre-compression elastic pad (7) to the friction layer (8) so as to generate rotational motion in the driving rotor (2).

2. The rotary ultrasonic motor as described in claim 1, characterized in that, The cross-sectional shape of the tooth (611) is rectangular, trapezoidal or triangular.

3. The rotary ultrasonic motor as described in claim 1, characterized in that, The width of the deformation joint (612) is 1 / 6 to 1 / 2 of the width of the tooth (611).

4. The rotary ultrasonic motor as described in claim 1, characterized in that, The piezoelectric vibrator (6) also includes: The upper end face of the piezoelectric ceramic sheet (62) abuts against the lower end of the elastomer (61); The oscillator circuit board (63) is disposed on the lower end face of the piezoelectric ceramic sheet (62). The piezoelectric ceramic sheet (62) is electrically connected to the oscillator circuit board (63) through the conductive electrode layer. The lower end of the oscillator circuit board (63) abuts against the upper end face of the pre-compression spring pad (7). The driving signal is connected to the oscillator circuit board (63) and transmitted to the piezoelectric ceramic sheet (62) through the conductive electrode layer; the piezoelectric ceramic sheet (62) generates periodic high-frequency vibration due to the inverse piezoelectric effect, so as to drive the elastic body (61) to deform.

5. The rotary ultrasonic motor as described in claim 4, characterized in that, The rotating shaft assembly (3) includes: A central shaft (31) is fixed at the center of the lower shell (12); A rotary bearing (32) is sleeved on a central shaft (31), and the rotor (2) is connected to the central shaft (31) through the rotary bearing (32).

6. The rotary ultrasonic motor as described in claim 5, characterized in that, include: Control component (4); The control component (4) includes: A magnetic grid (41) is disposed on the end face of the rotor (2) facing the upper cover (11) and rotates synchronously with the rotor (2); The TMR controller (42) is fixedly mounted on the upper cover (11) and is positioned opposite the magnetic grating (41) with a certain gap. The TMR controller (42) is suitable for detecting changes in the magnetic field of the magnetic grating (41). A zero-point magnet (43) is fixedly mounted on the rotor (2) to provide a magnetic field reference zero point for the magnetic grid (41).

7. A rotary ultrasonic motor, characterized in that, include: The resonator assembly (5) has a ring structure; The resonator assembly (5) includes a piezoelectric vibrator (6); The piezoelectric vibrator (6) includes an elastic body (61) having a plurality of teeth (611) and a deformation gap (612) between adjacent teeth (611). The cross-sectional shape of the tooth (611) is rectangular, trapezoidal or triangular; The elastomer (61) generates high-frequency vibration under the action of the driving signal, and the tooth (611) deforms in the direction of the deformation seam (612) to amplify the traveling wave vibration.

8. The rotary ultrasonic motor as described in claim 7, characterized in that, The width of the deformation joint (612) is 1 / 6 to 1 / 2 of the width of the tooth (611).

9. The rotary ultrasonic motor as described in claim 8, characterized in that, The piezoelectric vibrator (6) also includes: A piezoelectric ceramic sheet (62) is disposed on the lower end face of the elastomer (61); The oscillator circuit board (63) abuts against the lower end face of the piezoelectric ceramic sheet (62), which is electrically connected to the oscillator circuit board (63) through a conductive electrode layer.

10. The rotary ultrasonic motor as described in claim 9, characterized in that, The resonator assembly (5) also includes: A pre-compression pad (7) is clamped on the bottom surface of the oscillator circuit board (63) to apply pre-compression to the elastomer (61).

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