Motor and electronic device

Abstract

The present application provides a motor and an electronic device. The motor comprises a mover and a resonator; the mover comprises a rotating disk and a bearing, the rotating disk is sleeved on the bearing, and the rotating disk can rotate around the bearing; the resonator and the rotating disk are arranged in a first direction, the resonator abuts against the rotating disk in a direction parallel to the first direction, the resonator and the bearing are spaced apart in a second direction, the second direction is perpendicular to the first direction, the resonator is used for driving the rotating disk to rotate around the axial direction of the bearing, and the first direction is parallel to the axial direction of the rotating disk. By designing the arrangement direction of the resonator and the mover to be parallel to the axial direction of the mover, and the resonator and the bearing to be spaced apart in the second direction, the resonator drives the mover to rotate, so as to achieve high torque and low rotational speed output, and the processing structure is simple.

Description

Motor and electronic device

[0001] This application claims priority to the Chinese Patent Application No. 202411096446.9, filed on August 9, 2024, and entitled "Motor", and the Chinese Patent Application No. 202411357743.4, filed on September 26, 2024, and entitled "Motor and electronic device", the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the field of ultrasonic motor, in particular to a motor and electronic device. BACKGROUND

[0003] With the development of science and technology, more and more instruments use motors to achieve driving. At present, the demand for driving accuracy and control of the motor is getting higher and higher, for example, motors with large torque and low speed are becoming more and more popular. Usually, a traveling wave type piezoelectric motor (ultrasonic motor) is used to achieve large torque and low speed output, but the traveling wave type motor has the problem of high machining precision requirement of the stator structure. Therefore, how to design a motor with simple structure and capable of achieving large torque and low speed output becomes a problem to be solved. SUMMARY

[0004] The present application provides a motor and electronic device. The motor includes a mover and a resonator, the arrangement direction of the resonator and the mover is parallel to the axial direction of the bearing of the mover, and the resonator drives the mover to rotate to achieve large torque and low speed output, and the machining structure is simple.

[0005] In a first aspect, the present application provides a motor. The motor includes a mover and a resonator; the mover includes a rotating disc and a bearing, the rotating disc is sleeved on the bearing, and the rotating disc can rotate around the axial direction of the bearing; the resonator is arranged in a first direction with the rotating disc, the resonator abuts against the rotating disc along the first direction, the resonator is arranged in a second direction with the bearing, the second direction is perpendicular to the first direction, the resonator is used to drive the rotating disc to rotate, and the first direction is parallel to the axial direction of the rotating disc.

[0006] In the present application, the motor drives the mover through the friction force between the resonator and the mover, which can simplify the driving structure of the motor. In addition, after the resonator is disconnected from the driving signal, the friction force between the resonator and the mover can form a resistance to the mover, so that the motor can realize power-off self-locking. In addition, changing the driving force of the resonator by changing the driving signal can realize deceleration or stop rotation, etc.

[0007] In the application, the resonator is arranged in the second direction and spaced from the bearing, so that the resonator and the bearing are prevented from contacting each other, thereby avoiding the resonator interfering with the rotation of the rotating disc. In addition, the resonator is arranged in the second direction and spaced from the bearing, so that the torque of the resonator driving the rotating disc to rotate is improved, thereby facilitating the motor to output a large torque at a low speed.

[0008] In some possible implementation manners, the resonator is configured to generate a force parallel to the tangential direction of the rotating disc, so as to drive the rotating disc to rotate.

[0009] In the implementation manner, the motor forms linear driving on the mover through the friction between the resonator and the mover, so that a large torque at a low speed is achieved, and the assembly complexity is greatly reduced, thereby simplifying the structure of the motor.

[0010] In some possible implementation manners, the resonator is configured to generate a force parallel to the third direction by vibrating in the first plane, so as to drive the rotating disc to rotate, the third direction is perpendicular to the first direction and the second direction, and the first plane is parallel to the first direction and the third direction.

[0011] In the implementation manner, the resonator and the rotating disc are arranged in the first direction, so that the resonator and the rotating disc are arranged in a stacked manner along the thickness direction of the rotating disc, thereby reducing the space occupied by the resonator in the first direction and the second direction, and facilitating the miniaturization of the motor. In addition, the resonator abuts against the rotating disc in the first direction, so that the force generated between the resonator and the rotating disc is parallel to the axial direction of the rotating disc, thereby reducing or even avoiding the force generated between the resonator and the rotating disc interfering with the rotation of the rotating disc.

[0012] In some possible implementation manners, the resonator is configured to stretch and contract in the third direction according to a sawtooth wave signal, the third direction is perpendicular to the first direction and the second direction, the sawtooth wave signal includes a plurality of continuous periods, each period includes a continuous first section and a second section, in the first section, the absolute value of the voltage of the first section linearly rises by an angle satisfying 30°≤|α1|≤60°, and the resonator is deformed in the third direction in an initial state to drive the rotating disc to rotate; in the second section, the absolute value of the voltage of the second section linearly decreases by an angle satisfying |α2|≤10°, and the resonator is deformed in the third direction to recover to the initial state.

[0013] In the implementation manner, the resonator is driven by the sawtooth wave signal, so that the resonator is deformed in the third direction and recovers, and the resonator is repeatedly deformed and recovers, thereby continuously driving the rotating disc to rotate, and achieving linear motion of the resonator driving the rotating disc to rotate.

[0014] In the implementation, the linearly rising angle |a1| of the absolute value of the voltage of the first section satisfies the above relationship, so that the voltage changes slowly in the first section, and the resonator deforms slowly, and then the static friction force between the driving foot and the rotating disc is generated, the driving foot moves along the third direction under the deformation of the resonator to drive the rotating disc to rotate. The linearly falling angle |a2| of the absolute value of the voltage of the second section satisfies the above relationship, so that the voltage changes quickly in the second section, and the resonator deforms quickly, and then the kinetic friction force between the driving foot and the rotating disc is generated, and the resonator can recover to the initial state without affecting the rotating disc or with less effect on the rotating disc. Therefore, through the periodic excitation of the sawtooth wave signal, the periodic alternation of the static friction force and the sliding friction force between the resonator and the mover is realized, the stick-slip effect (inertia effect) is utilized, and the continuous rotation of the mover is realized through the linear driving of the resonator.

[0015] In some possible implementation, the resonator comprises an elastic body and a piezoelectric component, the elastic body abuts against the rotating disc, and the piezoelectric component is mounted on a surface of the elastic body away from the rotating disc, and the piezoelectric component is configured to drive the elastic body to vibrate, and the elastic body is configured to generate a force parallel to the third direction through vibration to drive the rotating disc to rotate.

[0016] In the implementation, the piezoelectric component is arranged, and vibration of the piezoelectric component can be flexibly controlled, which is beneficial to improving the flexibility of the rotating driving of the rotating disc. After receiving the driving signal, the piezoelectric component can vibrate in the first plane, the piezoelectric component can drive the elastic body to enter a resonance mode together to realize an out-of-plane vibration mode, and thus the resonator as a whole can vibrate in the first plane to generate a force parallel to the third direction to drive the rotating disc to rotate.

[0017] In some possible implementation, the piezoelectric component comprises a first piezoelectric component and a second piezoelectric component, and at least one of the first piezoelectric component and the second piezoelectric component is configured to drive the elastic body to vibrate to generate a driving force parallel to the third direction to drive the rotating disc to rotate.

[0018] In the implementation, the first piezoelectric component and the second piezoelectric component are designed, and the flexibility of the resonator in driving the rotating disc can be improved, wherein the first piezoelectric component and the second piezoelectric component can work independently to simplify the driving mode, and can also work cooperatively to control the rotating direction and the rotating speed of the rotating disc to cope with different application scenarios of the motor.

[0019] The first piezoelectric component can work independently to drive the elastic body to vibrate to generate a force pointing to the third direction to drive the rotating disc to rotate in the first rotating direction.

[0020] The second piezoelectric component can independently work to drive the elastic body to vibrate to generate a force in the opposite direction of the third direction, and drive the rotating disc to rotate in a second rotating direction opposite to the first rotating direction.

[0021] The first piezoelectric component and the second piezoelectric component can be simultaneously connected to the driving signal, and the vibration of the resonator can be realized by superposition of the driving signal of the first piezoelectric component and the driving signal of the second piezoelectric component, so as to realize the driving of the rotating disc, including but not limited to changing the rotating direction and rotating speed of the driving rotating disc.

[0022] The first piezoelectric component and the second piezoelectric component can simultaneously drive the rotating disc to rotate in the first rotating direction or the second rotating direction under the excitation of the driving signal.

[0023] The first piezoelectric component and the second piezoelectric component can be cooperated to realize accurate speed adjustment, for example, the signal adjustment unit of the first driving signal of the first piezoelectric component is large, which can be designed as coarse adjustment, so as to realize rapid adjustment of the rotating speed of the rotating disc by the first piezoelectric component; the signal adjustment unit of the second driving signal of the second piezoelectric component is small, which can be designed as fine adjustment, so as to realize accurate adjustment of the rotating speed of the rotating disc by the second piezoelectric component; the first piezoelectric component and the second piezoelectric component can be cooperated to realize flexible adjustment of the rotating speed of the motor, and the driving direction of the second piezoelectric component to the rotating disc can be the same as or opposite to that of the first piezoelectric component.

[0024] In some possible implementation manners, the elastic body includes an elastic plate and a driving foot, the driving foot and the piezoelectric component are located on opposite sides of the elastic plate, the elastic plate is at least partially arranged in the first direction and faces the rotating disc, and the driving foot abuts against a surface of the rotating disc facing the elastic plate; the driving foot and the elastic plate are in an integrated structure, or the driving foot is fixedly installed on the elastic plate.

[0025] In the implementation manner, the driving foot can reduce the contact area between the elastic body and the rotating disc, and is beneficial to better drive the rotating disc to rotate.

[0026] In some possible implementation manners, the driving foot is arranged adjacent to the edge of the rotating disc, so as to increase the distance between the driving foot and the bearing, thereby increasing the torque of the driving foot for driving the rotating disc to rotate, and further facilitating realization of low rotating speed and large torque. In the embodiment, the resonator and the mover are arranged in the first direction, so that the resonator occupies a small size in the second direction and the third direction, thereby enabling the size of the rotating disc to be designed to be larger, and further increasing the distance between the driving foot and the bearing, thereby further increasing the torque of the driving foot for driving the rotating disc to rotate, and further facilitating realization of low rotating speed and large torque.

[0027] In some possible implementation manners, the motor further includes a pre-pressing assembly, the pre-pressing assembly is configured to provide a pre-pressing force, and the pre-pressing force keeps the resonator abutting against the rotating disc.

[0028] In the implementation manner, the pre-pressing assembly is configured to generate the pre-pressing force acting on the resonator, and the pre-pressing force keeps the resonator abutting against the rotating disc, thereby avoiding the resonator from being separated from the rotating disc when the resonator drives the rotating disc to rotate, and improving the stability of the rotating disc in rotation.

[0029] In some possible implementation manners, the pre-pressing assembly includes a pre-pressing piece, a pre-pressing elastic piece, and a rolling piece; the pre-pressing piece is located on the opposite side of the resonator from the rotating disc; the pre-pressing elastic piece is connected between the pre-pressing piece and the resonator, and the pre-pressing elastic piece is in a tensile state; and the rolling piece is installed between the rotating disc and the pre-pressing piece.

[0030] In the implementation manner, the pre-pressing elastic piece is connected between the pre-pressing piece and the resonator, and the pre-pressing elastic piece is in a tensile state, so that the pre-pressing elastic piece can act on the resonator through elastic restoring force to generate the pre-pressing force, thereby abutting the resonator against the rotating disc. The rolling piece is configured to enable the rotating disc to rotate relative to the pre-pressing piece in the process of rotation, thereby preventing the pre-pressing piece from interfering with the rotation of the rotating disc.

[0031] In some possible implementation manners, the pre-pressing piece has a first limiting groove, the first limiting groove is open on the surface of the pre-pressing piece facing the rotating disc, and the rolling piece is installed in the first limiting groove.

[0032] In the implementation manner, the first limiting groove can prevent the rolling piece from being displaced relative to the pre-pressing piece when the rotating disc rotates, so that the rolling piece can roll in place.

[0033] In some possible implementation manners, the pre-pressing elastic piece includes oppositely arranged first and second elastic pieces; the first elastic piece is connected between one end of the resonator and one end of the pre-pressing piece, and the second elastic piece is connected between the other end of the resonator and the other end of the pre-pressing piece.

[0034] In the implementation manner, the first elastic piece is configured to generate a first pre-pressing force acting on the resonator, and the second elastic piece is configured to generate a second pre-pressing force acting on the resonator, and the first and second pre-pressing forces are both directed in the opposite direction of the first direction. The first and second pre-pressing forces can provide more stable pre-pressing force for the resonator, thereby improving the stability of the resonator in driving the rotating disc to rotate.

[0035] In some possible implementation manners, the resonator and the bearing are arranged in a second direction, the second direction is perpendicular to the first direction, the resonator is configured to generate a force parallel to a third direction to drive the rotating disc to rotate, the third direction is perpendicular to the first direction and the second direction, and the first and second elastic pieces are arranged in the third direction.

[0036] In the present implementation, according to the above arrangement direction, the installation of the first elastic member and the second elastic member is facilitated to avoid the rotating disc, so that the resonator does not need to be provided with an excessively large size, and the overall miniaturization of the resonator is facilitated. In addition, since the force of the resonator acting on the rotating disc is parallel to the third direction, arranging the first elastic member and the second elastic member in the third direction is advantageous to resist the reaction force of the rotating disc on the resonator, thereby reducing the overturning phenomenon of the resonator.

[0037] In some possible implementations, the motor further includes a housing including oppositely arranged first and second side walls, the mover, the resonator, and the pre-pressing assembly are all installed between the first and second side walls, and the resonator is closer to the first side wall than the mover; the pre-pressing assembly includes a pre-pressing elastic member connected between the resonator and the first side wall, and the pre-pressing elastic member is in a compressed state.

[0038] In the present implementation, the first side wall is connected by the pre-pressing elastic member, and the pre-pressing elastic member is in a compressed state, so that the pre-pressing elastic member can act on the resonator by elastic restoring force to generate a pre-pressing force, thereby abutting the resonator to the rotating disc. In addition, since the pre-pressing elastic member and the resonator are located on the same side of the rotating disc, the installation difficulty of the pre-pressing elastic member can be reduced, and the interference of the installation of the pre-pressing elastic member on the rotating disc can be reduced.

[0039] In other possible implementations, the pre-pressing elastic member is connected between the resonator and the second side wall, and the pre-pressing elastic member is in a stretched state.

[0040] In the present implementation, the second side wall is connected by the pre-pressing elastic member, and the pre-pressing elastic member is in a stretched state, so that the pre-pressing elastic member can act on the resonator by elastic restoring force to generate a pre-pressing force, thereby abutting the resonator to the rotating disc.

[0041] In some possible implementations, the pre-pressing elastic member is connected between the resonator and the first side wall, and the pre-pressing elastic member is in a compressed state; the pre-pressing assembly further includes a rolling member installed between the rotating disc and the second side wall.

[0042] In the present implementation, the rolling member is installed between the rotating disc and the second side wall, so that the rotating disc is supported by the rolling member during rotation to reduce the interference of the pre-pressing force on the bearing, thereby facilitating to improve the service life of the bearing.

[0043] In some possible implementation manners, the motor further includes a housing, the housing includes oppositely arranged first and second side walls, the mover, the resonator and the pre-pressing assembly are all mounted between the first and second side walls, and the resonator is closer to the first side wall than the mover; the pre-pressing assembly includes a pre-pressing piece, a pre-pressing elastic piece and a rolling piece; the pre-pressing piece is located on the opposite side of the resonator from the rotating disc; the rolling piece is mounted between the rotating disc and the pre-pressing piece; and the pre-pressing elastic piece is connected between the pre-pressing piece and the second side wall, and is in a compressed state.

[0044] In the implementation manner, the pre-pressing elastic piece is connected between the second side wall and the pre-pressing piece, and is in a compressed state, so that the pre-pressing elastic piece can act on the resonator through elastic restoring force to generate a pre-pressing force, thereby abutting the resonator to the rotating disc. In addition, since the pre-pressing elastic piece is completely located on one side of the rotating disc, the installation difficulty of the pre-pressing elastic piece is reduced, and the interference of the installation of the pre-pressing elastic piece on the rotating disc is reduced.

[0045] In some possible implementation manners, the motor further includes a retaining assembly connected to the resonator, and the retaining assembly is configured to provide a swing-stopping force for balancing a reaction force of the rotating disc on the resonator.

[0046] In the implementation manner, the swing-stopping force is generated by the retaining assembly to balance the reaction force of the rotating disc on the resonator, thereby avoiding the overturning of the resonator during the driving of the rotating disc to rotate, and facilitating the stable rotation of the resonator in driving the rotating disc.

[0047] In some possible implementation manners, the retaining assembly includes a retaining frame, a swing-stopping elastic piece and a roller shaft; the retaining frame has a frame structure, and includes oppositely arranged first and second side frames, and the resonator is located between the first and second side frames; the swing-stopping elastic piece is connected between one end of the resonator and the first side frame, and is in a compressed state; and the roller shaft is connected between the other end of the resonator and the second side frame, and an axis of the roller shaft is parallel to an extension direction of the second side frame.

[0048] In the implementation manner, the swing-stopping elastic piece is in a compressed state, so that the swing-stopping elastic piece can abut the resonator to the roller shaft to stably mount the resonator in the retaining frame. In addition, during the driving of the resonator to rotate the rotating disc, for example, when the rotating disc rotates in a second rotation direction, the rotating disc generates an overturning force on the resonator, the swing-stopping elastic piece can generate a swing-stopping force opposite to the direction of the overturning force through its elastic restoring, thereby balancing the stress of the resonator to prevent the resonator from rotating around the second direction, thereby keeping the resonator stable, and facilitating the stable rotation of the rotating disc.

[0049] In some possible implementation manners, the motor further includes a pre-pressing assembly, the pre-pressing assembly includes a pre-pressing piece, a pre-pressing elastic piece and a rolling piece, the pre-pressing piece is located on the opposite side of the rotating disc relative to the resonator, the rolling piece is installed between the rotating disc and the pre-pressing piece, and the pre-pressing elastic piece is connected between the pre-pressing piece and the retainer, and the pre-pressing elastic piece is in a tensile state.

[0050] In the implementation manner, in the process that the resonator drives the rotating disc to rotate, for example, when the rotating disc rotates in the second rotation direction, the rotating disc generates a overturning force on the resonator, the swing-preventing elastic piece can generate a swing-preventing force in the direction opposite to the overturning force through elastic recovery of the swing-preventing elastic piece, so as to balance the force on the resonator, to prevent the resonator from rotating around the second direction, thereby maintaining stability of the resonator, and facilitating stable rotation of the rotating disc. In addition, the retaining assembly not only maintains driving balance of the resonator, but also stably abuts the resonator to the rotating disc in cooperation with the pre-pressing elastic piece, thereby facilitating stable driving of the resonator to the rotating disc.

[0051] In some possible implementation manners, the motor further includes a housing and a pre-pressing assembly; the housing includes oppositely arranged first and second side walls, the rotor, the resonator and the pre-pressing assembly are all installed between the first and second side walls, and the resonator is closer to the first side wall than the rotor; the pre-pressing assembly includes a pre-pressing elastic piece, the pre-pressing elastic piece is connected between the retainer and the first side wall, and the pre-pressing elastic piece is in a compressed state.

[0052] In the implementation manner, in the process that the resonator drives the rotating disc to rotate, for example, when the rotating disc rotates in the second rotation direction, the rotating disc generates an overturning force on the resonator, the swing-preventing elastic piece can generate a swing-preventing force in the direction opposite to the overturning force through elastic recovery of the swing-preventing elastic piece, so as to balance the force on the resonator, to prevent the resonator from rotating around the second direction, thereby maintaining stability of the resonator, and facilitating stable rotation of the rotating disc. In addition, the retaining assembly not only maintains driving balance of the resonator, but also stably abuts the resonator to the rotating disc in cooperation with the pre-pressing elastic piece, thereby facilitating stable driving of the resonator to the rotating disc.

[0053] In some possible implementation manners, the pre-pressing elastic piece is connected between the retainer and the second side wall, and the pre-pressing elastic piece is in a tensile state.

[0054] In the implementation manner, in the process that the resonator drives the rotating disc to rotate, for example, when the rotating disc rotates in the second rotation direction, the rotating disc generates an overturning force on the resonator, the swing-preventing elastic piece can generate a swing-preventing force in the direction opposite to the overturning force through elastic recovery of the swing-preventing elastic piece, so as to balance the force on the resonator, to prevent the resonator from rotating around the second direction, thereby maintaining stability of the resonator, and facilitating stable rotation of the rotating disc. In addition, the retaining assembly not only maintains driving balance of the resonator, but also stably abuts the resonator to the rotating disc in cooperation with the pre-pressing elastic piece, thereby facilitating stable driving of the resonator to the rotating disc.

[0055] In some possible implementation manners, the motor further includes a housing and a pre-pressing assembly, and the retainer is connected to the housing; the housing includes oppositely arranged first and second side walls, the mover, the resonator and the pre-pressing assembly are all mounted between the first and second side walls, and the resonator is closer to the first side wall than the mover; the pre-pressing assembly includes a pre-pressing piece, a pre-pressing elastic piece and a rolling piece, the pre-pressing piece is located on the opposite side of the rotating disc from the resonator, the rolling piece is mounted between the rotating disc and the pre-pressing piece, and the pre-pressing elastic piece is connected between the pre-pressing piece and the second side wall, and the pre-pressing elastic piece is in a compressed state.

[0056] In the implementation manner, the retaining assembly and the pre-pressing assembly are arranged on the opposite sides of the rotating disc respectively, so that the retaining assembly and the pre-pressing assembly are structurally decoupled, the installation difficulty of the whole is reduced, the force interference between the retaining assembly and the pre-pressing assembly is reduced, and the balance of the resonator driving the mover to rotate is improved. In the process of the resonator driving the rotating disc to rotate, for example, when the rotating disc rotates in the second rotation direction, the rotating disc generates an overturning force on the resonator, the anti-sway elastic piece can generate an anti-sway force in the direction opposite to the overturning force through elastic recovery of the anti-sway elastic piece, so as to balance the stress of the resonator, prevent the resonator from rotating around the second direction, and thus the stability of the resonator is maintained, which is beneficial to the stable rotation of the rotating disc.

[0057] In some possible implementation manners, the pre-pressing elastic piece includes oppositely arranged first and second elastic pieces, the first elastic piece is connected to the first frame, and the second elastic piece is connected to the second frame.

[0058] In the implementation manner, the first and second elastic pieces are connected, so that the resonator can be provided with a pre-pressing force in the direction opposite to the first direction, and the resonator can stably abut against the rotating disc, which is beneficial to the stable driving of the resonator to rotate the rotating disc.

[0059] In some possible implementation manners, the resonator and the bearing are arranged in the second direction, the second direction is perpendicular to the first direction, the resonator is configured to generate a force parallel to the third direction to drive the rotating disc to rotate, the third direction is perpendicular to the first direction and the second direction, and the first frame and the second frame are arranged in the third direction.

[0060] In the implementation manner, according to the above arrangement directions, the installation of the first and second elastic pieces can be avoided from the rotating disc, so that the retainer does not need to be provided with an excessively large size, and the miniaturization of the whole retainer is facilitated.

[0061] In some possible implementation manners, the second frame has a second limiting groove located on a surface of the second frame facing the resonator, the resonator has a third limiting groove located on a surface of the resonator facing the second frame, and the roller shaft is mounted between the second limiting groove and the third limiting groove.

[0062] In the implementation, the second limiting groove and the third limiting groove are arranged to limit the installation of the roller shaft, so that the roller shaft is prevented from moving during the balancing of the pendulum elastic member and the resonator, and the pendulum elastic member can better balance the resonator.

[0063] In some possible implementation, the second limiting groove is a V-shaped groove, which is conducive to the limiting installation of the roller shaft.

[0064] In some possible implementation, the third limiting groove is a V-shaped groove, which is conducive to the limiting installation of the roller shaft.

[0065] In the second aspect, the present application also provides an electronic device. The electronic device comprises the motor as described above.

[0066] In the present application, the motor is used to output low-speed large torque, which is conducive to the driving design of the electronic device, and the structure of the motor is simplified, which is conducive to improving the space utilization of the motor in the electronic device, thereby optimizing the size design of the electronic device. BRIEF DESCRIPTION OF DRAWINGS

[0067] FIG. 1A is a structural schematic diagram of the motor provided by the present application in some embodiments;

[0068] FIG. 1B is a structural schematic diagram of the motor shown in FIG. 1A from another perspective;

[0069] FIG. 2A is a driving schematic diagram of the first piezoelectric component of the motor shown in FIG. 1B from another perspective in some embodiments;

[0070] FIG. 2B is a schematic diagram of the rotation of the rotating disc of the resonator in the motor shown in FIG. 2A;

[0071] FIG. 3A is a driving schematic diagram of the second piezoelectric component of the motor shown in FIG. 1B from another perspective in some embodiments;

[0072] FIG. 3B is a schematic diagram of the rotation of the rotating disc of the resonator in the motor shown in FIG. 3A;

[0073] FIG. 4 is a schematic diagram of a driving signal of the resonator in the motor shown in FIG. 1B in some embodiments;

[0074] FIG. 5 is a schematic diagram of the rotation of the driving rotor of the resonator excited by the driving signal shown in FIG. 4 in some embodiments;

[0075] FIG. 6 is a structural schematic diagram of the motor driving schematic from another perspective;

[0076] FIG. 7A is a structural schematic diagram of the motor provided with a pre-pressing assembly in some embodiments;

[0077] Fig. 7B is a structural schematic diagram of the motor shown in Fig. 7A from another perspective;

[0078] Fig. 7C is a structural schematic diagram of the motor shown in Fig. 7A from yet another perspective;

[0079] Fig. 8 is a schematic diagram of the motor in the prior art in which the resonator tilts in some embodiments;

[0080] Fig. 9A is a structural schematic diagram of the motor mounting and retaining assembly shown in Fig. 7A in some embodiments;

[0081] Fig. 9B is a structural schematic diagram of the motor shown in Fig. 9A from another perspective;

[0082] Fig. 10A is a structural schematic diagram of the motor pre-pressing assembly shown in Fig. 1A in other embodiments;

[0083] Fig. 10B is a structural schematic diagram of the motor shown in Fig. 10A from another perspective;

[0084] Fig. 10C is a structural schematic diagram of the motor mounting and retaining assembly shown in Fig. 10B in some embodiments;

[0085] Fig. 11A is a structural schematic diagram of the motor pre-pressing assembly shown in Fig. 1A in yet other embodiments;

[0086] Fig. 11B is a structural schematic diagram of the motor shown in Fig. 11A from another perspective;

[0087] Fig. 11C is a structural schematic diagram of the motor mounting and retaining assembly shown in Fig. 11B in some embodiments;

[0088] Fig. 12A is a structural schematic diagram of the motor pre-pressing assembly shown in Fig. 1A in yet other embodiments;

[0089] Fig. 12B is a structural schematic diagram of the motor shown in Fig. 12A from another perspective;

[0090] Fig. 12C is a structural schematic diagram of the motor mounting and retaining assembly shown in Fig. 12B in some embodiments. DETAILED DESCRIPTION

[0091] The embodiments of the present application will be described below with reference to the accompanying drawings.

[0092] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting" should be understood in a broad sense, for example, "connecting" can be detachable connection, or can be non-detachable connection; can be direct connection, or can be indirect connection through an intermediate medium. "Multiple" means at least two.

[0093] The positional terms mentioned in the embodiments of the present application, such as "upper", "lower", "inner", "outer", "top", "bottom", "side" and the like, are only the directions of the drawings, and therefore, the positional terms are used for better and clearer illustration and understanding of the embodiments of the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0094] In the embodiments of the present application, the relative positional relationship mentioned, such as parallel, vertical, aligned and the like, are all for the current process level, and are not absolute strict limits, and a small amount of deviation is allowed, and approximately parallel, approximately vertical, approximately aligned and the like are all possible. For example, A is parallel to B, which means that A and B are parallel or approximately parallel, and the included angle between A and B can be between 0 degrees and 10 degrees. For example, A is perpendicular to B, which means that A and B are perpendicular or approximately perpendicular, and the included angle between A and B can be between 80 degrees and 100 degrees.

[0095] In the embodiments of the present application, the terms "first", "second", "third", "fourth" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second", "third", "fourth" can explicitly or implicitly include one or more of the features.

[0096] Please refer to FIG. 1A and FIG. 1B, FIG. 1A is a structural schematic diagram of an electric machine 10 in some embodiments provided by the present application; and FIG. 1B is a structural schematic diagram of the electric machine 10 shown in FIG. 1A from another perspective.

[0097] In some embodiments, the electric machine 10 can output torque by rotation to realize rotation output. The electric machine 10 is a rotary ultrasonic motor 10, which can also be referred to as a rotary piezoelectric motor. The electric machine 10 can be applied to electronic devices requiring rotation driving, such as robot joints, precision rotary turntables, optical devices (such as microscopes) requiring position adjustment, and the like.

[0098] In some embodiments, the electric machine 10 can include a mover 1 and a resonator 2, the resonator 2 is arranged in abutment with the mover 1, the resonator 2 can vibrate to generate a straight driving force parallel to the tangential direction of the mover 1, the mover 1 is driven to rotate by the driving force, thereby realizing torque output. It should be noted that the driving force is the frictional force between the resonator 2 and the mover 1.

[0099] In the embodiment, the motor 10 forms linear driving force to the mover 1 through the friction between the resonator 2 and the mover 1, and can realize low-speed and large-torque driving, and greatly reduces the assembly complexity to simplify the structure of the motor 10. In addition, after the driving signal is disconnected, the friction between the resonator 2 and the mover 1 can form resistance to the mover 1, so that the motor 10 can realize power-off self-locking. In addition, by changing the driving signal to change the driving force of the resonator 2 in the opposite direction, the motor 10 can realize deceleration or stop rotation.

[0100] For example, the resonator 2 can receive the driving signal to form an out-of-plane vibration mode, so that the resonator 2 can vibrate to generate linear driving force parallel to the tangential direction of the mover 1. It should be noted that the out-of-plane vibration mode is a concept in solid mechanics.

[0101] For example, the mover 1 can include a rotating disc 11 and a bearing 12, the rotating disc 11 is sleeved on the bearing 12, and the rotating disc 11 can rotate around the axial direction of the bearing 12. The resonator 2 and the rotating disc 11 can be arranged in the first direction Z, and the resonator 2 can abut against the rotating disc 11. The resonator 2 is used to generate force parallel to the tangential direction of the rotating disc 11 by vibrating in the first plane YZ, so as to drive the rotating disc 11 to rotate around the bearing 12. The first direction Z and the first plane YZ are parallel to the axial direction of the rotating disc 11.

[0102] In the embodiment, the resonator 2 and the rotating disc 11 are arranged in the first direction Z, so that the resonator 2 and the rotating disc 11 are stacked along the thickness direction of the rotating disc 11, which is beneficial to reduce the space occupied by the resonator 2 in the X direction and the Y direction, thereby facilitating the miniaturization of the motor 10. In addition, the resonator 2 abuts against the rotating disc 11 in the first direction Z, so that the force generated between the resonator 2 and the rotating disc 11 can be parallel to the axial direction of the rotating disc 11, which can reduce or even avoid the interference of the force between the resonator 2 and the rotating disc 11 with the rotation of the rotating disc 11.

[0103] It should be noted that the rotating disc 11 can be disc-shaped, which includes axial direction, radial direction and tangential direction, etc. The axial direction of the rotating disc 11 is the direction of the axis of rotation of the rotating disc 11; the radial direction of the rotating disc 11 is the direction of the line connecting a point in any cross section perpendicular to the axis of rotation of the rotating disc 11 and the center of the cross section; and the tangential direction of the rotating disc 11 is the direction perpendicular to the radial direction of the rotating disc 11 in any cross section perpendicular to the axis of rotation of the rotating disc 11. In the embodiment, the force generated by the vibration of the resonator 2 parallel to the tangential direction of the rotating disc 11 means that the direction of the force acting on the rotating disc 11 after the vibration of the resonator 2 is parallel to the tangential direction of the rotating disc 11.

[0104] In some other embodiments, the resonator 2 can also vibrate in other planes (e.g. in the XY plane, the XZ plane, etc.), as long as the resonator 2 can generate a force parallel to the tangential direction of the rotating disc 11 to drive the rotating disc 11 to rotate around the bearing 12.

[0105] It should be noted that the resonator 2 can be directly or indirectly mounted on the housing (not shown in the figure) of the motor 10 to provide support for the resonator 2, which is conducive to the stable driving of the rotor 1 by the resonator 2.

[0106] In some embodiments, the resonator 2 and the bearing 12 can be arranged in a second direction X which is perpendicular to the first direction Z. The resonator 2 can be used to generate a force parallel to a third direction Y by vibrating in the first plane YZ to drive the rotating disc 11 to rotate. The third direction Y is perpendicular to the first direction Z and the second direction X. The third direction Y is parallel to the first plane YZ.

[0107] In the present embodiment, the resonator 2 and the bearing 12 are arranged in the second direction X, which can avoid contact between the resonator 2 and the bearing 12 to avoid interference of the resonator 2 with the rotation of the rotating disc 11. In addition, the resonator 2 and the bearing 12 are arranged in a spaced manner, which is conducive to improving the torque of the resonator 2 for driving the rotating disc 11 to rotate, thereby facilitating the low-speed large-torque output of the motor 10. The resonator 2 can vibrate in the first plane YZ through the off-plane vibration mode, thereby generating a force parallel to the third direction Y. Since the third direction Y is perpendicular to the first direction Z, the resonator 2 can achieve linear motion to drive the rotating disc 11 to rotate.

[0108] In some embodiments, the resonator 2 can include an elastic body 21 and a piezoelectric component 22. The elastic body 21 can abut against the rotating disc 11. The piezoelectric component 22 can be mounted on the surface of the elastic body 21 away from the rotating disc 11. The piezoelectric component 22 is used to vibrate in the first plane YZ to drive the elastic body 21 to vibrate in the first plane YZ. The elastic body 21 is used to generate a force parallel to the third direction Y by vibrating in the first plane YZ to drive the rotating disc 11 to rotate.

[0109] In the present embodiment, by arranging the piezoelectric component 22, the vibration of the piezoelectric component 22 can be flexibly controlled, which is conducive to improving the flexibility of the rotational driving of the rotating disc 11. After receiving a driving signal, the piezoelectric component 22 can vibrate in the first plane YZ. The piezoelectric component 22 can drive the elastic body 21 to enter the resonance mode together to achieve the off-plane vibration mode. Therefore, the resonator 2 as a whole can vibrate in the first plane YZ, thereby generating a force parallel to the third direction Y to drive the rotating disc 11 to rotate.

[0110] For example, the elastic body 21 can include an elastic plate 211 and a driving foot 212. The driving foot 212 and the piezoelectric component 22 can be located on opposite sides of the elastic plate 211, and the elastic plate 211 can be at least partially opposite the rotating disc 11 in the first direction. The driving foot 212 can abut the surface of the rotating disc 11 facing the elastic plate 211. In this embodiment, the contact area between the elastic body 21 and the rotating disc 11 can be reduced by the driving foot 212, which facilitates better driving of the rotating disc 11.

[0111] In this embodiment, the resonator 2 and the mover 1 are arranged in the first direction Z, so that the resonator 2 occupies a smaller size in the second direction X and the third direction Y, thereby allowing the rotating disc 11 to be designed to be larger in size. In this way, the distance between the driving foot 212 and the bearing 12 can be further increased, thereby further increasing the torque of the driving foot 212 driving the rotating disc 11 to rotate, and facilitating the realization of low speed and large torque.

[0112] It should be noted that the larger the size of the rotating disc 11, the greater the torque of the resonator 2 acting on the rotating disc 11.

[0113] In this embodiment, the resonator 2 and the mover 1 are arranged in the first direction Z, so that the resonator 2 occupies a smaller size in the second direction X and the third direction Y, thereby allowing the rotating disc 11 to be designed to be larger in size. In this way, the distance between the driving foot 212 and the bearing 12 can be further increased, thereby further increasing the torque of the driving foot 212 driving the rotating disc 11 to rotate, and facilitating the realization of low speed and large torque.

[0114] In this embodiment, the resonator 2 and the mover 1 are arranged in the first direction Z, so that the resonator 2 occupies a smaller size in the second direction X and the third direction Y, thereby allowing the rotating disc 11 to be designed to be larger in size. In this way, the distance between the driving foot 212 and the bearing 12 can be further increased, thereby further increasing the torque of the driving foot 212 driving the rotating disc 11 to rotate, and facilitating the realization of low speed and large torque.

[0115] In this embodiment, the resonator 2 and the mover 1 are arranged in the first direction Z, so that the resonator 2 occupies a smaller size in the second direction X and the third direction Y, thereby allowing the rotating disc 11 to be designed to be larger in size. In this way, the distance between the driving foot 212 and the bearing 12 can be further increased, thereby further increasing the torque of the driving foot 212 driving the rotating disc 11 to rotate, and facilitating the realization of low speed and large torque.

[0116] In this embodiment, the resonator 2 and the mover 1 are arranged in the first direction Z, so that the resonator 2 occupies a smaller size in the second direction X and the third direction Y, thereby allowing the rotating disc 11 to be designed to be larger in size. In this way, the distance between the driving foot 212 and the bearing 12 can be further increased, thereby further increasing the torque of the driving foot 212 driving the rotating disc 11 to rotate, and facilitating the realization of low speed and large torque.

[0117] In some other embodiments, the number of the driving feet 212 can be multiple, each of which is located between the elastic plate 211 and the rotating disc 11 and abuts against the rotating disc 11. In some examples, the multiple driving feet 212 can be arranged linearly and the arrangement direction is parallel to the third direction Y. In some other examples, the multiple driving feet 212 can be arranged in an arc shape and the center of the arrangement arc of the multiple driving feet 212 can be located on the rotation axis of the rotating disc 11. In yet some other examples, the multiple driving feet 212 can be arranged in other regular manners or irregularly.

[0118] Please refer to FIG. 2A to FIG. 3B, FIG. 2A is a schematic diagram of the driving of the first piezoelectric component 221 in some embodiments of the motor 10 shown in FIG. IB from another perspective; FIG. 2B is a schematic diagram of the driving of the rotating disc 11 by the resonator 2 in the motor 10 shown in FIG. 2A; FIG. 3A is a schematic diagram of the driving of the second piezoelectric component 222 in some embodiments of the motor 10 shown in FIG. IB from another perspective; FIG. 3B is a schematic diagram of the driving of the rotating disc 11 by the resonator 2 in the motor 10 shown in FIG. 3A.

[0119] In some embodiments, the piezoelectric component 22 can include the first piezoelectric component 221 and the second piezoelectric component 222. The first piezoelectric component 221 and the second piezoelectric component 222 can be located on the surface of the elastic plate 211 facing away from the rotating disc 11. At least one of the first piezoelectric component 221 and the second piezoelectric component 222 is used to drive the rotating disc 11 to rotate.

[0120] In the present embodiment, by designing the first piezoelectric component 221 and the second piezoelectric component 222, the driving flexibility of the resonator 2 to the rotating disc 11 can be improved, wherein the first piezoelectric component 221 and the second piezoelectric component 222 can work independently to simplify the driving mode, and can also work cooperatively to control the rotation direction and rotation speed of the rotating disc 11 to cope with different application scenarios of the motor 10.

[0121] For example, the first piezoelectric component 221 can work independently to drive the elastic body 21 to vibrate to generate a force pointing to the third direction Y to drive the rotating disc 11 to rotate in the first rotation direction D1.

[0122] The driving signal of the first piezoelectric component 221 can be an alternating signal such as a sine signal or a square wave signal.

[0123] For example, as shown in FIGS. 2A and 2B, the first piezoelectric component 221 can drive the elastic body 21 to vibrate in the first plane YZ to generate a first driving force F1 under the excitation of a first driving signal, the first driving force F1 has a component F11 pointing to the third direction Y and a component F12 pointing to the opposite direction of the first direction Z, wherein the component F11 pointing to the third direction Y can drive the rotating disc 11 to rotate in the first rotation direction D1.

[0124] It should be noted that the vibration shown by the dashed line in FIG. 2A is only schematic, and only represents one of the vibration modes of the resonator 2, and the resonator 2 can also have other vibration modes, which are not limited herein, as long as the component F11 pointing to the third direction Y can be generated.

[0125] It should be noted that in some other embodiments, the first piezoelectric component 221 can only generate the component F11 pointing to the third direction Y under the excitation of the driving signal.

[0126] It should be noted that FIGS. 2A and 2B show that the first piezoelectric component 221 can independently drive the rotating disc 11, and in the present embodiment, the first piezoelectric component 221 drives the rotating disc 11 to rotate in the first rotation direction D1, and it can be understood that in some other embodiments, the phase of the driving signal can be changed to drive the rotating disc 11 to rotate in the opposite direction of the first rotation direction D1.

[0127] For example, the second piezoelectric component 222 can independently work to drive the elastic body 21 to vibrate to generate a force pointing to the opposite direction of the third direction Y, thereby driving the rotating disc 11 to rotate in the second rotation direction D2 opposite to the first rotation direction D1.

[0128] For example, the driving signal of the second piezoelectric component 222 can be an alternating signal such as a sine signal or a square wave signal.

[0129] For example, as shown in FIGS. 3A and 3B, the second piezoelectric component 222 can drive the elastic body 21 to vibrate in the first plane YZ to generate a second driving force F2 under the excitation of a second driving signal, the second driving force F2 has a component F21 pointing to the opposite direction of the third direction Y and a component F22 pointing to the opposite direction of the first direction Z, wherein the component F21 pointing to the opposite direction of the third direction Y can drive the rotating disc 11 to rotate in the second rotation direction D2. The second driving signal can be mirror-distributed with respect to the waveform transverse axis of the first driving signal, so as to realize that the vibration of the first piezoelectric component 221 and the vibration of the second piezoelectric component 222 are mirror images, thereby realizing the driving of the rotating disc 11 in different directions.

[0130] In some examples, the first piezoelectric component 221 and the second piezoelectric component 222 can be arranged in the third direction Y. In other examples, the first piezoelectric component 221 and the second piezoelectric component 222 can be arranged in the second direction X.

[0131] It should be noted that the vibration shown by the dashed line in FIG. 3A is only schematic and represents only one possible vibration mode of the resonator 2. The resonator 2 can also have other vibration modes, which are not limited herein, as long as the component force F21 directed in the opposite direction of the third direction Y can be generated.

[0132] It should be noted that in other embodiments, the second piezoelectric component 222 can generate only the component force F21 directed in the opposite direction of the third direction Y under the excitation of the driving signal.

[0133] It should be noted that FIGS. 3A and 3B schematically show that the second piezoelectric component 222 can independently drive the rotating disc 11. In the present embodiment, the second piezoelectric component 222 drives the rotating disc 11 to rotate in the second rotation direction D2. It can be understood that in other embodiments, the phase of the driving signal can be changed to make the second piezoelectric component 222 drive the rotating disc 11 to rotate in the opposite direction of the second rotation direction D2.

[0134] In other embodiments, the first piezoelectric component 221 and the second piezoelectric component 222 can be simultaneously connected to the driving signal. The vibration of the resonator 2 can be realized by superimposing the driving signal of the first piezoelectric component 221 and the driving signal of the second piezoelectric component 222, so as to realize the driving of the rotating disc 11, including but not limited to changing the rotation direction and the rotation speed of the rotating disc 11.

[0135] In some examples, the first piezoelectric component 221 and the second piezoelectric component 222 can simultaneously drive the rotating disc 11 to rotate in the first rotation direction D1 or in the second rotation direction D2 under the excitation of the driving signal.

[0136] In other examples, the first piezoelectric component 221 and the second piezoelectric component 222 can be cooperated to realize the precise adjustment of the speed. For example, the signal adjustment unit of the first driving signal of the first piezoelectric component 221 can be large and can be designed as coarse adjustment, so as to realize the rapid adjustment of the rotation speed of the rotating disc 11 by the first piezoelectric component 221. The signal adjustment unit of the second driving signal of the second piezoelectric component 222 can be small and can be designed as fine adjustment, so as to realize the accurate adjustment of the rotation speed of the rotating disc 11 by the second piezoelectric component 222. The first piezoelectric component 221 and the second piezoelectric component 222 can be cooperated to realize the flexible adjustment of the rotation speed of the motor 10, wherein the driving direction of the second piezoelectric component 222 to the rotating disc 11 can be the same as or opposite to that of the first piezoelectric component 221.

[0137] In some other embodiments, the number of piezoelectric components 22 can be more than three (for example, the piezoelectric components 22 can include a first piezoelectric component 221, a second piezoelectric component 222, a third piezoelectric component, etc.), and the number can be designed according to actual application. Each piezoelectric component 22 can work independently, or two or more piezoelectric components 22 can work in cooperation to drive the rotating disc 11.

[0138] In some other embodiments, the piezoelectric components 22 can include only the first piezoelectric component 221 or the second piezoelectric component 222. By exciting the single piezoelectric component 22, the resonator 2 can generate different vibrations to drive the rotating disc 11 to rotate in different directions around the bearing 12, or at different rotating speeds, etc.

[0139] It should be noted that the greater the voltage of the driving signal of the piezoelectric component 22, the greater the driving force of the resonator 2 on the rotating disc 11.

[0140] The above describes the embodiments in which the resonator drives the rotating disc to rotate according to the driving signal in some embodiments. Next, the embodiments in which the resonator drives the rotating disc to rotate according to the driving signal in some other embodiments are described. It should be noted that the driving signal used in the embodiments shown in FIGS. 4-6 is different from the driving signal used in the above embodiments.

[0141] Specifically, please refer to FIGS. 4-6. FIG. 4 is a schematic diagram of the driving signal of the resonator 2 in the motor 10 shown in FIG. 1B in some embodiments. FIG. 5 is a schematic diagram of exciting the resonator 2 to drive the rotor 1 to rotate using the driving signal shown in FIG. 4 in some embodiments. FIG. 6 is a structural schematic diagram of the motor 10 shown in FIG. 5 from another perspective. It should be noted that the motor 10 shown in FIGS. 5 and 6 can include at least some features of the motor 10 shown in FIGS. 1A-3B, and the same features will not be described here.

[0142] In some embodiments, the resonator 2 can be stretched and contracted along the third direction Y according to a sawtooth wave signal (a driving signal) to drive the mover 1. The sawtooth wave signal can include a plurality of continuous periods, each period including a continuous first section and a second section, the absolute value of the excitation voltage of the first section being in an ascending state, and the absolute value of the excitation voltage of the second section being in a descending state. When the driving signal is in the first section, the resonator 2 can be deformed along the third direction Y from an initial state to drive the rotating disc 11 to rotate by friction of the driving foot 212; when the driving signal is in the second section, the resonator 2 can be deformed along the third direction Y to recover to the initial state, and at this time, dynamic friction occurs between the driving foot 212 and the rotating disc 11. Through the excitation of the signal of the plurality of continuous periods, the resonator 2 can drive the rotating disc 11 to rotate by repeated deformation and deformation recovery.

[0143] In the present embodiment, the resonator 2 is driven by a sawtooth wave signal, which can realize the deformation and deformation recovery of the resonator 2 along the third direction Y. The repeated deformation and deformation recovery of the resonator 2 can realize the continuous driving of the rotating disc 11 to rotate, thereby realizing the linear motion of the resonator 2 to drive the rotating disc 11 to rotate.

[0144] For example, the linearly ascending angle of the absolute value of the voltage of the first section satisfies: 30°≤|α1|≤60°, for example, the value of |α1| can be, but is not limited to, 30°, or 35°, or 40°, or 45°, or 50°, or 55°, or 60°, or other values between 30° and 60°. The linearly descending angle of the absolute value of the voltage of the second section satisfies: |α2|≤10°, for example, the value of |α2| can be, but is not limited to, 10°, or 9°, or 8°, or 7°, or 6°, or 5°, or 4°, or other values less than 10°.

[0145] In the present embodiment, since the angle |a1| of the linear rise of the absolute value of the voltage of the first section satisfies the above relationship, the voltage changes slowly within the first section, so that the resonator 2 deforms slowly, and then the static friction force between the driving foot 212 and the rotating disc 11 is generated, the driving foot 212 moves along the third direction Y under the driving of the deformation of the resonator 2, so as to drive the rotating disc 11 to rotate. Since the angle |a2| of the linear drop of the absolute value of the voltage of the second section satisfies the above relationship, the voltage changes quickly within the second section, so that the resonator 2 deforms quickly, and then the kinetic friction force between the driving foot 212 and the rotating disc 11 is generated, the resonator 2 can recover to the initial state without affecting the rotating disc 11 or with less affecting the rotating disc 11. Therefore, through the periodic excitation of the sawtooth wave signal, the periodic alternation of the static friction force and the sliding friction force between the resonator 2 and the mover 1 is realized, the stick-slip effect (inertia effect) is utilized, and the continuous rotation of the mover 1 is realized through the linear driving of the resonator 2.

[0146] Specifically, the deformation and recovery of the resonator 2 are schematically illustrated in two views of FIG. 5 and FIG. 6, the deformation and recovery of the resonator 2 are schematically illustrated in FIG. 5, and the rotation of the rotating disc 11 is schematically illustrated in FIG. 6.

[0147] The (a) of FIG. 5 and the (a) of FIG. 6 represent that the resonator 2 and the mover 1 are both in the initial state, the (b) of FIG. 5 and the (b) of FIG. 6 represent the positions of the driving foot 212 after the deformation of the resonator 2 within the first section of the sawtooth wave signal, and the angle of the rotation of the rotating disc 11 is schematically illustrated, and the (c) of FIG. 5 and the (c) of FIG. 6 represent the schematic of the recovery of the resonator 2 to the initial state within the second section of the sawtooth wave signal. In FIG. 5, the position of the driving foot 212 in the resonator 2 is marked by the dashed line, the left dashed line L1 represents the initial position of the driving foot 212, and the right dashed line L2 represents the position of the driving foot 212 after the deformation of the resonator 2. In FIG. 6, the position of the driving foot 212 in the resonator 2 is represented by the dashed line L3, the position of the driving group after the deformation of the resonator 2 is represented by the dashed line L4, and the angle a3 between the dashed line L3 and the dashed line L4 represents the angle of the rotation of the rotating disc 11 within one period of the sawtooth wave signal.

[0148] In the embodiment, after the resonator 2 is excited by the sawtooth signal, in the first section of the signal, the resonator 2 can be stretched in the third direction Y to drive the driving foot 212 to move linearly in the third direction Y, at this time, due to the slow movement speed of the driving foot 212, static friction occurs between the driving foot 212 and the rotating disc 11, so that the driving foot 212 drives the rotating disc 11 to rotate by an angle a3. In the second section of the signal, the resonator 2 can be retracted in the third direction Y to the initial state to drive the driving foot 212 to move linearly in the opposite direction of the third direction Y, at this time, due to the fast movement speed of the driving foot 212, kinetic friction occurs between the driving foot 212 and the rotating disc 11, so that the driving foot 212 returns to the initial state, but the rotating disc 11 can still remain at the position after rotating by the angle a3. Through the periodic excitation of the signal, the resonator 2 can realize linear reciprocating motion to drive the rotating disc 11 to rotate continuously.

[0149] It should be noted that FIGS. 5 and 6 show that the resonator 2 drives the mover 1 by stretching, and it can be understood that the resonator 2 can drive the mover 1 in the opposite direction by retracting by changing the driving signal.

[0150] It should be noted that, from the perspective of a single period of the sawtooth signal, in the second section, the rotating disc 11 can remain stationary, continue to rotate with inertia, or rotate in the opposite direction by a small angle under the driving of the driving foot 212, which seems to have a problem of stopping or reversing the movement of the rotating disc 11. However, since the multiple period signals of the sawtooth signal are continuous, the driving of the resonator 2 to the mover 1 is continuous, and under the condition that the signal is not changed, the rotating disc 11 can continuously rotate in a single direction.

[0151] Please refer to FIGS. 7A to 7C, FIG. 7A is a structural schematic diagram of the motor 10 provided with the pre-pressing assembly 3 in some embodiments; FIG. 7B is a structural schematic diagram of the motor 10 shown in FIG. 7A from another perspective; and FIG. 7C is a structural schematic diagram of the motor 10 shown in FIG. 7A from still another perspective.

[0152] In some embodiments, the motor 10 can further include a pre-pressing assembly 3 connected to the resonator 2. The pre-pressing assembly 3 is used to provide a pre-pressing force, which keeps the resonator 2 abutting against the rotating disc 11.

[0153] In the embodiment, the pre-pressing assembly 3 can generate a pre-pressing force F3 acting on the resonator 2, which makes the resonator 2 keep abutting against the rotating disc 11, avoids the resonator 2 from separating from the rotating disc 11 when driving the rotating disc 11 to rotate, and improves the stability of the rotating disc 11.

[0154] It should be noted that the resonator 2 can be directly or spacedly installed on the shell (not shown in the figure) of the motor 10 to provide support for the resonator 2, and facilitate the resonator 2 to stably drive the rotor 1 to rotate. When the motor 10 includes the pre-pressing assembly 3, the resonator 2 has a guide structure with the shell of the motor 10 to provide the resonator 2 with a movement space in the first direction Z relative to the shell, and facilitate the pre-pressing assembly 3 to provide the resonator 2 with a pre-pressing force.

[0155] For example, the pre-pressing assembly 3 can include a pre-pressing piece 31, a pre-pressing elastic piece 32, and a rolling piece 33. The pre-pressing piece 31 is located on the opposite side of the resonator 2 from the rotating disc 11. The pre-pressing elastic piece 32 is connected between the pre-pressing piece 31 and the resonator 2, and the pre-pressing elastic piece 32 is in a stretched state. The rolling piece 33 is installed between the rotating disc 11 and the pre-pressing piece 31.

[0156] In this embodiment, the pre-pressing elastic piece 32 connects the pre-pressing piece 31 and the resonator 2, and the pre-pressing elastic piece 32 is in a stretched state, so that the pre-pressing elastic piece 32 can act on the resonator 2 through the elastic restoring force to generate a pre-pressing force F3, thereby abutting the resonator 2 to the rotating disc 11. By providing the rolling piece 33, the rotating disc 11 can rotate relative to the pre-pressing piece 31 through the rolling piece 33 during rotation, preventing the pre-pressing piece 31 from interfering with the rotation of the rotating disc 11.

[0157] In this embodiment, the pre-pressing elastic piece 32 connects the pre-pressing piece 31 and the resonator 2, and the pre-pressing elastic piece 32 is in a stretched state, so that the pre-pressing elastic piece 32 can act on the resonator 2 through the elastic restoring force to generate a pre-pressing force F3, thereby abutting the resonator 2 to the rotating disc 11. By providing the rolling piece 33, the rotating disc 11 can rotate relative to the pre-pressing piece 31 through the rolling piece 33 during rotation, preventing the pre-pressing piece 31 from interfering with the rotation of the rotating disc 11.

[0158] In this embodiment, the first limiting groove 311 can prevent the rolling piece 33 from moving relative to the pre-pressing piece 31 when the rotating disc 11 rotates, so that the rolling piece 33 can roll in place.

[0159] In some examples, the first limiting groove 311 can be a circular groove to better accommodate the rolling piece 33 and facilitate the rotation of the rolling piece 33. For example, the first limiting groove 311 has a circular cross-section in the XY plane, and the overall shape of the first limiting groove 311 is a hemisphere or 3 / 4 sphere, etc., which is not limited herein.

[0160] In other examples, the first limiting groove 311 can be a V-shaped groove to accommodate the rolling piece 33 while preventing the rolling piece 33 from disengaging from the first limiting groove 311. For example, the first limiting groove 311 has a V-shaped cross-section in the XZ plane.

[0161] In some other examples, the first limiting groove 311 can also have other shapes as long as it can accommodate the rolling member 33 and limit the rolling member 33 to roll in place, which is not limited herein.

[0162] The pre-pressing member 31 can have a large rigidity to ensure that it can provide good support for the resonator 2 and prevent the pre-pressing member 31 from being bent and deformed by the pre-pressing elastic member 32 to make the resonator 2 unbalanced. Specifically, the deformation amount of the pre-pressing member 31 can be less than or equal to 1 / 5 of the deformation amount of the pre-pressing elastic member 32, so that the pre-pressing member 31 can provide good support.

[0163] In some examples, the pre-pressing elastic member 32 can include a first elastic member 321 and a second elastic member 322 arranged oppositely. The first elastic member 321 can connect one end of the resonator 2 and one end of the pre-pressing member 31. The second elastic member 322 can connect the other end of the resonator 2 and the other end of the pre-pressing member 31.

[0164] In the present embodiment, the first elastic member 321 can generate a first pre-pressing force F31 acting on the resonator 2, and the second elastic member 322 can generate a second pre-pressing force F32 acting on the resonator 2, both of which are directed to the opposite direction of the first direction Z. The first pre-pressing force F31 and the second pre-pressing force F32 can provide more stable pre-pressing for the resonator 2, which is conducive to improving the stability of the resonator 2 in driving the rotating disc 11 to rotate.

[0165] For example, the first elastic member 321 and the second elastic member 322 can be arranged in the third direction Y.

[0166] In the present embodiment, according to the above arrangement direction, the first elastic member 321 and the second elastic member 322 can be installed away from the rotating disc 11, so that the resonator 2 does not need to be designed to be too large in size, which is conducive to the miniaturization of the resonator 2 as a whole. In addition, since the force of the resonator 2 acting on the rotating disc 11 is parallel to the third direction Y, arranging the first elastic member 321 and the second elastic member 322 in the third direction Y is conducive to resisting the reaction force of the rotating disc 11 on the resonator 2, thereby reducing the overturning phenomenon of the resonator 2.

[0167] In some other examples, the pre-pressing elastic member 32 can also include other numbers of elastic members, which can be selected according to actual application.

[0168] In some other embodiments, the pre-pressing elastic member 32 can also be connected to other positions of the resonator 2, and the pre-pressing elastic member 32 can also be connected to other positions of the pre-pressing member 31, without keeping the extension direction of the pre-pressing elastic member 32 parallel to the first direction Z, as long as the pre-pressing elastic member 32 is connected between the resonator 2 and the pre-pressing member 31, and the force acting on the resonator 2 has a component in the opposite direction of the first direction Z.

[0169] It should be noted that the greater the pre-pressing force is, the greater the driving force of the resonator 2 to the rotating disc 11 is. It can be understood that the pre-pressing force needs to be within a certain range, rather than being infinite.

[0170] Please refer to FIG. 7B and FIG. 8, FIG. 8 is a schematic diagram of the motor 10 in some embodiments when the resonator 2 is in the overturning phenomenon.

[0171] In some prior art, when the resonator 2 drives the rotating disc 11 to rotate in the second rotation direction D2, the driving force of the resonator 2 to the rotating disc 11 is in the opposite direction of the third direction Y, so that the rotating disc 11 generates a driving reaction force in the third direction Y. In addition, due to the existence of the pre-pressing assembly 3, the resonator 2 also has a pre-pressing force acting on the rotating disc 11 and in the opposite direction of the first direction Z, so that the rotating disc 11 generates a pre-pressing reaction force in the first direction Z. The driving reaction force and the pre-pressing reaction force are superimposed, thereby generating an overturning force F4 driving the resonator 2 to rotate around the second direction X, thereby causing the resonator 2 to be in the overturning phenomenon, which is not conducive to the stable rotation of the resonator 2 driving the rotating disc 11.

[0172] Please refer to FIG. 7B, FIG. 9A and FIG. 9B, FIG. 9A is a schematic diagram of the structure of the motor 10 in some embodiments when the motor 10 is installed with the retaining assembly 4 shown in FIG. 7A; FIG. 9B is a schematic diagram of the structure of the motor 10 shown in FIG. 9A from another perspective.

[0173] In some embodiments, the motor 10 can also include a retaining assembly 4. The retaining assembly 4 is connected to the resonator 2. The retaining assembly 4 is used to provide a pendulum stopping force, which is used to balance the reaction force of the rotating disc 11 to the resonator 2.

[0174] In the present embodiment, by providing the retaining assembly 4, the pendulum stopping force can be generated to balance the reaction force of the rotating disc 11 to the resonator 2, thereby avoiding the overturning phenomenon of the resonator 2 in the process of driving the rotating disc 11 to rotate, which is conducive to improving the stable rotation of the resonator 2 driving the rotating disc 11.

[0175] It should be noted that when the motor 10 includes the retaining assembly 4, the resonator 2 is installed on the retaining assembly 4, and the retaining assembly 4 can be directly or indirectly installed on the housing (not shown in the figure) of the motor 10 to provide support for the resonator 2, which is conducive to the stable rotation of the resonator 2 driving the rotor 1.

[0176] For example, the holding assembly 4 can include a holding frame 41, an anti-swing elastic member 42 and a roller shaft 43. The holding frame 41 can have a frame structure, and the holding frame 41 can include oppositely arranged first and second side frames 411 and 412, and the resonator 2 can be located between the first and second side frames 411 and 412. The pre-pressing assembly 3 is connected to the holding frame 41, and the pre-pressing assembly 3 is used to provide a pre-pressing force acting on the holding frame 41 to keep the resonator 2 abutting against the rotating disc 11. The anti-swing elastic member 42 is connected between the first side frame 411 and one end of the resonator 2, and the anti-swing elastic member 42 is in a compressed state. The roller shaft 43 is connected between the second side frame 412 and the other end of the resonator 2. The axis of the roller shaft 43 is parallel to the extension direction of the second side frame 412.

[0177] In the embodiment, by arranging the anti-swing elastic member 42 in a compressed state, the anti-swing elastic member 42 can abut the resonator 2 against the roller shaft 43 to keep the resonator 2 stably installed in the holding frame 41. In addition, in the process of driving the resonator 2 to rotate the rotating disc 11, for example, when the rotating disc 11 rotates in the second rotation direction D2, the rotating disc 11 generates an overturning force F5 on the resonator 2, and the anti-swing elastic member 42 can generate an anti-swing force F6 in the direction opposite to the overturning force F5 through its elastic recovery, thereby balancing the stress of the resonator 2 to prevent the resonator 2 from rotating around the second direction X, so as to keep the resonator 2 stable and facilitate the stable rotation of the rotating disc 11.

[0178] In the embodiment, the first elastic member 321 can be connected between the first side frame 411 and one end of the pre-pressing member 31, and the second elastic member 322 can be connected between the second side frame 412 and the other end of the pre-pressing member 31.

[0179] In the embodiment, by arranging the first and second elastic members 321 and 322, the resonator 2 can be provided with a pre-pressing force directed in the opposite direction of the first direction Z, so that the resonator 2 can stably abut against the rotating disc 11, and the resonator 2 can stably drive the rotating disc 11 to rotate.

[0180] In the embodiment, the first and second side frames 411 and 412 can be arranged in the third direction.

[0181] In the embodiment, according to the above arrangement direction, the installation of the first and second elastic members 321 and 322 can be avoided from the rotating disc 11, so that the holding frame 41 does not need to be arranged to be too large in size, and the overall miniaturization of the holding frame 41 is facilitated.

[0182] The second frame 412 can have a second limiting groove 4121, which can be located on the surface of the second frame 412 facing the resonator 2. The resonator 2 can have a third limiting groove 23, which can be located on the surface of the resonator 2 facing the second frame 412.

[0183] In the embodiment, the second limiting groove 4121 and the third limiting groove 23 are arranged to limit the installation of the roller shaft 43. In the process of balancing the resonator 2 by the swing stop elastic member 42, the roller shaft 43 can be prevented from displacement, which is beneficial to better balance the resonator 2 by the swing stop elastic member 42.

[0184] The second limiting groove 4121 can be a V-shaped groove, which is beneficial to limit the installation of the roller shaft 43.

[0185] The third limiting groove 23 can be a V-shaped groove, which is beneficial to limit the installation of the roller shaft 43.

[0186] In other embodiments, the retaining assembly 4 can also have other structures, as long as the retaining assembly 4 can provide a counteracting force to the rotating disc 11 for the resonator 2.

[0187] Please refer to FIG. 10A and FIG. 10B, FIG. 10A is a structural schematic diagram of the motor 10 provided with the pre-pressing assembly 3 in another embodiment, and FIG. 10B is a structural schematic diagram of the motor 10 in another view. It should be noted that the pre-pressing assembly 3 in the motor 10 shown in FIG. 10A and FIG. 10B can include part of the features of the pre-pressing assembly 3 in the motor 10 shown in FIG. 7A to FIG. 7C, and the same features will not be described here.

[0188] In some embodiments, the motor 10 can further include a housing 5, which can include oppositely arranged first and second side walls 51 and 52. The mover 1, the resonator 2, and the pre-pressing assembly 3 can be installed between the first and second side walls 51 and 52, wherein the resonator 2 intersects the mover 1 close to the first side wall 51. The pre-pressing elastic member 32 can be connected between the resonator 2 and the second side wall 52, and the pre-pressing elastic member 32 can be in a stretched state.

[0189] It should be noted that, in order to facilitate illustration, the housing 5 in FIG. 10A and FIG. 10B shows part of the structure, so as to display the structure of the motor 10 inside the housing 5.

[0190] In the embodiment, the pre-pressing elastic member 32 is connected to the second side wall 52, and the pre-pressing elastic member 32 is in a stretched state, so that the pre-pressing elastic member 32 can act on the resonator 2 by elastic restoring force to generate a pre-pressing force F3, thereby abutting the resonator 2 to the rotating disc 11. In the embodiment, the pre-pressing elastic member 32 is connected to the second side wall 52, and the pre-pressing elastic member 32 is in a stretched state, so that the pre-pressing elastic member 32 can act on the resonator 2 by elastic restoring force to generate a pre-pressing force F3, thereby abutting the resonator 2 to the rotating disc 11.

[0191] For example, the pre-pressing assembly 3 can further comprise a rolling member (not shown in the figure) installed between the rotating disc 11 and the second side wall 52, so that the rotating disc 11 is supported by the rolling member 33 during rotation, thereby reducing the interference of the pre-pressing force F3 on the bearing 12 and improving the service life of the bearing 12.

[0192] For example, the pre-pressing elastic member 32 can be directly connected to the second side wall 52, or the pre-pressing elastic member 32 can be connected to the second side wall 52 through an auxiliary plate (not shown in the figure). For example, the pre-pressing elastic member 32 can be connected to the resonator 2 and the auxiliary plate, and the auxiliary plate is fixed to the second side wall 52, so as to achieve the spaced connection of the pre-pressing elastic member 32 to the second side wall 52.

[0193] Please refer to FIG. 10C, which is a structural schematic diagram of the motor 10 installation and retention assembly 4 in some embodiments. It should be noted that the retention assembly 4 in the motor 10 shown in FIG. 10C can include part of the features of the retention assembly 4 in the motor 10 shown in FIGS. 9A and 9B, and the same features will not be described here.

[0194] In some embodiments, the pre-pressing elastic member 32 can be connected between the retainer 41 and the second side wall 52, and the pre-pressing elastic member 32 is in a stretched state.

[0195] In this embodiment, during the driving of the resonator 2 to rotate the rotating disc 11, for example, when the rotating disc 11 rotates in the second rotation direction D2, the rotating disc 11 generates an overturning force F5 on the resonator 2, and the anti-swing elastic member 42 can generate an anti-swing force F6 in the opposite direction of the overturning force F5 through its own elastic recovery, thereby balancing the stress of the resonator 2 to prevent the resonator 2 from rotating around the second direction X, thereby maintaining the stability of the resonator 2 and facilitating the stable rotation of the rotating disc 11. In addition, the retention assembly 4 not only maintains the driving balance of the resonator 2, but also cooperates with the pre-pressing elastic member 32 to stably abut the resonator 2 to the rotating disc 11, thereby facilitating the stable driving of the resonator 2 to the rotating disc 11.

[0196] Please refer to FIGS. 11A and 11B, which are structural schematic diagrams of the motor 10 provided with the pre-pressing assembly 3 in some embodiments. It should be noted that the pre-pressing assembly 3 in the motor 10 shown in FIGS. 11A and 11B can include part of the features of the pre-pressing assembly 3 in the motor 10 shown in FIGS. 10A and 10B, and the same features will not be described here.

[0197] In some embodiments, the pre-pressing elastic member 32 can be connected between the resonator 2 and the first side wall 51, and the pre-pressing elastic member 32 can be in a compressed state.

[0198] It should be noted that, in order to facilitate illustration, the shell 5 in FIG. 11A and FIG. 11B each shows a partial structure, so as to show the structure in which the motor 10 is located inside the shell 5.

[0199] In the embodiment, the first side wall 51 is connected by the pre-pressing elastic member 32, and the pre-pressing elastic member 32 is in a compressed state, so that the pre-pressing elastic member 32 can act on the resonator 2 by elastic restoring force to generate a pre-pressing force F3, thereby abutting the resonator 2 to the rotating disc 11. In addition, since the pre-pressing elastic member 32 is located on the same side of the rotating disc 11 as the resonator 2, the installation difficulty of the pre-pressing elastic member 32 can be reduced, and the interference of the installation of the pre-pressing elastic member 32 to the rotating disc 11 can be reduced.

[0200] For example, the pre-pressing assembly 3 can further include a rolling member (not shown in the figure), which is installed between the rotating disc 11 and the second side wall 52, so that the rotating disc 11 is supported by the rolling member 33 during rotation, thereby reducing the interference of the pre-pressing force F3 to the bearing 12, and facilitating to improve the service life of the bearing 12.

[0201] For example, the pre-pressing assembly 3 can further include a mounting plate 34, which is fixed to the first side wall 51, and the pre-pressing elastic member 32 is connected between the mounting plate 34 and the resonator 2.

[0202] In the embodiment, since the pre-pressing elastic member 32 is in a compressed state in the installed state, the pre-pressing elastic member 32 is compressed before being fixed to the first side wall 51 by setting the mounting plate 34, which is beneficial to the installation of the pre-pressing elastic member 32.

[0203] In other embodiments, the pre-pressing elastic member 32 can be directly connected to the first side wall 51.

[0204] Please refer to FIG. 11C, which is a structure schematic diagram of the motor 10 installation and retention assembly 4 in some embodiments shown in FIG. 11B. It should be noted that the retention assembly 4 in the motor 10 shown in FIG. 11C can include part of the features of the retention assembly 4 in the motor 10 shown in FIG. 10C, and the same features will not be described here.

[0205] In some embodiments, the pre-pressing elastic member 32 can be connected between the retainer 41 and the first side wall 51, and the pre-pressing elastic member 32 is in a compressed state.

[0206] In the embodiment, in the process that the resonator 2 drives the rotating disc 11 to rotate, for example, when the rotating disc 11 rotates in the second rotating direction D2, the rotating disc 11 generates a overturning force F5 to the resonator 2, and the swing-preventing elastic member 42 can generate a swing-preventing force F6 in the direction opposite to the overturning force F5 through the elastic recovery of itself, so as to balance the stress of the resonator 2, prevent the resonator 2 from rotating around the second direction X, and keep the stability of the resonator 2, which is beneficial to the stable rotation of the rotating disc 11. In addition, the maintaining assembly 4 can not only maintain the driving balance of the resonator 2, but also stably abut the resonator 2 to the rotating disc 11 in cooperation with the pre-pressing elastic member 32, which is beneficial to the stable driving of the resonator 2 to the rotating disc 11.

[0207] Please refer to FIG. 12A and FIG. 12B, FIG. 12A is a structural schematic diagram of the motor 10 provided with the pre-pressing assembly 3 in some other embodiments shown in FIG. 1A, and FIG. 12B is a structural schematic diagram of the motor 10 shown in FIG. 12A in another perspective. It should be noted that the pre-pressing assembly 3 in the motor 10 shown in FIG. 12A and FIG. 12B can include some features of the pre-pressing assembly 3 in the motor 10 shown in FIG. 7A to FIG. 7C, FIG. 11A and FIG. 11B, and the same features will not be described here.

[0208] In some embodiments, the pre-pressing elastic member 32 can be connected between the pre-pressing member 31 and the second side wall 52, and the pre-pressing elastic member 32 is in a compressed state.

[0209] It should be noted that, in order to facilitate the illustration, the shell 5 in FIG. 12A and FIG. 12B shows only part of the structure, so as to display the structure of the motor 10 inside the shell 5.

[0210] In the embodiment, the pre-pressing elastic member 32 is connected between the second side wall 52 and the pre-pressing member 31, and the pre-pressing elastic member 32 is in a compressed state, so that the pre-pressing elastic member 32 can act on the resonator 2 through the elastic recovery force to generate a pre-pressing force F3, thereby abutting the resonator 2 to the rotating disc 11. In addition, since the pre-pressing elastic member 32 is completely located on one side of the rotating disc 11, the installation difficulty of the pre-pressing elastic member 32 can be reduced, and the interference of the installation of the pre-pressing elastic member 32 to the rotating disc 11 can be reduced.

[0211] For example, the pre-pressing assembly 3 can further include a mounting plate 34, the mounting plate 34 is fixed to the second side wall 52, and the pre-pressing elastic member 32 is connected between the mounting plate 34 and the pre-pressing member 31.

[0212] In the embodiment, since the pre-pressing elastic member 32 is in a compressed state in the installed state, the pre-pressing elastic member 32 is compressed first and then fixed to the second side wall 52 by setting the mounting plate 34, which is beneficial to the installation of the pre-pressing elastic member 32.

[0213] In some other embodiments, the pre-compression elastic member 32 can also be directly connected to the second side wall 52.

[0214] Please refer to FIG. 12C, which is a schematic diagram of the structure of the motor 10 installation and retention assembly 4 in some embodiments. It should be noted that the retention assembly 4 in the motor 10 shown in FIG. 12C can include some features of the retention assembly 4 in the motor 10 shown in FIGS. 9A, 9B, and 11C, and the same features will not be described here.

[0215] In some embodiments, the retainer 41 can be installed on the first side wall 51.

[0216] In the present embodiment, by arranging the retention assembly 4 and the pre-compression assembly 3 on opposite sides of the rotating disc 11, respectively, the structure between the retention assembly 4 and the pre-compression assembly 3 is decoupled, which can reduce the overall installation difficulty, reduce the interference between the retention assembly 4 and the pre-compression assembly 3, and thus improve the balance of the resonator 2 driving the rotator 1 to rotate. In the process of the resonator 2 driving the rotating disc 11 to rotate, for example, when the rotating disc 11 rotates in the second rotation direction D2, the rotating disc 11 generates an overturning force F5 on the resonator 2, and the anti-tilting elastic member 42 can generate an anti-tilting force F6 in the opposite direction of the overturning force F5 by its elastic recovery, thereby balancing the stress on the resonator 2 to prevent the resonator 2 from rotating around the second direction X, thereby maintaining the stability of the resonator 2 and facilitating the stable rotation of the rotating disc 11.

[0217] In some examples, the retainer 41 can be fixedly installed on the first side wall 51 to improve the stability of the retainer 41 and facilitate the provision of the anti-tilting force to the resonator 2, thereby facilitating the balance of the resonator 2.

[0218] In some other examples, the retainer 41 can be connected to the first side wall 51 through the elastic member 44, and the elastic member 44 is in a compressed state. On the one hand, the elastic member 44 can provide pressure to the resonator 2 through the retainer 41, so that the resonator 2 can better abut against the rotating disc 11; on the other hand, the elastic member 44 can provide a movement space for the retainer 41 through its deformation capability, so that the retainer 41 can provide a margin space for the retainer 41 in the process of balancing the overturning force of the rotating disc 11 on the resonator 2, thereby facilitating the retainer 41 to more flexibly balance the overturning force.

[0219] It should be noted that in the embodiments of the present application, the number, type, and position of the components in the motor 10 are only illustrative and are not limited herein. The motor 10 can include more or fewer components. For example, in some other embodiments, the motor 10 can include the retention assembly 4 but not the pre-compression assembly 3.

[0220] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict, and any combination of features in different embodiments is within the protection scope of the present application, that is, the above-described multiple embodiments can also be combined as needed.

[0221] It should be noted that all the above-mentioned drawings are exemplary illustrations of the present application, and do not represent the actual size of the product. The size ratio relationship between the components in the drawings is not limited to the actual product of the present application.

[0222] The above is only part of the embodiments and implementations of the present application, and the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

A motor (10) characterized by The mover (1) and the resonator (2) are arranged in a first direction (Z) and the resonator (2) is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The electric machine (10) as claimed in claim 1, characterized in that The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The electric machine (10) as claimed in claim 1 or 2, characterized in that The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The electric machine (10) as claimed in claim 1 or 2, characterized in that The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The electric machine (10) as claimed in claim 3 or 4, characterized in that The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The electric machine (10) as claimed in claim 5, characterized in that The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction (Z) and is arranged in a second direction (X) which is perpendicular to the first direction (Z) and is spaced from the bearing (12). The resonator (2) is arranged in a first direction The electric machine (10) as claimed in claim 5 or 6, characterized in that The elastic body (21) comprises an elastic plate (211) and a driving foot (212), the driving foot (212) is located on the opposite side of the piezoelectric component (22) of the elastic plate (211), the elastic plate (211) is at least partially opposite to the rotating disc (11) along the first direction (Z), and the driving foot (212) abuts against the surface of the rotating disc (11) facing the elastic plate (211); The driving foot (212) is in an integrated structure with the elastic plate (211), or the driving foot (212) is fixedly installed on the elastic plate (211). The electric machine (10) as claimed in claim 7, characterized in that The driving foot (212) is arranged adjacent to the edge of the rotating disc (11). The electric machine (10) as claimed in any of claims 1 to 8, characterized in that The motor (10) further comprises a pre-pressing assembly (3) for providing a pre-pressing force, and the pre-pressing force keeps the resonator (2) abutting against the rotating disc (11). The electric machine (10) as claimed in claim 9, characterized in that The pre-pressing assembly (3) comprises a pre-pressing piece (31), a pre-pressing elastic piece (32) and a rolling piece (33). The pre-pressing piece (31) is located on the opposite side of the resonator (2) of the rotating disc (11). The pre-pressing elastic piece (32) is connected between the pre-pressing piece (31) and the resonator (2), and the pre-pressing elastic piece (32) is in a tensile state. The rolling piece (33) is installed between the rotating disc (11) and the pre-pressing piece (31). The electric machine (10) as claimed in claim 10, characterized in that The pre-pressing piece (31) has a first limiting groove (311) which is open on the surface of the pre-pressing piece (31) facing the rotating disc (11), and the rolling piece (33) is installed in the first limiting groove (311). The electric machine (10) as claimed in claim 10 or 11, characterized in that The pre-pressing elastic piece (32) comprises a first elastic piece (321) and a second elastic piece (322) arranged oppositely. One end of the first elastic piece (321) is connected with one end of the pre-pressing piece (31), and the other end of the second elastic piece (322) is connected with the other end of the pre-pressing piece (31). The electric machine (10) as claimed in claim 12, characterized in that The resonator (2) and the bearing (12) are arranged in a second direction (X) in a spaced manner, the second direction (X) is perpendicular to the first direction (Z), the resonator (2) is used for generating a force parallel to a third direction (Y) to drive the rotating disc (11) to rotate, and the third direction (Y) is perpendicular to the first direction (Z) and the second direction (X); The first elastic piece (321) and the second elastic piece (322) are arranged in the third direction (Y). The electric machine (10) as claimed in claim 9, characterized in that The motor (10) further comprises a housing (5), the housing (5) comprises a first side wall (51) and a second side wall (52) arranged oppositely, the mover (1), the resonator (2) and the pre-pressing assembly (3) are all installed between the first side wall (51) and the second side wall (52), and the resonator (2) is closer to the first side wall (51) than the mover (1). The pre-pressing assembly (3) comprises a pre-pressing elastic member (32) connected between the resonant mass (2) and the first side wall (51), and the pre-pressing elastic member (32) is in a compressed state; or the pre-pressing elastic member (32) is connected between the resonant mass (2) and the second side wall (52), and the pre-pressing elastic member (32) is in a stretched state. The electric machine (10) as claimed in claim 14, characterized in that The pre-pressing elastic member (32) is connected between the resonant mass (2) and the first side wall (51), and the pre-pressing elastic member (32) is in a compressed state. The pre-pressing assembly (3) further comprises a rolling member (33) installed between the rotating disc (11) and the second side wall (52). The electric machine (10) as claimed in claim 9, characterized in that The motor (10) further comprises a housing (5) comprising oppositely arranged first and second side walls (51, 52), and the rotor (1), the resonant mass (2) and the pre-pressing assembly (3) are all installed between the first and second side walls (51, 52), and the resonant mass (2) is closer to the first side wall (51) than the rotor (1); The pre-pressing assembly (3) comprises a pre-pressing member (31), a pre-pressing elastic member (32) and a rolling member (33); The pre-pressing member (31) and the resonant mass (2) are located on opposite sides of the rotating disc (11); The rolling member (33) is installed between the rotating disc (11) and the pre-pressing member (31); The pre-pressing elastic member (32) is connected between the pre-pressing member (31) and the second side wall (52), and the pre-pressing elastic member (32) is in a compressed state. The electric machine (10) as claimed in any of claims 1 to 16, characterized in that The motor (10) further comprises a retaining assembly (4) connected to the resonant mass (2), and the retaining assembly (4) is used to provide a pendulum stopping force for balancing the reaction force of the rotating disc (11) on the resonant mass (2). The electric machine (10) as claimed in claim 17, characterized in that The retaining assembly (4) comprises a retaining frame (41), a pendulum stopping elastic member (42) and a roller shaft (43); The retaining frame (41) has a frame structure, and comprises oppositely arranged first and second side frames (411, 412), and the resonant mass (2) is located between the first and second side frames (411, 412); The pendulum stopping elastic member (42) is connected between the first side frame (411) and one end of the resonant mass (2), and the pendulum stopping elastic member (42) is in a compressed state; The roller shaft (43) is connected between the second side frame (412) and the other end of the resonant mass (2), and the axis of the roller shaft (43) is parallel to the extension direction of the second side frame (412). The electric machine (10) as claimed in claim 18, characterized in that The motor (10) further comprises a pre-pressing assembly (3), the pre-pressing assembly (3) comprises a pre-pressing piece (31), a pre-pressing elastic piece (32) and a rolling piece (33), the pre-pressing piece (31) is located on the opposite sides of the rotating disc (11) with the resonator (2), the rolling piece (33) is installed between the rotating disc (11) and the pre-pressing piece (31), the pre-pressing elastic piece (32) is connected between the pre-pressing piece (31) and the retainer (41), and the pre-pressing elastic piece (32) is in a tensile state. The electric machine (10) as claimed in claim 18, characterized in that The motor (10) further comprises a shell (5) and a pre-pressing assembly (3); The shell (5) comprises oppositely arranged first and second side walls (51) and (52), the mover (1), the resonator (2) and the pre-pressing assembly (3) are all installed between the first and second side walls (51) and (52), and the resonator (2) is closer to the first side wall (51) than the mover (1); The pre-pressing assembly (3) comprises a pre-pressing elastic piece (32), the pre-pressing elastic piece (32) is connected between the retainer (41) and the first side wall (51), and the pre-pressing elastic piece (32) is in a compressed state; or the pre-pressing elastic piece (32) is connected between the retainer (41) and the second side wall (52), and the pre-pressing elastic piece (32) is in a tensile state. The electric machine (10) as claimed in claim 18, characterized in that The motor (10) further comprises a shell (5) and a pre-pressing assembly (3), and the retainer (41) is connected to the shell (5); The shell (5) comprises oppositely arranged first and second side walls (51) and (52), the mover (1), the resonator (2) and the pre-pressing assembly (3) are all installed between the first and second side walls (51) and (52), and the resonator (2) is closer to the first side wall (51) than the mover (1); The pre-pressing assembly (3) comprises a pre-pressing piece (31), a pre-pressing elastic piece (32) and a rolling piece (33), the pre-pressing piece (31) is located on the opposite sides of the rotating disc (11) with the resonator (2), the rolling piece (33) is installed between the rotating disc (11) and the pre-pressing piece (31), the pre-pressing elastic piece (32) is connected between the pre-pressing piece (31) and the second side wall (52), and the pre-pressing elastic piece (32) is in a compressed state. The electric machine (10) as claimed in claim 19 or 20, characterized in that The pre-pressing elastic piece (32) comprises oppositely arranged first and second elastic pieces (321) and (322), the first elastic piece (321) is connected to the first frame (411), and the second elastic piece (322) is connected to the second frame (412). The electric machine (10) as claimed in any of claims 18 to 22, characterized in that The resonator (2) and the bearing (12) are arranged in a second direction (X) in a spaced manner, the second direction (X) is perpendicular to the first direction (Z), the resonator (2) is used to generate a force parallel to a third direction (Y) to drive the rotating disc (11) to rotate, and the third direction (Y) is perpendicular to the first direction (Z) and the second direction (X); The first frame (411) and the second frame (412) are arranged in the third direction (Y). The electric machine (10) as claimed in any of claims 18 to 23, characterized in that The second frame (412) has a second limiting groove (4121) located on a surface of the second frame (412) facing the resonator (2). The resonator (2) has a third limiting groove (23) located on a surface of the resonator (2) facing the second frame (412). The roller shaft (43) is installed between the second limiting groove (4121) and the third limiting groove (23). The electric machine (10) as claimed in claim 24, characterized in that The second limiting groove (4121) is a V-shaped groove, and / or the third limiting groove (23) is a V-shaped groove. An electronic device, characterized by comprising: An electric machine (10) as claimed in any of claims 1 to 25.

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