CN106533250B - A kind of supersonic motor of multiple stators planar array structure - Google Patents

Abstract

The invention provides an ultrasonic motor with multi-stator planar array structure, which includes a stator, a rotor and an output shaft, and a stator plate, on which at least two stators are arranged on the stator plate, and the stator includes a hollow stator ring and A piezoelectric ceramic module, the stator ring is provided with annularly distributed welding pads, the piezoelectric ceramic module includes N piezoelectric ceramic elements, and the piezoelectric ceramic elements are welded and fixed on the welding pads of the stator ring; There is a gap between the stator plate and the stator ring for the vibration of the stator ring, and the stator ring is connected to the stator plate through a connector; the drive electrode is also set on the stator plate, and the electrodes of the same signal of the piezoelectric ceramic element are connected to the corresponding drive. The electrodes are electrically connected; the rotor is in contact with the surface of the piezoelectric ceramic module, and the stator drives the rotor to rotate to form a power output. The technical scheme of the invention is easy to form a plurality of motor arrays to drive, the motors have better service life and reliability, high energy efficiency utilization rate, and high electromechanical conversion efficiency.

Description

An ultrasonic motor with multi-stator planar array structure

technical field

The invention belongs to the technical field of motors, in particular to an ultrasonic motor with a multi-stator planar array structure.

Background technique

The ultrasonic motor is a non-electromagnetic motor that uses the inverse piezoelectric effect of piezoelectric ceramics to excite the stator to vibrate in the ultrasonic frequency domain, and converts the vibration into the motion output of the rotor to drive the load through the friction between the stator and the rotor. Compared with electromagnetic motors, it has the characteristics and advantages of small size, light weight, compact structure, fast response, low noise, no electromagnetic interference, high torque density, high torque at low speed, and direct drive. At present, it has been used in many fields such as micro-robots, automobiles, aerospace, precision locators, optical instruments, etc., and has broad application prospects. Traveling wave rotary ultrasonic motor is currently the most mature and widely used type of ultrasonic motor. The piezoelectric ceramic elements used are all circular structures, and are polarized according to certain requirements. They are manufactured in combination with piezoelectric ceramic elements. Technology and ultrasonic motor stator process requirements, it is difficult to efficiently manufacture large-scale partitioned and polarized piezoelectric ceramic rings, which restricts the structural adaptability of this type of motor, and also limits the application of ultrasonic motors.

The existing ultrasonic motor stator manufacturing process is as follows: the segmented polarized piezoelectric ceramic ring is bonded to the metal base of the tooth structure with epoxy resin to form a stator; the annular traveling wave ultrasonic motor constructed by this method has the following limitations :

(1) Since the ceramic ring is bonded to the metal substrate with epoxy resin, on the one hand, the high-frequency vibration of the stator is likely to cause aging and cracking of the adhesive layer, and the working reliability and life of the motor are low. On the other hand, the adhesive layer will affect the vibration in the ceramic Due to the transfer effect between the ring and the metal ring, the working efficiency of the motor is low.

(2) The piezoelectric ceramic material with the same performance and size has a piezoelectric constant d33 >d31, and the piezoelectric ceramic with a ring structure works in the transverse vibration mode, that is, the vibration direction is perpendicular to the direction of the electric field, and the piezoelectric constant d31 is used instead of d33. Electromechanical conversion efficiency is low.

(3) The rotor transmits motion and force through friction on one side of the stator, and the energy utilization rate of traveling wave vibration is low.

(4) The existing ultrasonic motor has a single structure and is not easy to expand.

Contents of the invention

Aiming at the above technical problems, the present invention discloses an ultrasonic motor with a multi-stator planar array structure, which is easy to weld and manufacture multiple motor stators on the same stator plate, and form multiple motor array drives to meet the application requirements of specific occasions; solve the existing The ultrasonic motor has a single structure and is not easy to expand.

To this end, the technical scheme adopted in the present invention is:

An ultrasonic motor with a multi-stator planar array structure, which includes a stator, a rotor and an output shaft, the ultrasonic motor with a multi-stator planar array structure includes a stator plate, and at least two stators are arranged on the stator plate, and the stator includes A hollow stator ring and a piezoelectric ceramic module, the stator ring is provided with annularly distributed welding pads, the piezoelectric ceramic module includes N piezoelectric ceramic elements, and the piezoelectric ceramic elements are welded and fixed on the welding pads of the stator ring On the disk, wherein, N is a multiple of 8; a gap for the stator ring to vibrate is provided between the stator ring and the stator plate, and the stator ring is connected to the stator plate through a connecting piece; a drive is also provided on the stator plate Electrodes, the electrodes of the same signal of the piezoelectric ceramic element are electrically connected to the corresponding driving electrodes; the rotor is located on the piezoelectric ceramic module of the stator ring and is in contact with the surface of the piezoelectric ceramic module, and the output shaft Passing through the middle of the stator ring and connecting with the rotor, the stator drives the rotor to rotate to form power output; the PZT electrode surface of the piezoelectric ceramic element is perpendicular to the ring surface of the stator ring to form longitudinal vibration. With this technical scheme, the piezoelectric ceramic element is welded and fixed on the stator ring by welding. The reliability of the welding process is higher than that of the adhesive process, which can avoid the cracking of the adhesive layer caused by heat and vibration fatigue during the operation of the existing ultrasonic motor. The working life and reliability of the ultrasonic motor are improved. Multiple motor stators will be manufactured by welding on one stator plate base to form multiple motor array drives, which can meet the application requirements of specific occasions and are easy to expand.

Wherein, the stator plate and the stator ring are preferably made of elastic matrix material. Further preferably, the stator plate and the stator ring are made of PCB boards.

As a further improvement of the present invention, a printed circuit is provided on the stator plate, the connector, and the stator ring, and the pads are electrically connected to the driving electrodes through the printed circuit.

As a further improvement of the present invention, in each stator, the number of the connecting pieces is more than two.

Preferably, the connecting pieces are symmetrically distributed around the axis of the stator ring, and the width of the connecting pieces is 0.5-3 mm.

As a further improvement of the present invention, the number of the connecting parts is three, and the width of the connecting parts is 0.8-1.5 mm. Further preferably, the connecting piece has a width of 0.9-1.1 mm.

As a further improvement of the present invention, the connecting piece is a supporting connecting hinge.

As a further improvement of the present invention, the electrode surface of the piezoelectric ceramic element is perpendicular to the ring surface of the stator ring to form longitudinal vibration.

For the same piezoelectric ceramic material, d33 is used for longitudinal vibration, d31 is used for lateral vibration, and d33 is about an order of magnitude larger than d31. With this technical scheme, the PZT electrode surface is perpendicular to the stator ring surface to form longitudinal vibration, and the piezoelectric material is used The d33 has high electromechanical conversion efficiency.

As a further improvement of the present invention, the piezoelectric ceramic elements are arranged according to the polarization direction corresponding to the set driving method, fixed on the stator ring, and welded on the pads of the stator ring; The electrodes are welded together by soldering, and the upper surface of the ring surface composed of piezoelectric ceramic elements on the stator ring is made flat.

Preferably, the piezoelectric ceramic element is fixed on the stator ring by red glue.

Preferably, after the piezoelectric ceramic element is welded, it is ground to smooth the annulus formed by the piezoelectric ceramic element and solder on the stator plate, and keep the rings on both sides at the same height. With this technical solution, the connection is more reliable. ,

As a further improvement of the present invention, the number of rotors corresponding to each stator ring is two, and both sides of the stator ring are provided with pads, and the pads on both sides are welded with piezoelectric ceramic elements. 1, and the opposite sides of the annulus composed of piezoelectric ceramic elements have the same height; the two rotors are in contact with both sides of the stator ring at the same time, and the output shaft passes through the middle of the stator ring and is connected with the two rotors to form a power output.

The existing traveling wave ultrasonic motor adopts a structure in which a single rotor contacts a toothed stator. This technical solution adopts a double rotor clamping stator structure. The contact area, the contact area of the double rotor holding the stator is twice as large as that of the single rotor contacting the stator, which improves the friction driving ability and its energy efficiency utilization rate is higher.

As a further improvement of the present invention, the stator plate and the stator ring are made of PCB boards, and the connecting circuit is arranged in a way of connecting the same signal electrodes together according to the 4-phase driving method or 2-phase driving method; Arrangement of chemical direction Use a placement machine to fix the piezoelectric ceramics on the stator plate with red glue, and then apply solder paste on the electrode pads between the piezoelectric ceramic components, and complete the piezoelectric ceramics through reflow soldering process or wave soldering process. The ceramic components are welded and then polished, and the ring surfaces composed of piezoelectric ceramic components and solder on both sides of the stator plate are polished and smoothed, and the height of the rings on both sides is kept the same. Clamp the rotor plate with the flat spring attached to the stator plate, the output shaft passes through the hole of the flat spring in the center of the rotor plate, and the other end is fixed with a nut; adjust the position of the nut to change the pre-tightening force of the two rotor plates on the stator plate.

As a further improvement of the present invention, the arrangement of the piezoelectric ceramic elements on the stator ring on the pad is as follows: the two piezoelectric ceramic elements on the front side of the stator ring form a group, and the two piezoelectric ceramic elements on the reverse side of the stator ring form a group. The ceramic elements are a corresponding group, the polarized positive pole position of the piezoelectric ceramic element on the front side of the stator ring corresponds to the polarized negative pole position of the piezoelectric ceramic element on the reverse side of the stator ring, and the polarized positive pole position of the piezoelectric ceramic element on the reverse side of the stator ring corresponds to The polarized negative electrode position of the positive piezoelectric ceramic element is electrically connected with the corresponding electrodes of the piezoelectric ceramic element on the positive and negative sides of the stator ring through a circuit.

Wherein, the electrodes of the piezoelectric ceramic elements corresponding to the front and back sides of the stator ring are connected through the circuit of the metallized holes on the stator plate.

As a further improvement of the present invention, the piezoelectric ceramic elements and electrodes on the stator ring include 4 sets of standing wave drive units, namely unit A, unit B, unit C and unit D, and each unit includes a front surface of the stator ring. Two piezoelectric ceramic elements and two piezoelectric ceramic elements on the opposite side of the stator ring, the piezoelectric ceramic elements are arranged in sequence according to unit A, unit B, unit C, and unit D, and are arranged circularly on the front and back sides of the stator ring ;

In the unit A and unit B, the polarized positive poles of the two piezoelectric ceramic elements on the front side of the stator ring are all facing the connection of the two piezoelectric ceramic elements, and the two piezoelectric ceramic elements on the opposite side of the stator ring are Polarized positive poles of the two piezoelectric ceramic elements are located on the outside;

In the unit C and unit D, the polarized negative poles of the two piezoelectric ceramic elements on the front of the stator ring face the connection of the two piezoelectric ceramic elements, that is, the poles of the two piezoelectric ceramic elements on the front of the stator ring The polarized positive poles are located outside the two piezoelectric ceramic elements, and the polarized positive poles of the two piezoelectric ceramic elements on the opposite side of the stator ring are all facing the connection of the two piezoelectric ceramic elements;

The drive electrode includes a SIN terminal, a COS terminal and a GND terminal, the polarized positive pole on the front of the stator ring in the unit A is connected to the SIN terminal, and the polarized positive pole on the front of the stator ring in the unit B is connected to the COS terminal, The polarized negative pole on the front of the stator ring in the unit C is connected to the SIN terminal, and the polarized negative pole on the front of the stator ring in the unit D is connected to the COS terminal; The polarized anode of the piezoelectric ceramic element is connected to the GND terminal.

Using the above technical scheme, the piezoelectric ceramic elements and electrodes are divided into four groups of standing wave drive units A, B, C, and D in sequence, and the signals of SIN, COS, -SIN, and -COS are applied in sequence; the PZT polarization in groups A and B on the front The positive pole is close to the excitation signal, and the PZT polarized negative pole in groups C and D is close to the excitation signal; the polarized direction of the PZT on the opposite side is opposite to that on the front side, forming a two-phase drive.

As a further improvement of the present invention, the piezoelectric ceramic elements and electrodes on the stator ring include 4 sets of standing wave drive units, namely unit a, unit b, unit c and unit d, and each unit includes a front surface of the stator ring. Two piezoelectric ceramic elements and two piezoelectric ceramic elements on the opposite side of the stator ring, the piezoelectric ceramic elements are arranged in sequence according to unit a, unit b, unit c, and unit d, and are arranged circularly on the front and back sides of the stator ring ;

In the unit a, unit b, unit c, and unit d, the polarized positive poles of the two piezoelectric ceramic elements on the front of the stator ring are all facing the connection of the two piezoelectric ceramic elements, and the polarized positive poles of the two piezoelectric ceramic elements on the opposite side of the stator ring are The polarized positive poles of the two piezoelectric ceramic elements are located outside the two piezoelectric ceramic elements, that is, the polarized negative poles of the two piezoelectric ceramic elements on the opposite side of the stator ring are all facing the connection of the two piezoelectric ceramic elements;

The driving electrode includes a SIN terminal, a COS terminal and a GND terminal. The polarized positive pole located on the front of the stator ring in the unit a is connected to the SIN terminal to input the SIN signal, and the polarized positive pole located on the front of the stator ring in the unit b is connected to the COS terminal. terminal is connected to input COS signal, the polarized positive pole on the front side of the stator ring in the unit c is connected to the SIN terminal to input the -SIN signal, and the polarized positive pole on the front side of the stator ring in the unit d is connected to the COS terminal to input the -COS signal; The polarized negative electrode of the piezoceramic element located in the front of the stator ring in unit d and away from unit c is connected to the GND terminal.

Using this technical solution, the piezoelectric ceramic elements and electrodes are divided into four groups of standing wave drive units a, b, c, and d in turn, of which two groups a and c are applied with SIN signals, and two groups b and d are excited by COS signals; the front of the stator ring In each group, the positive pole of the PZT polarization is close to the excitation signal, and the polarization direction of the PZT corresponding to the opposite side and the front side is opposite, forming a four-phase drive.

As a further improvement of the present invention, the rotor includes a rotor plate, a flat spring is arranged in the middle of the rotor plate, and the output shaft passes through the center hole of the flat spring and is fixed by a nut.

As a further improvement of the present invention, the stator is prepared by the following steps: first arrange the piezoelectric ceramic elements according to the polarization direction corresponding to the driving method, and fix the piezoelectric ceramic elements on the stator plate with red glue by a placement machine , and then apply solder paste on the electrode pads between the piezoelectric ceramic components, and complete the welding of the piezoelectric ceramic components through a reflow soldering process or a wave soldering process; then the two sides of the stator plate are composed of piezoelectric ceramic components and solder Grind flat, and keep the height of the annulus on the front and back sides consistent. Adopting this technical scheme, the method is simple, easy to implement and control, and has high consistency and stability.

As a further improvement of the present invention, the number of the stators is four, the number of the rotors is eight, the number of output shafts is the same as the number of the stators, which is four, and two rotors hold a stator to output through the output shaft. In this way, four ultrasonic motors can be expanded horizontally on one fixed board, which occupies a smaller area and is convenient to use.

Compared with prior art, the beneficial effect of the present invention is:

First, the technical solution of the present invention is easy to weld and manufacture multiple motor stators on the same stator plate to form multiple motor array drives to meet the application requirements of specific occasions; solve the problem that the existing ultrasonic motor has a single structure and is not easy to expand .

Second, adopting the technical solution of the present invention, a number of piezoelectric ceramic elements are configured according to the matching relationship with the driving signal, and are welded to the substrate by patch welding. The reliability of the welding process is higher than that of the adhesive process, avoiding The cracking of the adhesive layer caused by heat and vibration fatigue during the operation of the existing ultrasonic motor improves the working life and reliability of the motor.

Thirdly, in the prior art, the traveling wave ultrasonic motor adopts a structure in which a single rotor contacts a toothed stator, while the technical solution of the present invention adopts a structure in which a double rotor clamps a stator. Because the contact area between the rotor and the stator is increased, the frictional driving capability is improved, and the utility model has a higher energy efficiency utilization rate.

Fourth, adopting the technical solution of the present invention, the piezoelectric ceramic element is welded on the PCB, the PZT electrode surface is perpendicular to the stator ring surface to form longitudinal vibration, and the d33 of the piezoelectric material is used, which has high electromechanical conversion efficiency.

Description of drawings

FIG. 1 is a schematic structural view of an ultrasonic motor with a multi-stator planar array structure according to Embodiment 1 of the present invention.

Fig. 2 is a schematic diagram of an exploded structure of a single stator corresponding to two rotors in Embodiment 1 of the present invention.

Fig. 3 is a schematic structural view of part I of the rotor plate in Fig. 2 of Embodiment 1 of the present invention.

Fig. 4 is a schematic structural view of the stator plate of part II in Fig. 2 of Embodiment 1 of the present invention.

Fig. 5 is a diagram showing the arrangement regularity of the two-phase driving piezoelectric ceramics in Embodiment 1 of the present invention.

Fig. 6 is a diagram showing the arrangement regularity of the four-phase driving piezoelectric ceramics in Embodiment 2 of the present invention.

Fig. 7 is a diagram showing the deformation law of the annular surface of the stator plate in the present invention.

Detailed ways

The preferred embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

Example 1

As shown in Figures 1 to 4, an ultrasonic motor with a multi-stator planar array structure includes a stator 1, a rotor 2 and an output shaft 3, the ultrasonic motor with a multi-stator planar array structure includes a stator plate 10, and the stator At least two stators 1 are arranged on the plate 10, and each stator corresponds to two rotors 2; the stator 1 includes a hollow stator ring 12 and a piezoelectric ceramic module, and the stator ring 12 is provided with annularly distributed welding pads, The piezoelectric ceramic module includes N piezoelectric ceramic elements 13, and the piezoelectric ceramic elements 13 are welded and fixed on the pads of the stator ring 12, wherein, N is a multiple of 8; the stator ring 12 and the stator plate 10 There is a gap 14 for the vibration of the stator ring 12, and the stator ring 12 is connected to the stator plate 10 through a support connecting hinge 15; the stator plate 10 is also provided with a driving electrode, and the piezoelectric ceramic element 13 is the same The electrodes of the signal are electrically connected to the corresponding driving electrodes 16; the rotor 2 is located on the piezoelectric ceramic module of the stator ring 12 and is in contact with the surface of the piezoelectric ceramic module, and the output shaft 3 passes through the stator ring 12 The middle part is connected with the rotor 2, and the stator drives the rotor 2 to rotate to form power output; the PZT electrode surface of the piezoelectric ceramic element 13 is perpendicular to the ring surface of the stator ring 12, forming longitudinal vibration. Preferably, the number of the supporting connecting hinges 15 is three, the supporting connecting hinges 15 are distributed symmetrically around the axis of the stator ring 12, and the width of the supporting connecting hinges 15 is 0.8-1.5 mm. Preferably, there are three support connecting hinges 15 .

As shown in Figures 1 to 4, the rotor 2 includes a rotor plate 21, a flat spring 22 is pasted on the middle of the rotor plate 21, and the rotor plate 21 pasted with the flat spring 22 clamps the stator plate 10, and the output shaft 3 Pass through the middle part of the stator ring 12, then pass through the hole in the middle part of the central plate spring 22 of the rotor plate 21 and fix it with the nut 4; adjust the position of the nut 4 to change the pre-tightening force of the two rotor plates 21 on the stator plate 10.

As shown in Figures 1 to 4, the stator plate 10, the supporting connection hinge 15, and the stator ring 12 are made of PCB boards, and the stator plate 10, the supporting connecting hinge 15, and the stator ring 12 are all provided with printed circuits, so The printed circuit is connected to the pad, and the stator plate 10 is also provided with driving electrodes 16 , and the electrodes of the same signal of the piezoelectric ceramic element 13 are electrically connected to the corresponding driving electrodes 16 through the printed circuit. The PZT electrode surface of the piezoelectric ceramic element 13 is perpendicular to the ring surface of the stator ring 12 to form longitudinal vibration. The piezoelectric ceramic elements 13 are arranged according to the polarization direction corresponding to the set driving method, fixed on the stator ring 12 by red glue 5, and welded on the pads of the stator ring 12; The electrodes between them are welded together by soldering, and the upper surface of the ring surface composed of piezoelectric ceramic elements 13 on the stator ring 12 is made flat.

As shown in FIGS. 1 to 4 , each stator 1 corresponds to two rotors 2 . In each stator 1, pads are provided on both sides of the stator ring 12, and the piezoelectric ceramic elements 13 are arranged according to the polarization direction corresponding to the driving method, and the piezoelectric ceramic elements 13 are fixed with red glue 5 by a chip mounter. On the stator ring 12, apply solder paste on the electrode pads between the piezoelectric ceramic elements 13, complete the welding of the piezoelectric ceramic elements 13 through a reflow soldering process or a wave soldering process to form solder electrodes 17, and then polish them. The annulus composed of piezoelectric ceramic elements 13 and solder electrodes 17 on both sides of the stator plate 10 is ground flat, and the height of the annulus composed of piezoelectric ceramic elements 13 on both sides of the stator ring 12 is kept the same. The two rotors 2 are in contact with both surfaces of the stator ring 12 at the same time, and the output shaft 3 passes through the middle of the stator ring 12 and is connected with the two rotors 2 to form a power output.

As shown in Figure 5, the arrangement of the piezoelectric ceramic elements 13 on the pad is as follows: the two piezoelectric ceramic elements 13 on the front side of the stator ring 12 form a group, and the two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12 form a group. The elements 13 are a corresponding group, the position of the polarized positive electrode 131 of the piezoelectric ceramic element 13 on the front side of the stator ring 12 corresponds to the polarized negative electrode 132 position of the piezoelectric ceramic element 13 on the reverse side of the stator ring 12, and the piezoelectric ceramic element 13 on the reverse side of the stator ring 12 is piezoelectric. The polarized positive electrode 131 of the ceramic element 13 corresponds to the polarized negative electrode 132 position of the front piezoelectric ceramic element 13, and the electrodes of the piezoelectric ceramic element 13 corresponding to the positive and negative positions of the stator ring 12 pass through the metallized hole circuit on the stator ring 12. electrical connection.

As shown in FIG. 5 , the connection circuits are arranged in such a way that the same signal electrodes are connected together according to the two-phase driving method. Specifically, the piezoelectric ceramic element 13 includes 4 groups of standing wave drive units, which are respectively unit A, unit B, unit C and unit D, and each unit includes two piezoelectric ceramic elements 13 on the front side of the stator ring 12 Two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12, the piezoelectric ceramic elements 13 are arranged in sequence according to unit A, unit B, unit C, and unit D, and are arranged circularly on the front and back sides of the stator ring 12;

In unit A and unit B, the polarized positive poles 131 of the two piezoelectric ceramic elements 13 on the front of the stator ring 12 are all facing the connection of the two piezoelectric ceramic elements 13, that is, the polarized positive poles 131 are opposite, and the polarized negative poles are opposite to each other. 132 away from; the polarized positive poles 131 of the two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12 are located outside the two piezoelectric ceramic elements 13, that is, the polarized negative poles 132 are opposite, and the polarized positive poles 131 are far away;

In unit C and unit D, the polarized negative poles 132 of the two piezoelectric ceramic elements 13 on the front of the stator ring 12 are all facing the connection of the two piezoelectric ceramic elements 13, that is, the polarized negative poles 132 are opposite, and the polarized positive poles are opposite to each other. 131 away from; the polarized positive poles 131 of the two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12 are all towards the connection of the two piezoelectric ceramic elements 13, that is, the polarized positive poles 131 are opposite, and the polarized negative poles 132 are far away;

The driving electrode 16 includes a SIN terminal, a COS terminal and a GND terminal. The polarized positive pole 131 located on the front side of the stator ring 12 in the unit A is connected to the SIN terminal, and the polarized positive pole 131 located on the front side of the stator ring 12 in the unit B is It is connected to the COS terminal, the polarized negative pole 132 located on the front side of the stator ring 12 in the unit C is connected to the SIN terminal, and the polarized negative pole 132 located on the front side of the stator ring 12 in the unit D is connected to the COS terminal; The polarized anode 131 of the piezoelectric ceramic element 13 located on the front of the stator ring 12 and away from the unit C is connected to the GND terminal.

Example 2

On the basis of Embodiment 1, this embodiment is different from Embodiment 1 in that it adopts a four-phase driving method, and the arrangement rule and signal connection mode of the piezoelectric ceramic elements 13 on the stator ring 12 on the pads are different from Embodiment 1. Specifically:

As shown in Fig. 6, the piezoelectric ceramic element 13 and the electrodes include 4 groups of standing wave drive units, which are respectively unit a, unit b, unit c and unit d, and each unit includes two pressure points on the front of the stator ring 12. The electric ceramic element 13 and the two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12, the piezoelectric ceramic elements 13 are arranged in sequence according to unit a, unit b, unit c, and unit d, and are circularly arranged on the positive and negative sides of the stator ring 12. reverse side;

In the unit a, unit b, unit c, and unit d, the polarized positive poles 131 of the two piezoelectric ceramic elements 13 on the front of the stator ring 12 are all facing the connection of the two piezoelectric ceramic elements 13, that is, the poles The polarized positive poles 131 are opposite, and the polarized negative poles 132 are far away; the polarized negative poles 132 of the two piezoelectric ceramic elements 13 on the opposite side of the stator ring 12 are all facing the connection of the two piezoelectric ceramic elements 13, that is, the polarized negative poles 132 are opposite , polarize the positive electrode 131 away from;

The driving electrode 16 includes a SIN terminal, a COS terminal and a GND terminal. The polarized positive pole 131 located on the front side of the stator ring 12 in the unit a is connected to the SIN terminal to input the SIN signal, and the polarized pole 131 located on the front side of the stator ring 12 in the unit b is The polarized positive pole 131 is connected to the COS terminal to input the COS signal, the polarized positive pole 131 on the front side of the stator ring 12 in the unit c is connected to the SIN terminal to input the -SIN signal, and the polarized positive pole 131 on the front side of the stator ring 12 in the unit d is connected to the COS The terminal is connected to the input -COS signal; the polarized negative electrode 132 of the piezoelectric ceramic element 13 located on the front of the stator ring 12 in the unit d and away from the unit c is connected to the GND terminal.

In the two driving methods of Embodiment 1 and Embodiment 2, that is, two-phase driving and four-phase driving, within a single traveling wave wavelength, each piezoelectric ceramic element 13 will generate deformation, so that the stator ring 12 forms the deformation rule as shown in Figure 7, wherein, the units a, b, c, and d in the four-phase drive of embodiment 2 correspond to A, B, C, and D in Figure 7 respectively; according to The working principle of the annular traveling wave ultrasonic motor is that the stator 1 can drive the rotor 2 to rotate.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deduction or replacement can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (8)

1. An ultrasonic motor with a multi-stator planar array structure, which includes a stator, a rotor and an output shaft, characterized in that: the ultrasonic motor with a multi-stator planar array structure includes a stator plate, and the stator plate is provided with at least two Stator, the stator includes a hollow stator ring and a piezoelectric ceramic module, the stator ring is provided with annularly distributed welding pads, the piezoelectric ceramic module includes N piezoelectric ceramic elements, and the piezoelectric ceramic elements are welded Fixed on the pad of the stator ring, where N is a multiple of 8; there is a gap for the stator ring to vibrate between the stator ring and the stator plate, and the stator ring is connected to the stator plate through a connecting piece; the stator Drive electrodes are also arranged on the board, and the electrodes of the same signal of the piezoelectric ceramic element are electrically connected to the corresponding drive electrodes; the rotor is located on the piezoelectric ceramic module of the stator ring and connected to the surface of the piezoelectric ceramic module contact, the output shaft passes through the middle of the stator ring and is connected to the rotor, and the stator drives the rotor to rotate to form a power output; the PZT electrode surface of the piezoelectric ceramic element is perpendicular to the ring surface of the stator ring, forming longitudinal vibration; the Stator plates, connectors, and stator rings are all provided with printed circuits, and the pads are electrically connected to the drive electrodes through the printed circuit; in each stator, the number of the connectors is more than two, and the connectors are in the form of a stator The axis line of the ring is distributed symmetrically to the center, and the width of the connecting piece is 0.5-3mm. 2. The ultrasonic motor with multi-stator planar array structure according to claim 1, characterized in that: the number of the connecting parts is three, and the width of the connecting parts is 0.8-1.5 mm. 3. The ultrasonic motor with multi-stator planar array structure according to any one of claims 1 to 2, characterized in that: the piezoelectric ceramic elements are arranged according to the polarization direction corresponding to the set driving method, and fixed by red glue On the stator ring, and welded on the pad of the stator ring; the electrodes between the piezoelectric ceramic elements are welded together by soldering, and make the upper surface of the ring surface composed of piezoelectric ceramic elements on the stator ring smooth. 4. The ultrasonic motor with multi-stator planar array structure according to claim 3, characterized in that: the number of rotors corresponding to each stator ring is two, the two sides of the stator ring are all provided with welding pads, and the welding pads on both sides The plates are welded with piezoelectric ceramic elements, and the front and back sides of the stator ring are composed of piezoelectric ceramic elements at the same height; the two rotors are respectively in contact with the upper and lower sides of the stator ring, and the output shaft passes through the The middle part of the stator ring is connected with the two rotors to form a power output; the arrangement of the piezoelectric ceramic elements on the pad is as follows: the two piezoelectric ceramic elements on the front side of the stator ring form a group, and the opposite side of the stator ring The two piezoelectric ceramic elements are a corresponding group, the polarized positive pole position of the piezoelectric ceramic element on the front side of the stator ring corresponds to the polarized negative pole position of the piezoelectric ceramic element on the reverse side of the stator ring, and the piezoelectric ceramic element on the reverse side of the stator ring The polarized positive pole position of the element corresponds to the polarized negative pole position of the front piezoelectric ceramic element, and the electrodes of the corresponding piezoelectric ceramic element on the positive and negative sides of the stator ring are electrically connected through a circuit. 5. The ultrasonic motor with multi-stator planar array structure according to claim 4, characterized in that: the piezoelectric ceramic elements and electrodes on the stator ring include 4 groups of standing wave drive units, which are respectively unit A, unit B, unit C and unit D, each unit includes two piezoelectric ceramic elements on the front side of the stator ring and two piezoelectric ceramic elements on the opposite side of the stator ring, and the piezoelectric ceramic elements are in accordance with unit A, unit B, unit C, and unit D Arranged in sequence, and circularly arranged on the front and back of the stator ring; In the unit A and unit B, the polarized positive poles of the two piezoelectric ceramic elements on the front side of the stator ring are all facing the connection of the two piezoelectric ceramic elements, and the two piezoelectric ceramic elements on the opposite side of the stator ring are Polarized positive poles of the two piezoelectric ceramic elements are located on the outside; In the unit C and unit D, the polarized negative poles of the two piezoelectric ceramic elements on the front side of the stator ring are all facing the connection of the two piezoelectric ceramic elements, and the two piezoelectric ceramic elements on the opposite side of the stator ring are The polarized positive poles of the two piezoelectric ceramic elements are all towards the connection of the two piezoelectric ceramic elements; The drive electrode includes a SIN terminal, a COS terminal and a GND terminal, the polarized positive pole on the front of the stator ring in the unit A is connected to the SIN terminal, and the polarized positive pole on the front of the stator ring in the unit B is connected to the COS terminal, The polarized negative pole on the front of the stator ring in the unit C is connected to the SIN terminal, and the polarized negative pole on the front of the stator ring in the unit D is connected to the COS terminal; The polarized anode of the piezoelectric ceramic element is connected to the GND terminal. 6. The ultrasonic motor with multi-stator planar array structure according to claim 4, characterized in that: the piezoelectric ceramic elements and electrodes on the stator ring include 4 groups of standing wave drive units, which are respectively unit a, unit b, Unit c and unit d, each unit includes two piezoelectric ceramic elements on the front side of the stator ring and two piezoelectric ceramic elements on the opposite side of the stator ring, and the piezoelectric ceramic elements are in accordance with unit a, unit b, unit c, unit d are arranged in sequence and arranged circularly on the front and back of the stator ring; In the unit a, unit b, unit c, and unit d, the polarized positive poles of the two piezoelectric ceramic elements on the front of the stator ring are all facing the connection of the two piezoelectric ceramic elements, and the polarized positive poles of the two piezoelectric ceramic elements on the opposite side of the stator ring are The polarized negative poles of the two piezoelectric ceramic elements are all facing the junction of the two piezoelectric ceramic elements; The driving electrode includes a SIN terminal, a COS terminal and a GND terminal. The polarized positive pole located on the front of the stator ring in the unit a is connected to the SIN terminal to input the SIN signal, and the polarized positive pole located on the front of the stator ring in the unit b is connected to the COS terminal. terminal is connected to input COS signal, the polarized positive pole on the front side of the stator ring in the unit c is connected to the SIN terminal to input the -SIN signal, and the polarized positive pole on the front side of the stator ring in the unit d is connected to the COS terminal to input the -COS signal; The polarized negative electrode of the piezoceramic element located in the front of the stator ring in unit d and away from unit c is connected to the GND terminal. 7. The ultrasonic motor with multi-stator planar array structure according to claim 3, characterized in that: the rotor comprises a rotor plate, a flat spring is arranged in the middle of the rotor plate, and the output shaft passes through the center of the flat spring The holes are fixed by nuts. 8. The ultrasonic motor with multi-stator planar array structure according to claim 7, characterized in that: the stator is prepared by the following steps: first arrange the piezoelectric ceramic elements according to the polarization direction corresponding to the driving method, and use a paste The chip machine fixes the piezoelectric ceramic components on the stator plate with red glue, and then coats solder paste on the electrode pads between the piezoelectric ceramic components, and completes the welding of the piezoelectric ceramic components through a reflow soldering process or a wave soldering process; then Grind the annulus composed of piezoelectric ceramic elements and solder on both sides of the stator plate to make them smooth, and keep the annulus on both sides of the front and back at the same height.