CN107134946B - A kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth - Google Patents
A kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth Download PDFInfo
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- CN107134946B CN107134946B CN201710374265.1A CN201710374265A CN107134946B CN 107134946 B CN107134946 B CN 107134946B CN 201710374265 A CN201710374265 A CN 201710374265A CN 107134946 B CN107134946 B CN 107134946B
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 239000002783 friction material Substances 0.000 claims abstract description 11
- 239000000919 ceramic Substances 0.000 claims abstract description 7
- 210000000515 tooth Anatomy 0.000 claims abstract description 7
- 210000003781 tooth socket Anatomy 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 claims description 7
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 4
- 239000003607 modifier Substances 0.000 claims description 4
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- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 2
- QPLDLSVMHZLSFG-UHFFFAOYSA-N Copper oxide Chemical compound [Cu]=O QPLDLSVMHZLSFG-UHFFFAOYSA-N 0.000 claims description 2
- 239000005751 Copper oxide Substances 0.000 claims description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 2
- 239000004642 Polyimide Substances 0.000 claims description 2
- 239000004917 carbon fiber Substances 0.000 claims description 2
- 229910000431 copper oxide Inorganic materials 0.000 claims description 2
- 229910002804 graphite Inorganic materials 0.000 claims description 2
- 239000010439 graphite Substances 0.000 claims description 2
- FSQQTNAZHBEJLS-UPHRSURJSA-N maleamic acid Chemical class NC(=O)\C=C/C(O)=O FSQQTNAZHBEJLS-UPHRSURJSA-N 0.000 claims description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 2
- CWQXQMHSOZUFJS-UHFFFAOYSA-N molybdenum disulfide Chemical compound S=[Mo]=S CWQXQMHSOZUFJS-UHFFFAOYSA-N 0.000 claims description 2
- 229910052982 molybdenum disulfide Inorganic materials 0.000 claims description 2
- 239000002113 nanodiamond Substances 0.000 claims description 2
- 229920001721 polyimide Polymers 0.000 claims description 2
- -1 polytetrafluoroethylene Polymers 0.000 claims description 2
- 229910052761 rare earth metal Inorganic materials 0.000 claims description 2
- 150000002910 rare earth metals Chemical class 0.000 claims description 2
- 239000000835 fiber Substances 0.000 claims 1
- 239000011521 glass Substances 0.000 claims 1
- 238000002604 ultrasonography Methods 0.000 abstract description 24
- 230000033228 biological regulation Effects 0.000 abstract description 11
- 230000007423 decrease Effects 0.000 abstract description 4
- 230000009931 harmful effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 10
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
- H02N2/163—Motors with ring stator
Abstract
A kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth, it is related to a kind of ultrasound electric machine, rotating speed to solve current ultrasound electric machine continuous operation is difficult to decrease the ultralow range of speeds, and can not avoid the problem that the harmful effect brought to stator vibrational state by frequency modulation, phase modulation and amplitude modulation mode of speed regulation, it includes flexible shaft, top nut, lower nut, pedestal, shell, upper angular contact ball bearing, lower angular contact ball bearing, rotor and stator；Top nut and lower nut are screwed in the top and bottom of flexible shaft respectively, the end face of the stator is circumferentially machined with multiple stator tooths, space between two neighboring stator tooth is tooth socket, the upper surface of multiple stator tooths is linked as an annular surface, one layer of annular friction material with the curved face contact of stator tooth is equipped on the end face of the wheel rim of rotor, the other end of stator is equipped with ring-shaped piezo ceramic layer.The present invention is used for precision actuation.
Description
Technical field
The present invention relates to a kind of ultrasound electric machines, and in particular to a kind of ultralow rotating speed traveling-wave ultrasonic electricity with curved surface stator tooth
Machine belongs to piezoelectric driving technology field.
Background technology
Ultrasound electric machine is the next-generation drive that a kind of inverse piezoelectric effect using piezoelectric material converts electrical energy into mechanical energy,
Its stator is usually made of piezoelectric ceramics and metal elastomer, and the alternating voltage by applying supersonic frequency to piezoelectric ceramics is realized
Particle with the excitation of frequency mechanical oscillation in stator elastomeric, and then in stator driving region forms the fortune with driving effect
Dynamic rail mark is coupled by the friction of stator and rotor, realizes the output of rotor macroscopic motion.Due to the driving frequency of ultrasound electric machine
In supersonic frequency, the range of speeds is generally tens and goes to thousands of rpms, passes through three kinds of frequency modulation, phase modulation and amplitude modulation modes of speed regulation
The rotating speed of ultrasound electric machine can only be reduced to several rpms, it is difficult to meet the requirements low speed 0.5r/min or less or lower drivings and turn
The occasion of speed, therefore, developing ultralow rotating speed ultrasound electric machine has important application value.
Publication No. CN201742324U, publication date are on February 09th, 2011, and patent name is " rotary type travelling wave ultrasonic
Motor " is without using curved surface toothing, it is difficult to be suitable for Ultra-Low Speed operating mode.Publication No. CN202111634U, publication date are
On 01 11st, 2012, patent name was that the patent of invention of " rotary type travelling wave ultrasonic motor of nut adjustment precompression " is exporting
It is machined with one section of screw thread on axis, will connect firmly the rotor in shaft to the tension of the direction of stator by rotating pre-load nut, pass through
Control pre-load nut controls the precompression between stator and rotor in the center line of shaft along the direction displacement distance of stator, no
Foot place is that curved surface toothing, rotating speed is not used to be difficult to decrease the ultralow range of speeds.Publication No. CN102904482A,
Publication date is on 01 30th, 2013, and patent name is that the patent of invention of " a kind of ultralow method for controlling number of revolution of ultrasound electric machine " uses
Discontinuous excitation control ultrasound electric machine runs on ultralow rotating speed, and has good rotating speed control performance, realizes ultralow rotating speed
Mode be that discontinuous is driven rather than Continuous Drive, can not avoid by frequency modulation, phase modulation and amplitude modulation mode of speed regulation to stator vibrate
The harmful effect that state is brought.
Invention content
The present invention provides a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth, to solve current ultrasound electric machine
The rotating speed of continuous operation is difficult to decrease the ultralow range of speeds, and can not avoid by frequency modulation, phase modulation and amplitude modulation mode of speed regulation pair
The problem of harmful effect that stator vibrational state is brought.
The present invention adopts the technical scheme that in order to solve the above problem：A kind of ultralow rotating speed traveling wave with curved surface stator tooth
Ultrasound electric machine, it include flexible shaft, top nut, lower nut, pedestal, shell, upper angular contact ball bearing, lower angular contact ball bearing,
Rotor and stator；
Shell and pedestal are detachably connected, and angular contact ball bearing is equipped on pedestal, lower angular contact is equipped on shell
Ball bearing, flexible shaft are mounted on upper angular contact ball bearing and lower angular contact ball bearing, upper angular contact ball bearing and lower angular contact
Rotor and stator are disposed between ball bearing, rotor is disposed adjacent with shell and on flexible shaft, stator is installed on base
On seat, flexible hinge structure is machined on the shaft part of the flexible shaft between rotor and stator；
Top nut and lower nut are screwed in the top and bottom of flexible shaft respectively, and the end face of the stator is circumferentially processed
There are multiple stator tooths, the space between two neighboring stator tooth is tooth socket, and the upper surface of multiple stator tooths is linked as an annular song
Face, waveform in curved surface after annular surface expansion, one layer with the curved face contact of stator tooth is equipped on the end face of the wheel rim of rotor
The other end of annular friction material, stator is equipped with ring-shaped piezo ceramic layer, and piezoceramics layer inverse piezoelectric effect generates traveling wave
Waveform, the amplitude of curved surface waveform are 0.2-50 times of traveling-wave waveform amplitude.
The beneficial effects of the invention are as follows：The present invention adjusts the rotating speed of travelling wave supersonic motor using curved stator tooth,
The harmful effect brought to stator vibrational state by frequency modulation, phase modulation and amplitude modulation mode of speed regulation is avoided, is a kind of traveling-wave ultrasonic electricity
The novel mode of speed regulation of machine can break through the accommodation limit of existing ultrasound electric machine rotating speed, and turning for ultrasound electric machine can be greatly lowered
Speed makes ultrasound electric machine that there is the performance of ultralow rotating speed operation, the rotating speed of ultrasound electric machine continuous operation of the present invention can be reduced to super
Slow-speed of revolution 0.5r/min hereinafter, can under ultralow rotating speed continuous operation, be applicable to Ultra-Low Speed driving occasion.Due to song
The stator tooth structure size of planar is small, will not have large effect to the stator vibration shape, while playing ultrasound electric machine high-frequency drive
Characteristic, ensure the operation stability of ultrasound electric machine, really realize ultrasound electric machine ultralow rotating speed driveability.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is curved stator structure schematic diagram；
Fig. 3 is that stator expansion rear curved surface waveform is sinusoidal waveform partial schematic diagram in one embodiment；
Fig. 4 is that stator expansion rear curved surface waveform is cosine waveform and square wave combination diagram in another embodiment；
Fig. 5 is the superposition schematic diagram that stator expansion rear curved surface waveform is cosine waveform and square wave in another embodiment；
Fig. 6 is that the root portion of stator tooth in another embodiment is machined with the partial schematic diagram of micropore；
Three kinds of waveform state diagrams when being 0 that Fig. 7 is the time；
Fig. 8 is three kinds of waveform status diagrams under a quarter traveling wave period；
Fig. 9 is three kinds of waveform status diagrams under the half traveling wave period；
Figure 10 is three kinds of waveform status diagrams under 3/4ths traveling wave periods.
Specific implementation mode
Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.
It is illustrated in combination with fig. 1-fig. 6, a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth, it includes flexible shaft
1, top nut 2, lower nut 6, pedestal 7, shell 10, upper angular contact ball bearing 4, lower angular contact ball bearing 11, rotor 5 and stator 9；
Shell 10 and pedestal 7 are detachably connected, and angular contact ball bearing 4 is equipped on pedestal 7, is equipped with down on shell 10
Angular contact ball bearing 11, flexible shaft 1 are mounted on upper angular contact ball bearing 4 and lower angular contact ball bearing 11, upper angular contact ball axis
It holds and is disposed with rotor 5 and stator 9 between 4 and lower angular contact ball bearing 11, rotor 5 is disposed adjacent with shell 10 and mounted on soft
On property axis 1, stator 9 is installed on pedestal 7, and flexible hinge is machined on the shaft part of the flexible shaft 1 between rotor 5 and stator 9
Chain structure；
Top nut 2 and lower nut 6 are screwed in the top and bottom of flexible shaft 1 respectively, and the end face of the stator 9 is circumferentially
Multiple stator tooth 9-1 are machined with, the space between two neighboring stator tooth 9-1 is tooth socket, and the upper surface of multiple stator tooth 9-1 connects
For an annular surface, waveform in curved surface after annular surface expansion is equipped with the song with stator tooth on the end face of the wheel rim of rotor 5
One layer of annular friction material 8 of face contact, the other end of stator 9 is equipped with ring-shaped piezo ceramic layer 13, piezoceramics layer 13
Inverse piezoelectric effect generates traveling-wave waveform, and the amplitude of curved surface waveform is 0.2-50 times of traveling-wave waveform amplitude.
The amplitude of traveling wave in the micron-scale, the amplitude of the curved surface waveform of stator tooth also in the micron-scale, curved stator toothing
There will not be larger change to the vibration shape of stator, ensure that stator has good vibration characteristics.In addition, relative to common frequency modulation
Mode of speed regulation, this item target speed regulation mode do not influence the working frequency of stator, stator can be made to be operated in optimal driving frequency
Under, realize the adjusting of motor speed.The clearance that bearing is eliminated using angular contact bearing, improves the stable of ultrasound electric machine
Property, enhance the load capacity of motor.Flexible hinge structure can generate certain deformation under the action of moment of flexure, can transmit
Torque exempts to assemble, no fretting wear.It is flexible in order to ensure 11 firm stabilization of upper angular contact ball bearing 4 and lower angular contact ball bearing
The top and bottom of axis 1 screw baffle ring 3 and lower baffle ring 12 respectively.
Illustrate referring to Fig. 2, fan-shaped cross section by single stator tooth 9-1.So set, fan-shaped stator tooth ensure that and determine
The integrally-built matching of son, the width of stator tooth is close to identical, and adjacent sheaves width is close to identical.Realize motor speed in more preferable bottom
Adjusting.
According to different slow-speed of revolution demands, friction circle is adjusted with being superimposed for traveling-wave waveform by various forms of curved surface waveforms
The size of face power output, and then the different rotating speed of ultrasound electric machine is obtained, the form of curved surface waveform has following 3 kinds：
Illustrate referring to Fig. 3, the curved surface waveform is cosine waveform.This form is suitble to the operating mode of ultralow rotating speed.
Illustrate referring to Fig. 4, the curved surface waveform is the combination of cosine waveform and square wave.This form is suitble to rotating speed slightly higher
Operating mode.
Illustrate referring to Fig. 5, the curved surface waveform is the superposition of cosine waveform and square wave.This form is suitble to rotating speed slightly higher
Operating mode and the startability for helping to improve motor.
Illustrate referring to Fig. 6, in order to ensure that row wave stability, the root portion of stator tooth 9-1 are machined with micropore 9-2, micropore
The aperture of 9-2 is gradually reduced from the maximum amplitude of curved surface waveform to minimum amplitude direction.Stator root portion processing aperture differs
Micropore ensure that the traveling wave generated by piezoelectric ceramics inverse piezoelectric effect is not distorted to adjust the position of stator neutral line.
Illustrate referring to Fig. 1, in order to improve the run stability of motor, flexible hinge structure mainly by flexible shaft 1 radially
The whole circle arc groove 1-1 of N items of processing is constituted, wherein N >=1.Using flexible hinge structure, the adaptive of rotor and stator contact is realized
It should adjust, the size of flexible hinge is calculated by given working condition requirement, can be turned to avoid fixing to bring due to flexible shaft both ends
Contact of the son with stator is uneven, so that contact of the stator with rotor is carried out automatic adjusument according to contact situation, increases electricity
The run stability of machine.
Illustrate referring to Fig. 1, restart ability to improve motor, improve the operation instruction of motor, annular friction material 8 is adopted
With oil-containing friction material, which includes by weight percentage as follows：
Polymeric matrix：45%-80%；
Friction modifier：10%-30%；
Carbon micron tube：1%-30%；
The polymeric matrix is polytetrafluoroethylene (PTFE) and polybenzoate, polyimides or double maleic amides groups of any one
It closes；
The friction modifier be copper powder, nickel powder, copper oxide, molybdenum disulfide, graphite, nano-diamond powder, carbon fiber,
The combination of one or more of glass fibre and rare earth powder.
Carbon micron tube is that can accurately control the oil content of friction material containing oil carrier, and improve it and contain oil-retaining power, no
The basis material type for limiting oil-containing material, can prepare ultrasound electric machine friction material under suitable different operating modes；The friction material
Material also makes the smooth running of ultrasound electric machine, output torque big, effectively avoids the bonding of the rotor after storing for a long time；It improves
The run stability of ultrasound electric machine enhances the load capacity of motor.Friction coefficient is 0.07-0.18, wear rate is 1.0 ×
10-8mm3/Nm-2×10-8mm3/Nm。
Working mechanism
By taking the amplitude of the curved surface waveform of stator tooth is equal to traveling wave amplitude as an example, analytic surface stator tooth and rotor contact interface
Movement in one cycle and stress, as shown in Figure 7.W,W1And W2Respectively the actual waveform of stator surface, traveling-wave waveform and
The curved surface waveform of stator tooth.The wherein curved surface waveform W of stator tooth2It is fixed, does not change with time and change, traveling-wave waveform
W1The forward direction along x-axis at any time is transmitted, and stator surface actual waveform W is by traveling-wave waveform W1With the curved surface waveform W of stator tooth2
Superposition.Traveling-wave waveform determines the movement of stator tooth surface particle；Actual waveform determines the shape of stator deformation of tooth surface, in turn
Determine the practical contact condition of stator and rotor.When Fig. 7 is time t=0, the state of three waveforms.The displacement unit of ordinate
It is mm, at this point, the curved surface waveform of stator tooth is overlapped with traveling-wave waveform, actual waveform amplitude increases, and pressure increases in contact zone, real
Border contact zone becomes smaller and (means that stagnant zone is reduced), and the friction drive of contact interface increases.When Fig. 8 is t=T/4, three waves
The state of shape, T are the period of traveling wave.At this point, traveling-wave waveform is no longer overlapped with the curved surface waveform of stator tooth, actual waveform decides
There is driving area and anti-driven area, the direction phase in two regions in practical contact zone in contact of the stator with rotor
Instead.The range in driving area becomes smaller, and the friction drive of contact interface becomes smaller.When Fig. 9 is t=T/2, the state of three waveforms.This
When, the curved surface waveform of traveling-wave waveform and stator tooth is cancelled out each other, and the actual waveform of stator surface is plane, at this time in a wavelength
Interior friction drive is 0.When Figure 10 is t=3T/4, the state of three waveforms is similar to state shown in Fig. 8.
From above-mentioned analysis as it can be seen that the annular surface structure of the stator tooth by changing stator, can control friction drive
Size, and then control ultrasound electric machine rotating speed.Can also by continue increase stator tooth curved surface waveform amplitude, make certain
Period inner stator generates the frictional force opposite with rotor rotation direction, further decreases the rotating speed of motor, can also pass through design
The rotating speed and torque of motor is adjusted in the superposition of two or more waveforms (such as cosine waveform and square wave).In previous research,
Since Driven by Ultrasonic Motors frequency is located at supersonic range, rotating speed is very fast, passes through traditional frequency modulation, phase modulation and the mode of speed regulation of amplitude modulation
It is difficult to realize the requirement of Ultra-Low Speed, the mode of speed regulation by stator curved surface toothing that this project proposes can be good at overcoming this
One problem.Due to traveling wave amplitude in the micron-scale, also in the micron-scale, curved stator toothing will not for the amplitude of curved surface waveform
There is larger change to the vibration shape of stator, ensures that stator has good vibration characteristics.In addition, relative to common frequency-adjustable speed-adjustable
Mode, mode of speed regulation of the invention do not influence the working frequency of stator, and stator can be made to be operated under optimal driving frequency, real
The adjusting of existing motor speed.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, when the structure and technology contents that can utilize the disclosure above are done
Go out a little change or is modified to the equivalence enforcement case of equivalent variations, but it is every without departing from technical solution of the present invention
Hold, any simple modification, equivalent change and modification done according to the technical essence of the invention to the above case study on implementation still belong to
Technical solution of the present invention range.
Claims (8)
1. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth, it is characterised in that：It include flexible shaft (1), on
Nut (2), lower nut (6), pedestal (7), shell (10), upper angular contact ball bearing (4), lower angular contact ball bearing (11), rotor
(5) and stator (9)；
Shell (10) and pedestal (7) are detachably connected, and angular contact ball bearing (4) is equipped on pedestal (7), and shell is pacified on (10)
Equipped with lower angular contact ball bearing (11), flexible shaft (1) is mounted on upper angular contact ball bearing (4) and lower angular contact ball bearing (11)
On, be disposed with rotor (5) and stator (9) between upper angular contact ball bearing (4) and lower angular contact ball bearing (11), rotor (5) with
Shell (10) is disposed adjacent and on flexible shaft (1), stator (9) is installed on pedestal (7), is located at rotor (5) and is determined
It is machined with flexible hinge structure on the shaft part of flexible shaft (1) between sub (9)；
It is characterized in that：Top nut (2) and lower nut (6) are screwed in the top and bottom of flexible shaft (1), the stator respectively
(9) end face is circumferentially machined with multiple stator tooths (9-1), and the space between two neighboring stator tooth (9-1) is tooth socket, more
The upper surface of a stator tooth (9-1) is linked as an annular surface, waveform in curved surface after annular surface expansion, the wheel rim of rotor (5)
End face on be equipped with one layer of annular friction material (8) with the curved face contact of stator tooth, the other end of stator (9) is equipped with
Ring-shaped piezo ceramic layer (13), piezoceramics layer (13) inverse piezoelectric effect generate traveling-wave waveform, and the amplitude of curved surface waveform is traveling wave
0.2-50 times of amplitude of wave form.
2. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 1, it is characterised in that：It is single
Fan-shaped cross section for a stator tooth (9-1).
3. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 2, it is characterised in that：Institute
It is cosine waveform to state curved surface waveform.
4. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 2, it is characterised in that：Institute
State the combination that curved surface waveform is cosine waveform and square wave.
5. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 2, it is characterised in that：Institute
State the superposition that curved surface waveform is cosine waveform and square wave.
6. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 3, it is characterised in that：It is fixed
The root portion of sub- tooth (9-1) is machined with micropore (9-2), and the aperture of micropore (9-2) is from the maximum amplitude of curved surface waveform to most slightly
Value direction is gradually reduced.
7. according to a kind of ultralow rotating speed traveling-wave ultrasonic with curved surface stator tooth described in any one of claim 1 to 6 claim
Motor, it is characterised in that：Whole circle arc groove (1-1) structure of N items that flexible hinge structure is mainly radially processed by flexible shaft (1)
At wherein N >=1.
8. a kind of ultralow rotating speed travelling wave supersonic motor with curved surface stator tooth according to claim 7, it is characterised in that：Ring
Shape friction material (8) is oil-containing friction material, which includes by weight percentage as follows：
Polymeric matrix：45%-80%；
Friction modifier：10%-30%；
Carbon micron tube：1%-30%；
The polymeric matrix is polytetrafluoroethylene (PTFE) and polybenzoate, polyimides or double maleic amides combinations of any one；
The friction modifier is copper powder, nickel powder, copper oxide, molybdenum disulfide, graphite, nano-diamond powder, carbon fiber, glass
The combination of one or more of fiber and rare earth powder.
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| JP6957809B2 (en) * | 2017-11-30 | 2021-11-02 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Sprayer and unmanned aerial vehicle |
| EP3805720B1 (en) * | 2018-06-08 | 2023-03-08 | LG Innotek Co., Ltd. | Sensing device |
| CN108681031B (en) * | 2018-08-06 | 2023-10-27 | 深圳市三阶微控实业有限公司 | Miniature camera applying stepping ultrasonic motor and control method thereof |
| CN111555657B (en) * | 2020-06-03 | 2021-09-21 | 集美大学 | Traveling wave rotary ultrasonic motor friction plate with groove |
| CN112713806B (en) * | 2020-12-30 | 2022-06-28 | 南京航空航天大学 | Efficient driving curved surface rotor applied to traveling wave type ultrasonic motor |
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| JP2996477B2 (en) * | 1990-02-05 | 1999-12-27 | キヤノン株式会社 | Vibration wave drive |
| JP2797146B2 (en) * | 1990-10-09 | 1998-09-17 | 株式会社ゼクセル | Electromagnetic actuator for moving objects |
| KR100376137B1 (en) * | 2000-12-15 | 2003-03-15 | 한국과학기술연구원 | Ring-type Piezoelectric Ultrasonic Motor |
| US20040113519A1 (en) * | 2002-12-12 | 2004-06-17 | Charles Mentesana | Micro-beam friction liner and method of transferring energy |
| CN100459403C (en) * | 2005-04-18 | 2009-02-04 | 南京航空航天大学 | Standing wave frequency change step ultrasonic electric machine |
| CN106549603B (en) * | 2017-01-11 | 2018-12-25 | 上海交通大学 | A kind of dual-travel-wave rotary ultrasonic motor of simple oscialltor excitation |
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