CN111327229A - High torque density ultrasonic motor - Google Patents
High torque density ultrasonic motor Download PDFInfo
- Publication number
- CN111327229A CN111327229A CN202010271797.4A CN202010271797A CN111327229A CN 111327229 A CN111327229 A CN 111327229A CN 202010271797 A CN202010271797 A CN 202010271797A CN 111327229 A CN111327229 A CN 111327229A
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- stator
- vibrating body
- ceramic plate
- ultrasonic motor
- high torque
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- 239000000919 ceramic Substances 0.000 claims abstract description 69
- 239000004734 Polyphenylene sulfide Substances 0.000 claims abstract description 14
- 229920000069 polyphenylene sulfide Polymers 0.000 claims abstract description 14
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 8
- 239000004696 Poly ether ether ketone Substances 0.000 claims abstract description 8
- 239000004917 carbon fiber Substances 0.000 claims abstract description 8
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 8
- 229920002530 polyetherether ketone Polymers 0.000 claims abstract description 8
- 239000004695 Polyether sulfone Substances 0.000 claims abstract description 4
- PMHQVHHXPFUNSP-UHFFFAOYSA-M copper(1+);methylsulfanylmethane;bromide Chemical compound Br[Cu].CSC PMHQVHHXPFUNSP-UHFFFAOYSA-M 0.000 claims abstract description 4
- 239000000203 mixture Substances 0.000 claims abstract description 4
- 229920006393 polyether sulfone Polymers 0.000 claims abstract description 4
- HBMJWWWQQXIZIP-UHFFFAOYSA-N silicon carbide Chemical compound [Si+]#[C-] HBMJWWWQQXIZIP-UHFFFAOYSA-N 0.000 claims abstract description 4
- 229910010271 silicon carbide Inorganic materials 0.000 claims abstract description 4
- PNEYBMLMFCGWSK-UHFFFAOYSA-N Alumina Chemical group [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 claims abstract description 3
- 210000001503 joint Anatomy 0.000 claims description 7
- 239000003822 epoxy resin Substances 0.000 claims description 5
- 229920000647 polyepoxide Polymers 0.000 claims description 5
- 239000000463 material Substances 0.000 abstract description 8
- 230000006872 improvement Effects 0.000 abstract description 2
- 229920005989 resin Polymers 0.000 description 10
- 239000011347 resin Substances 0.000 description 10
- 235000012431 wafers Nutrition 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910052574 oxide ceramic Inorganic materials 0.000 description 2
- 239000011224 oxide ceramic Substances 0.000 description 2
- TWNQGVIAIRXVLR-UHFFFAOYSA-N oxo(oxoalumanyloxy)alumane Chemical group O=[Al]O[Al]=O TWNQGVIAIRXVLR-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000002783 friction material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- 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
- H02N2/14—Drive circuits; Control arrangements or methods
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention belongs to the technical field of ultrasonic motors, and particularly relates to a high-torque-density ultrasonic motor. The invention comprises a stator and a rotor, and is characterized in that: the stator comprises a stator vibrating body, a hard ceramic plate and a piezoelectric ceramic plate, wherein the hard ceramic plate is adhered to the bottom of the stator vibrating body; the hard ceramic wafer is an alumina ceramic wafer or a silicon carbide ceramic wafer or an aluminum nitride ceramic wafer; the stator vibrating body is made of one or a mixture of a plurality of materials of polyether ether ketone, polyether sulfone, carbon fiber reinforced polyphenylene sulfide and carbon fiber reinforced polyether ether ketone. The invention utilizes the hard ceramic plate arranged between the stator vibrating body and the piezoelectric ceramic plate to realize the improvement of the driving force generated by the stator vibrating body of the ultrasonic motor, and utilizes the characteristics of small thickness and low weight of the hard ceramic plate to improve the driving force of the stator vibrating body without obviously increasing the weight. Thereby improving the torque density and output power density of the motor.
Description
Technical Field
The invention belongs to the technical field of ultrasonic motors, and particularly relates to a high-torque-density ultrasonic motor.
Background
The ultrasonic motor is a novel motor driven by utilizing the vibration of piezoelectric ceramic ultrasonic frequency. Compared with the traditional electromagnetic motor, the ultrasonic motor has the performance advantages of compact structure, flexible design, quick response, power failure self-locking, no electromagnetic interference and the like. In addition, the rotating speed of the ultrasonic motor is low, a gear mechanism is not needed for adjusting the speed ratio, and the ultrasonic motor is easy to integrate with an electromechanical system. At present, ultrasonic motors are applied to the fields of optical focusing equipment, robots, aerospace, micromachines and the like. It can be said that the ultrasonic motor technology is one of the high and new technologies in the world today. In practical applications, it is desirable to use an ultrasonic motor that has a small size, a light weight, a high efficiency, a low price, etc. Particularly, for ultrasonic motors used in special situations such as aerospace, submarines, electric vehicles, etc., due to space limitations, it is desirable to use ultrasonic motors with smaller size, lighter weight, and higher efficiency, i.e., motors with higher torque density or power density are required.
At present, in order to improve the torque density and the power density of an ultrasonic motor, polyphenylene sulfide which is a functional resin material with low mechanical loss is pasted on the surface of piezoelectric ceramics to manufacture the ultrasonic motor with a stator with a double-layer composite structure. The low density of the polyphenylene sulfide resin results in low weight of the ultrasonic motor, and the torque density or power density of the ultrasonic motor is improved, but the low elastic modulus of the polyphenylene sulfide resin results in insufficient rigidity of the vibrating body, and therefore the torque density and power density of the motor cannot meet higher requirements.
Disclosure of Invention
The invention aims to overcome the defect that the torque density or power density of an ultrasonic motor cannot meet higher requirements due to insufficient rigidity of a vibrating body caused by low elastic modulus of polyphenylene sulfide resin in the prior art, and provides a high-torque-density ultrasonic motor.
The technical scheme adopted by the invention for solving the technical problems is as follows: a high torque density ultrasonic motor includes stator and rotor, its characterized in that: the stator comprises a stator vibrating body, a hard ceramic plate and a piezoelectric ceramic plate, wherein the hard ceramic plate is adhered to the bottom of the stator vibrating body; the hard ceramic wafer is an aluminum oxide ceramic wafer or a silicon carbide ceramic wafer or an aluminum nitride ceramic wafer; the stator vibrating body is made of one or a mixture of a plurality of materials of polyether ether ketone, polyether sulfone, carbon fiber reinforced polyphenylene sulfide and carbon fiber reinforced polyether ether ketone.
Further, the device also comprises a base and a spindle; one end of the main shaft is fixed on the base, and the other end of the main shaft is provided with a fastening nut; the stator vibrating body is sleeved on the main shaft and is fixedly connected with the main shaft through a nut; the rotor is rotationally connected with the main shaft through a bearing; and a spring is sleeved on the main shaft between the fastening nut and the bearing.
Further, the stator vibrating body comprises a fixed disc and a butting vibrating body arranged on the periphery of the fixed disc; a plurality of grooves are uniformly formed in the butt joint vibration body, and the extending direction of the grooves is parallel to the axial direction of the main shaft.
Further, the thickness of the non-slotted part of the butt-jointed vibrating body is 1/4 of the thickness of the stator; the thickness of the fixed disk is less than 1/10 of the stator thickness.
Furthermore, the hard ceramic plate and the piezoelectric ceramic plate are both circular ring type; the hard ceramic plate, the piezoelectric ceramic plate and the stator vibrating body have the same outer diameter and are fixed by epoxy resin.
Further, the thickness of the hard ceramic plate is 1/8 of the thickness of the stator, and the inner diameter of the hard ceramic plate is 2/3 of the outer diameter.
Further, the rotor is a disc with a flange arranged on the outer edge, and the flange is in contact with the outer edge of the butt-joint vibration body.
Further, a gasket is arranged between the nut and the fixed disk.
Further, the main shaft is fixedly connected with the base through threads.
More closely, the electrodes of the piezoelectric ceramic plates are equally divided into 12 equal parts; the piezoelectric ceramic chip is loaded with sin drive voltage of the 1 st part, the 5 th part and the 9 th part, cos drive voltage of the 2 nd part, the 6 th part and the 10 th part, loading-sin drive voltage of the 3 rd part, the 7 th part and the 11 th part, and loading-cos drive voltage of the 4 th part, the 8 th part and the 12 th part.
The high-torque-density ultrasonic motor has the beneficial effects that:
1. the invention utilizes the hard ceramic plate arranged between the stator vibrating body and the piezoelectric ceramic plate to form the ultrasonic motor with the stator with the three-layer composite structure, and utilizes the elastic modulus of the hard ceramic material to be far higher than that of the stator vibrating body material to realize the improvement of the driving force generated by the stator vibrating body of the ultrasonic motor.
2. The invention utilizes the characteristics of small thickness and low weight of the hard ceramic plate, improves the driving force of the stator vibrating body and does not obviously increase the weight. Thereby improving the torque density and output power density of the motor. The thickness of the hard ceramic plate is designed to be 1/8 of the thickness of the stator, and the inner diameter of the hard ceramic plate is 2/3 of the outer diameter, so that the phenomenon of stress concentration of the stator vibrating body is avoided while the sufficient driving force of the stator vibrating body is ensured.
3. The butt joint vibrating body is provided with the grooves, and the thickness of the part, which is not grooved, of the butt joint vibrating body is 1/4 of the thickness of the stator, so that mechanical abrasion is reduced, and vibration displacement of mass points on the rotary butt joint vibrating body can be amplified.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is an overall block diagram of an embodiment of the present invention;
FIG. 2 is a sequence diagram of stator installation according to an embodiment of the present invention;
FIG. 3 is a sectional view of a stator mounting of an embodiment of the invention;
FIG. 4 is an electrode distribution diagram of a piezoelectric ceramic sheet according to an embodiment of the present invention;
fig. 5 is an ultrasonic motor operational flow diagram of an embodiment of the present invention.
In the figure, the stator comprises a stator 1, a stator 11, a stator vibrating body 111, a fixed disc 112, a butt-joint vibrating body 113, a groove 12, a hard ceramic plate 13, a piezoelectric ceramic plate 2, a rotor 21, a flange 3, a base 4, a main shaft 5, a nut 51, a gasket 6, a bearing 7, a spring 8 and a fastening nut.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The specific embodiment of the high torque density ultrasonic motor of the present invention as shown in fig. 1 to 5 includes a high torque density ultrasonic motor including a stator 1 and a rotor 2, and is characterized in that: the stator 1 comprises a stator vibrating body 11, a hard ceramic plate 12 adhered to the bottom of the stator vibrating body 11 and a piezoelectric ceramic plate 13 adhered to the bottom of the hard ceramic plate 12; the hard ceramic plate 12 is an alumina ceramic plate, a silicon carbide ceramic plate or an aluminum nitride ceramic plate; the stator vibrating body 11 is made of one or a mixture of a plurality of materials selected from polyether ether ketone, polyether sulfone, carbon fiber reinforced polyphenylene sulfide and carbon fiber reinforced polyether ether ketone, and the stator vibrating body 11 is made of polyphenylene sulfide resin. The high torque density ultrasonic motor also comprises a base 3 and a main shaft 4 fixed on the base 3; be provided with the screw hole on the base 3, main shaft 4 passes through threaded connection to be fixed on base 3, guarantees whole ultrasonic motor's stability. The stator vibrating body 11 is sleeved on the main shaft 4 and is fixedly connected with the main shaft 4 through a nut 5; a gasket 51 is arranged between the nut 5 and the stator vibrating body 11, so that the contact area is increased, the pressure is reduced, the looseness is prevented, and the stator vibrating body 11 and the nut 5 are protected from abrasion.
In the embodiment of the invention, one end of a main shaft 4 shown in fig. 1 is fixed on a base 3, the other end is provided with a fastening nut 8, and a rotor 2 is rotatably connected with the main shaft 4 through a bearing 6; the main shaft 4 between the fastening nut 8 and the bearing 6 is sleeved with a spring 7. The stator vibrating body 11 comprises a fixed disc 111 and a butt vibrating body 112 arranged on the periphery of the fixed disc 111; the thickness of the fixed disc 111 is 1/10 smaller than that of the stator 1, a plurality of grooves 113 are uniformly arranged on the butt joint vibrating body 112, the extending direction of the grooves 113 is parallel to the axial direction of the spindle 4, and the thickness of the part, which is not grooved, of the butt joint vibrating body is 1/4 of the thickness of the stator 1, so that the structural design reduces the modal order of the stator vibrating body 11 under the resonance frequency, the mechanical wear is reduced, and the service life is prolonged; meanwhile, the vibration displacement can be amplified, and the mechanical performance of the motor is improved, so that the driving effect is improved.
In the embodiment of the invention, the whole stator vibrating body 11 is in a hollow disc structure, the rotor 2 is a disc with the flange 21 arranged on the outer edge, and the flange 21 is contacted with the outer edge of the butting vibrating body 112, so that the conversion of mechanical energy caused by the overlarge friction surface of the rotor 2 in the rotating process is reduced. The hard ceramic plate 12 and the piezoelectric ceramic plate 13 are both circular rings, the outer diameters of the hard ceramic plate 12, the piezoelectric ceramic plate 13 and the stator vibrating body 11 are the same, and the hard ceramic plate 12, the piezoelectric ceramic plate 13 and the stator vibrating body 11 are fixedly adhered through epoxy resin, and the thickness of the epoxy resin adhesive is neglected in the embodiment because the thickness of the epoxy resin adhesive is thinner in the process of adhering the hard ceramic plate 12 and the stator vibrating body 11, and the hard ceramic plate 12 and the piezoelectric ceramic plate 13.
The thickness of the hard ceramic plate 12 in the embodiment of fig. 1-3 is 1/8 of the thickness of the stator 1, the design ensures that the ultrasonic motor stator vibrating body 11 has enough driving force, and the inner diameter of the hard ceramic plate 12 is 2/3 of the outer diameter, so as to avoid the phenomenon of stress concentration of the stator vibrating body 11.
At present, the ultrasonic motor with the stator having the double-layer composite structure is generally manufactured by adhering polyphenylene sulfide, which is a functional resin material with low mechanical loss, to the surface of the piezoelectric ceramic sheet 13. The polyphenylene sulfide serving as the functional resin material is used as the ultrasonic motor stator vibrating body 11, so that the weight of the ultrasonic motor is reduced, and the torque density and the power density of the ultrasonic motor are favorably improved, but the polyphenylene sulfide resin has low elastic modulus, so that the rigidity of the stator vibrating body 11 is insufficient. Therefore, the stator 1 using the three-layer composite structure can improve the torque density and the output power density of the motor. As shown in the following table, the performance of the ultrasonic motor of the stator 1 having the three-layer structure in which the polyphenylene sulfide resin is adhered to the aluminum oxide ceramic sheet and then the piezoelectric ceramic sheet and the ultrasonic motor of the stator 1 having the two-layer structure in which the polyphenylene sulfide resin is adhered to the piezoelectric ceramic sheet were tested and compared under the condition that the driving voltage was 250 Vpp. As shown in the following table, the maximum output torque and the maximum output power of the ultrasonic motor of the stator 1 of the three-layer structure are 5 times and 13 times, respectively, that of the ultrasonic motor of the stator 1 of the two-layer structure. As can be seen from the comparative data in the following table, the ultrasonic motor of the three-layer stator 1 has better performance and higher torque density or power density.
The embodiment of the invention and the performance comparison table of the common ultrasonic motor are as follows:
as shown in fig. 4, the piezoceramic wafers 13 are equally divided into 12 equal parts, which are sequentially marked as 1-12 numbers for convenient distinction; the piezoelectric ceramic sheet 13 is loaded with sin drive voltage of the 1 st part, the 5 th part and the 9 th part, cos drive voltage of the 2 nd part, the 6 th part and the 10 th part, loading-sin drive voltage of the 3 rd part, the 7 th part and the 11 th part, loading-cos drive voltage of the 4 th part, the 8 th part and the 12 th part. As shown in fig. 1 to 5, two adjacent regions apply different driving voltages, and through the inverse piezoelectric effect of the piezoelectric ceramic plate 13, two standing waves of vibration are excited respectively, because the phases of the driving voltages applied in the two adjacent regions are different by 90 °, if the wavelength is λ, a wave with a phase difference of λ/2 is formed, so that a traveling wave is generated by a mass point on the surface of the vibrating body 112, an elliptical motion is formed, the fastening nut 8 is adjusted to give a pre-pressure F to the spring 7, the spring 7 is tightly pressed on the bearing 6 on the rotor 2 under the action of the pre-pressure F, the pre-pressure is applied to the rotor 2 through the bearing 6, so that a friction force is formed between the rotor 2 and the abutting vibrating body 112, and the friction force pushes the rotor 2 to rotate. Besides the main structural material of the rotor 2, the surface of the rotor 2 is also bonded with a friction material, which is beneficial to improving the performance of the ultrasonic motor, reducing noise, improving output torque and prolonging the service life of the motor.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (10)
1. A high torque density ultrasonic motor comprising a stator (1) and a rotor (2), characterized in that: the stator (1) comprises a stator vibrating body (11), a hard ceramic plate (12) adhered to the bottom of the stator vibrating body (11), and a piezoelectric ceramic plate (13) adhered to the bottom of the hard ceramic plate (12); the hard ceramic plate (12) is an alumina ceramic plate or a silicon carbide ceramic plate or an aluminum nitride ceramic plate; the stator vibrating body (11) is made of one or a mixture of more of polyether-ether-ketone, polyether sulfone, carbon fiber reinforced polyphenylene sulfide and carbon fiber reinforced polyether-ether-ketone.
2. A high torque density ultrasonic motor according to claim 1, wherein: the device also comprises a base (3) and a main shaft (4); one end of the main shaft (4) is fixed on the base (3), and the other end of the main shaft is provided with a fastening nut (8); the stator vibrating body (11) is sleeved on the main shaft (4) and is fixedly connected with the main shaft (4) through a nut (5); the rotor (2) is rotationally connected with the main shaft (4) through a bearing (6); the main shaft (4) between the tightening nut (8) and the bearing (6) is sleeved with a spring (7).
3. A high torque density ultrasonic motor according to claim 1, wherein: the stator vibrating body (11) comprises a fixed disc (111) and a butt-joint vibrating body (112) arranged on the periphery of the fixed disc (111); a plurality of grooves (113) are uniformly formed in the butt joint vibration body (112), and the extending direction of each groove (113) is parallel to the axial direction of the spindle (4).
4. A high torque density ultrasonic motor according to claim 3, wherein: the thickness of the non-slotted part of the butt-joint vibrating body (112) is 1/4 of the thickness of the stator (1); the thickness of the fixed disk (111) is less than 1/10 of the thickness of the stator (1).
5. A high torque density ultrasonic motor according to claim 3, wherein: the rotor (2) is a disc with a flange (21) arranged on the outer edge, and the flange (21) is in contact with the outer edge of the butt-joint vibrating body (112).
6. A high torque density ultrasonic motor according to claim 1, wherein: the hard ceramic plate (12) and the piezoelectric ceramic plate (13) are both circular rings; the hard ceramic plate (12), the piezoelectric ceramic plate (13) and the stator vibrating body (11) have the same outer diameter and are fixedly adhered through epoxy resin.
7. A high torque density ultrasonic motor according to claim 1, wherein: the thickness of the hard ceramic piece (12) is 1/8 of the thickness of the stator (1), and the inner diameter of the hard ceramic piece (12) is 2/3 of the outer diameter.
8. A high torque density ultrasonic motor according to claim 2, wherein: and a gasket (51) is arranged between the nut (5) and the fixed disk (111).
9. A high torque density ultrasonic motor according to any one of claim 2, wherein: the main shaft (4) is fixedly connected with the base (3) through threads.
10. A high torque density ultrasonic motor according to any one of claims 1 to 9, wherein: the electrodes of the piezoelectric ceramic pieces (13) are equally divided into 12 equal parts; and sin driving voltages are loaded on the 1 st part, the 5 th part and the 9 th part of the piezoelectric ceramic sheet (13), cos driving voltages are loaded on the 2 nd part, the 6 th part and the 10 th part, cos driving voltages are loaded on the 3 rd part, the 7 th part and the 11 th part, and cos driving voltages are loaded on the 4 th part, the 8 th part and the 12 th part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010271797.4A CN111327229A (en) | 2020-04-08 | 2020-04-08 | High torque density ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010271797.4A CN111327229A (en) | 2020-04-08 | 2020-04-08 | High torque density ultrasonic motor |
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| CN111327229A true CN111327229A (en) | 2020-06-23 |
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| CN202010271797.4A Pending CN111327229A (en) | 2020-04-08 | 2020-04-08 | High torque density ultrasonic motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112383243A (en) * | 2020-12-09 | 2021-02-19 | 河北工业大学 | Traveling wave type ultrasonic motor based on anisotropic resin |
-
2020
- 2020-04-08 CN CN202010271797.4A patent/CN111327229A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112383243A (en) * | 2020-12-09 | 2021-02-19 | 河北工业大学 | Traveling wave type ultrasonic motor based on anisotropic resin |
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