CN115580167B - Ultrasonic motor with stator and rotor coaxially and infinitely connected in series - Google Patents

Abstract

The invention relates to an ultrasonic motor of a stator and a rotor which are coaxially and infinitely connected in series, which comprises a front stator seat, a shell, a plurality of middle stator seats, a rear stator seat, a stator elastomer assembly, a flexible rotor assembly, a shaft sleeve and an output shaft, wherein the front stator seat, the plurality of middle stator seats and the rear stator seat are coaxially arranged on the end surface of the shell and are positioned at the central position of the shell; bearings are arranged in the inner cylindrical holes of the front stator seat, the plurality of middle stator seats and the rear stator seat, and stator elastomer components are coaxially distributed on the end faces of the bosses on the inner sides; the shaft sleeve penetrates through a bearing on the middle stator seat, and two flexible rotor assemblies which are arranged back to back are coaxially distributed on one end surface of the shaft sleeve; when the output shaft penetrates through the front stator seat, the plurality of middle stator seats and the rear stator seat, the output shaft is fixedly connected with the shaft sleeve through screws. The ultrasonic motor can be coaxially and infinitely connected with the stator and the rotor in series, the output torque and the output power of the ultrasonic motor are obviously improved, and the ultrasonic motor has application potential.

Description

Ultrasonic motor with stator and rotor coaxially and infinitely connected in series

Technical Field

The invention relates to an ultrasonic motor with a stator and a rotor coaxially and infinitely connected in series, belonging to the technical field of ultrasonic motors.

Background

In the prior art, a rotary traveling wave ultrasonic motor mainly adopts a plurality of ultrasonic motors (or stator and rotor assemblies) which are coaxially connected in series to improve the output power, and typical structural combination schemes of the rotary traveling wave ultrasonic motor are a double-stator-single-rotor traveling wave ultrasonic motor and a double-stator-double-rotor traveling wave ultrasonic motor. In the prior art, the output torque and power of the motor are doubled according to the optimal situation. Ultrasonic motors with larger output torque and larger output power are rarely reported at home and abroad.

Therefore, the rotary traveling wave ultrasonic motor (with the application number of 201820203074.9) which can be coaxially connected with n stator and rotor assemblies in series is developed and developed by my company in 2017, the maximum output power of a 60 single-output-shaft four-stator and rotor series ultrasonic motor product which is converted into an actual product according to the structure disclosed by the patent can reach 40W, and the maximum output torque can reach 5N. M. The series ultrasonic motor structure is very convenient in the aspect of adjusting the pre-pressure, and meanwhile, the stator and rotor components can be infinitely connected in series; however, there are still disadvantages: because the matching mode of the rotor and the output shaft is a square shaft-square hole mode (namely the output shaft is in a square shaft structure, and the center of the rotor is provided with a square hole with the same size as the square shaft), the circumferential clearance cannot be completely eliminated, and the precision of the positive and negative transmission of the motor is influenced; meanwhile, due to the existence of the movable web plate, the overall enveloping size of the whole motor is relatively large, and the structure is not compact enough.

In order to make up for the defects, a new ultrasonic motor with four stators and rotors connected in series (application number 202210606010.4) is developed and developed by our company on the basis of 2021, the structure disclosed by the patent eliminates circumferential play, compared with the ultrasonic motor with four stators and rotors connected in series converted from application number 201820203074.9, the outer envelope size is smaller, and meanwhile, the cooperative working efficiency of four stators and rotor assemblies which are coaxially connected in series is qualitatively improved, but the defect in the beauty is that the structure can only be used for coaxially connecting four stators and rotor assemblies in series, and can not be used for coaxially and infinitely connecting more stator and rotor assemblies in series. The application with the same-period application number of 202210611184.X discloses a multi-shaft four-stator-rotor serial ultrasonic motor, which adopts independent stator-rotor serial assemblies to output torque and rotating speed together, and the structure can also superpose a plurality of independent stator-rotor serial assemblies to form a plurality of groups of serial stator-rotor ultrasonic motors, however, in practical engineering, because the sizes of the inner hole diameters of the stator and the rotor are limited, the shaft diameters of the inner spline part and the outer spline part are smaller than the diameter of the output shaft of the serial ultrasonic motor invented in the above patents, and the strength of the shaft is weakened to a great extent, therefore, the number of the superposed stator-rotor serial assemblies is limited, the number of the stator-rotor assemblies which can be connected in series is far smaller than the number of the stator-rotor assemblies which can be connected in series in the serial ultrasonic motor invented in the patent application number of 201820203074.9, and the infinite superposition of the groups of the serial ultrasonic motors cannot be truly realized.

From market research and analysis, the ultrasonic motor with larger output torque and larger output power still has certain advantages compared with the traditional electromagnetic motor with the same size, and has engineering application prospect.

Disclosure of Invention

The invention provides an ultrasonic motor with a stator and a rotor which are coaxially and infinitely connected in series, which obviously improves the output torque and the output power of the ultrasonic motor and simultaneously ensures the output stability and the control precision of the ultrasonic motor when the directions are switched forwards and backwards.

The technical scheme adopted by the invention for solving the technical problems is as follows:

an ultrasonic motor with stators and rotors coaxially and infinitely connected in series comprises a shell, wherein an output shaft coaxially penetrates through the center of the shell, and the output shaft is cylindrical;

a front stator seat and a rear stator seat are respectively installed at two end parts of an output shaft, a plurality of middle stator seats are uniformly sleeved on the output shaft between the front stator seat and the rear stator seat, and the plurality of middle stator seats are defined as a first middle stator seat and a second middle stator seat … … (n-1) middle stator seat respectively;

a first bearing, a second bearing … … nth bearing and an n +1 bearing are respectively arranged in inner cylindrical holes of the front stator seat, the first middle stator seat … … nth-1 and the rear stator seat, and a first shaft sleeve, a second shaft sleeve … … nth-1 shaft sleeve and an nth shaft sleeve which are matched and detachable are respectively coaxially arranged between the first bearing, the second bearing … … nth-1 bearing and the nth bearing and an output shaft; the first shaft sleeve, the second shaft sleeve … … n-1 shaft sleeve and the n shaft sleeve are fixedly connected with the output shaft through screws;

the shell comprises a first shell, a second shell … … n-1 shell and an n shell which are coaxially sleeved between a front stator seat and a first middle stator seat, between a second middle stator seat and a third middle stator seat and between the … … n-1 middle stator seat and a rear stator seat respectively;

the end face of the front stator seat, which is opposite to the first middle stator seat, is provided with a concentric inner side boss, the end face of the rear stator seat, which is opposite to the n-1 th middle stator seat, is provided with a concentric inner side boss, and the two end faces of the n-1 th middle stator seat … … are provided with concentric inner side bosses; each inner side boss table surface is provided with a stator elastomer component, the back of each stator elastomer component is attached to the inner side boss table surface, the stator elastomer component close to the front stator base is defined as a first stator elastomer component, and the stator elastomer component of the first middle stator base opposite to the end surface of the front stator base is defined as a second stator elastomer component … … close to the rear stator base is defined as a 2n stator elastomer component;

two flexible rotor assemblies are coaxially arranged on the end faces, opposite to the front stator seat, of the first shaft sleeve and opposite to the first middle stator seat … …, of the second shaft sleeve and opposite to the n-1 middle stator seat, and the back parts of the two flexible rotor assemblies are adjacent; defining two flexible rotor assemblies which are distributed on the end face of the first shaft sleeve relative to the front stator seat as a first flexible rotor assembly and a second flexible rotor assembly respectively, and defining two flexible rotor assemblies which are distributed until the nth shaft sleeve is relative to the end face of the nth-1 stator seat as a 2n-1 flexible rotor assembly and a 2n flexible rotor assembly respectively;

as a further preferred aspect of the present invention, a first adjusting shim, a second adjusting shim, a third adjusting shim, a fourth adjusting shim … …, a 2n-1 adjusting shim and a 2n adjusting shim are respectively arranged between the first bushing and the first flexible rotor assembly, between the first flexible rotor assembly and the second flexible rotor assembly, between the second bushing and the third flexible rotor assembly, between the third flexible rotor assembly and the fourth flexible rotor assembly … … and between the nth bushing and the 2n-1 flexible rotor assembly, and between the 2n-1 flexible rotor assembly and the 2n flexible rotor assembly;

as a further preferable aspect of the present invention, the magnitude of the pre-pressure of the first flexible rotor assembly pressed against the first certain elastic body assembly is achieved by adjusting the thickness of the first adjusting shim; the pre-pressure of the second flexible rotor assembly pressed on the second stator elastomer assembly is realized by adjusting the thickness of a second adjusting gasket … …, and the pre-pressure of the 2n-1 flexible rotor assembly pressed on the 2n-1 stator elastomer assembly is realized by adjusting the thickness of the 2n-1 adjusting gasket; the pre-pressure of the 2n flexible rotor assembly pressed on the 2n stator elastomer assembly is realized by adjusting the thickness of the 2n adjusting gasket;

as a further preferable aspect of the present invention, one end of the first sleeve facing the outside is defined as a right end portion, the other end of the first sleeve is defined as a left end portion, a shoulder is disposed at a position close to the right end portion, a first sleeve circle Zhou Shezhi first sleeve thread close to the left end portion, and a sleeve groove is formed in a circumferential inner wall of the center of the inner cylindrical hole;

the second shaft sleeve and the third shaft sleeve … … have the same structure and the same diameter of two end faces, and a shaft sleeve groove is formed in the circumferential inner wall of the center of the inner cylindrical hole;

as a further preferred aspect of the present invention, the first stator elastomer unit, the second stator elastomer unit … …, and the 2n stator elastomer unit have the same structure; the stator comprises a stator elastic body, a piezoelectric ceramic piece and a flexible printed board which are sequentially overlapped from the top to the back; installing a thermistor on the bottom surface of the flexible printed board;

the first flexible rotor assembly, the second flexible rotor assembly … …, the 2n-1 flexible rotor assembly and the 2n flexible rotor assembly have the same structure; the flexible rotor comprises a friction material, a flexible rotor and vibration reduction rubber which are sequentially stacked from the top to the back;

the friction material of the first flexible rotor assembly is pressed on the tooth surface of the stator elastomer of the first stator elastomer assembly, the friction material of the second flexible rotor assembly is pressed on the tooth surface of the stator elastomer of the second stator elastomer assembly … …, and the friction material of the 2n flexible rotor assembly is pressed on the tooth surface of the stator elastomer of the 2n stator elastomer assembly;

more preferably, the first PCB, the second PCB … … n-1 PCB and the n-th PCB are attached to the side walls of the first shell, the second shell … … n-1 shell and the n-th shell along the axial direction of the output shaft, and the matched PCB cover shells are covered outside the first PCB, the second PCB … … n-1 PCB and the n-th PCB;

arranging wire outlet holes at the side positions of the PCB cover shells close to the first PCB, the second PCB … … (the (n-1) th PCB and the nth PCB in a matching manner, and simultaneously installing wire pressing clamps at the wire outlet holes;

flexible printed boards in the first stator elastomer component, the second stator elastomer component … … and the 2n stator elastomer component are led out and then welded on a first PCB, a second PCB … … n-1 PCB and an n PCB which are matched, cables are continuously welded and led out from bonding pads of the first PCB, the second PCB … … n-1 PCB and the n PCB, and the cables are led out from outlet holes and pressed through a wire pressing clamp;

as a further preferred aspect of the present invention, a bearing gland is further coaxially arranged between the inner side boss table surface of the front stator seat end surface and the first certain bullet body component;

a bearing gland is coaxially arranged between the inner side boss table surface of the end surface of the rear stator seat and the 2n stator elastomer component;

as a further preferred aspect of the invention, the inner cylindrical holes formed in the centers of the plurality of middle stator bases are through concentric bearing holes for mounting matched bearings;

the inner side bosses of the end surfaces of the plurality of middle stator seats are formed by outwards protruding bearing holes;

the end surface of the inner side boss is provided with a mounting threaded hole for fixing the stator elastomer component;

an avoidance hole is formed in the plane, lower than the inner side boss, of the end face of the middle stator seat and used for avoiding the thermistor arranged on the bottom face of the flexible printed board;

the first shell, the second shell … … n-1 shell and the nth shell are all hollow square structures, and hollow cylindrical surfaces in the first shell, the second shell … … n-1 shell and the nth shell are matched with cylindrical surfaces on the outer edges of the end parts of the front stator seat, the plurality of middle stator seats and the rear stator seat;

one end face of each shell is provided with four uniformly distributed counter bores for fixedly mounting the shell on the front stator seat or a plurality of middle stator seats;

two end faces of each shell are respectively provided with four threaded holes which are uniformly distributed and used for fixedly mounting a front stator seat or a rear stator seat or a plurality of middle stator seats;

as a further preferred aspect of the present invention, when the first bearing, the second bearing … … nth bearing and the n +1 bearing are respectively embedded in the inner cylindrical holes of the front stator seat, the first middle stator seat … … nth-1 middle stator seat and the rear stator seat, the end surfaces of the bearings are flush with the end surfaces of the adjacent inner side bosses;

as a further preferred aspect of the present invention, a plurality of milling flat structure groups are uniformly distributed along the axial direction of the output shaft, each milling flat structure group includes four milling flat structures uniformly distributed along the circumference of the output shaft, one milling flat structure is selected in each milling flat structure group, and a through output shaft threaded hole is formed in the center of the plane of the milling flat structure along the radial direction of the output shaft, and is used for fixedly mounting the matched first shaft sleeve and the matched second shaft sleeve … … nth shaft sleeve.

Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:

1. the ultrasonic motor with the coaxial stator and rotor in infinite series connection provided by the invention can coaxially and infinitely connect the stator and rotor components in series under certain conditions, thereby obviously improving the output torque and output power of the ultrasonic motor;

2. according to the ultrasonic motor of the stator and the rotor which are coaxially and infinitely connected in series, the stator elastomer component and the flexible rotor component which are connected in series are fixedly arranged on the shaft sleeve which is coaxially arranged, so that the rotating speed and the torque can be jointly output, the structure is compact, and each group of the stator elastomer component and the flexible rotor component can obtain the best output performance in a step-by-step ordered pre-pressure adjusting mode;

3. the ultrasonic motor of the stator and the rotor which are coaxially and infinitely connected in series adopts the cylindrical output shaft, and the plurality of flexible rotor assemblies which are connected in series and the output shaft have no play in the circumferential direction, so that the direct-drive characteristic of the ultrasonic motor is comprehensively maintained, and the output stability and the control precision of the ultrasonic motor in the forward and reverse switching directions are ensured.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic structural view of an ultrasonic motor with a stator and a rotor connected in series coaxially and infinitely provided by the present invention;

FIG. 2 is a schematic view of an output shaft configuration provided by the present invention;

fig. 3a is a schematic structural view of a first shaft sleeve provided by the present invention, and fig. 3b is a schematic structural view of a second shaft sleeve and a third shaft sleeve … … nth shaft sleeve provided by the present invention;

FIG. 4 is a schematic view of the housing construction provided by the present invention;

FIG. 5 is a schematic view of a structure of a middle stator seat provided by the present invention;

FIG. 6 is a flow chart of a stator and rotor assembly and preload adjustment sequence provided by the present invention;

FIG. 7 is a schematic structural diagram of a preferred embodiment provided by the present invention;

fig. 8 is an exploded view of a preferred embodiment provided by the present invention.

In the figure: 1 is an output shaft, 2 is a shaft sleeve, 21 is a first shaft sleeve, 22 is a second shaft sleeve, 23 is a third shaft sleeve, 3 is a lock nut, 4 is a bearing, 41 is a first bearing, 42 is a second bearing, 43 is a third bearing, 44 is a fourth bearing, 5 is a front stator seat, 6 is a stator elastomer component, 61 is a first stator elastomer component, 62 is a second stator elastomer component, 63 is a third stator elastomer component, 64 is a fourth stator elastomer component, 65 is a fifth stator elastomer component, 66 is a sixth stator elastomer component, 7 is a flexible rotor component, 71 is a first flexible rotor component, 72 is a second flexible rotor component, 73 is a third flexible rotor component, 74 is a fourth flexible rotor component, 75 is a fifth flexible rotor component, 76 is a sixth flexible rotor component, 8 is an adjusting shim, 81 is a first adjusting shim, 82 is a second adjusting shim, 83 is a third adjusting shim, 84 is a fourth adjusting shim, 85 is a fifth adjusting shim, 86 is a sixth adjusting shim, 9 is a housing, 91 is a first housing, 92 is a second housing, 93 is a third housing, 10 is a PCB, 101 is a first PCB, 102 is a second PCB, 103 is a third PCB, 11 is a middle stator seat, 111 is a first middle stator seat, 112 is a second middle stator seat, 12 is a rear stator seat, 13 is a bearing cover, 14 is a PCB cover, 15 is a wire clamp, 16 is an encoder assembly, 17 is a milled flat structure, 18 is an output shaft threaded hole, 19 is a cylindrical surface, 20 is a counter bore, 221 is a first sleeve thread, 222 is a sleeve groove, 223 is an installation threaded hole, 24 is an inner cylindrical hole, 25 is a back-off hole, and 26 is an inner boss.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. In the description of the present application, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.

As explained in the background art, the existing rotary traveling wave ultrasonic motor has the following problems that the flexible rotor assembly and the output shaft have clearance in the circumferential direction, which can affect the precision of the positive and negative transmission of the motor; when having solved the circumferential direction play problem, can't coaxial unlimited establish ties more surely again, the rotor subassembly, consequently need to design a neotype supersound motor urgently, at the size, the balance has been realized between output and output torque, satisfy coaxial unlimited series connection with more compact structure and decide, the rotor, in order to obtain bigger output and output torque, the play problem of output shaft and flexible rotor subassembly in the circumferential direction has been overcome simultaneously, the characteristic that the supersound motor directly driven is maintained comprehensively, thereby output stability and control accuracy when guaranteeing the supersound motor in positive and negative switching direction.

In order to clearly express the structure of the ultrasonic motor, the application provides a figure 1, when the whole ultrasonic motor is seen, the whole shell 9 is coated outside the ultrasonic motor, the center of the shell coaxially penetrates through an output shaft 1, and the output shaft is in a cylindrical shape; the output shaft and the flexible rotor component in the cylindrical shape can better avoid the problem of play when being installed. A front stator seat and a rear stator seat are respectively installed at two end parts of an output shaft, a plurality of middle stator seats 11 are uniformly sleeved on the output shaft between the front stator seat and the rear stator seat, and a plurality of middle stator seats are defined as a first middle stator seat and a second middle stator seat … … (n is more than or equal to 1) th middle stator seat respectively; a first bearing, a second bearing … … nth bearing and an n +1 bearing are respectively arranged in the inner cylindrical holes 24 of the front stator seat, the first middle stator seat … … nth-1 stator seat and the rear stator seat, and a first shaft sleeve, a second shaft sleeve … … nth-1 shaft sleeve and an nth shaft sleeve which are matched and detachable are respectively coaxially arranged between the first bearing, the second bearing … … nth-1 bearing and the nth bearing and an output shaft; the first shaft sleeve, the second shaft sleeve … … n-1 shaft sleeve and the n shaft sleeve are fixedly connected with the output shaft through screws; it can be seen from the above matching relationship that the bearings 4 of the stator base from the front stator base to the n-1 th stator base are all matched with the shaft sleeve 2, and the shaft sleeve is detachably arranged, so as to satisfy the requirement of infinitely connecting stators and rotors in series on the output shaft.

Here the first bearing is mounted in the inner cylindrical bore 24 of the front stator seat and the first bushing is threaded through the first bearing mounted in the inner cylindrical bore of the front stator seat and is fixed to the inner race of the first bearing by means of the locknut 3. It should be noted that the first shaft sleeve and the rest of the shaft sleeves have different structures, and fig. 3a is a schematic structural diagram of the first shaft sleeve, two counter bores and two threaded holes are symmetrically formed in the radial direction of the first shaft sleeve, and a shaft sleeve groove 22 is formed in the circumferential inner wall of the center of the inner cylindrical hole; defining one end of the first shaft sleeve facing to the outside as a right end part, the other end of the first shaft sleeve as a left end part, arranging a shaft shoulder at a position close to the right end part, arranging a first shaft sleeve circle Zhou Shezhi first shaft sleeve thread 221 close to the left end part, arranging threaded holes for mounting the flexible rotor assembly 7 on the end surface of the left end part, sleeving the first shaft sleeve on the output shaft, and fixing the first shaft sleeve and the output shaft by using screws; fig. 3b is a schematic structural diagram of a second shaft sleeve and a third shaft sleeve … … nth shaft sleeve, the second shaft sleeve and the third shaft sleeve … … nth shaft sleeve have the same structure, the diameters of two end faces are the same, two counter bores and two threaded holes are symmetrically formed in the radial direction, a shaft sleeve groove 222 is formed in the circumferential inner wall of the center of the inner cylindrical hole, and a threaded hole for mounting a flexible rotor assembly is uniformly formed in one end face.

The first shaft sleeve and the rest shaft sleeves are different in structure, because the shaft shoulder of the first shaft sleeve and the first shaft sleeve thread can ensure that the first shaft sleeve is fixed at the initial position of the output shaft, and the phenomenon of shaft jumping during the operation of the ultrasonic motor is prevented; and the second is to transfer the external axial force (if any) to the front stator seat to prevent the external axial force from acting on the internal stator and rotor assemblies and change the pre-pressure between the stator and rotor assemblies.

The application also provides a connection mounting structure between the shaft sleeve and the output shaft, as shown in fig. 2, a plurality of milling flat structure groups are uniformly distributed along the axial direction of the output shaft, each milling flat structure group comprises four milling flat structures 17 which are uniformly distributed along the circumference of the output shaft, one milling flat structure is selected in each milling flat structure group, a penetrating output shaft threaded hole 18 is formed in the center of a plane of each milling flat structure along the radial direction of the output shaft, and the connection mounting structure is used for fixedly mounting a first shaft sleeve, a second shaft sleeve … … (n-1) shaft sleeve and an n shaft sleeve which are matched.

The shell body mentioned in the application is actually combined to form a whole body, and comprises a first shell, a second shell … … n-1 shell and an n-th shell which are coaxially sleeved between a front stator seat and a first middle stator seat, between a second middle stator seat and a third middle stator seat and between the … … n-1 middle stator seat and a rear stator seat respectively; the first middle stator seat is coaxially and fixedly arranged on the other end face of the first shell, the second shell is coaxially and fixedly arranged on the first middle stator seat, and so on, the (n-1) th middle stator seat is fixedly arranged on the end face of the (n-1) th shell, and the (n) th shell (namely the last shell) is coaxially and fixedly arranged on the (n-1) th middle stator seat. Inner cylindrical holes which are formed in the centers of the plurality of middle stator seats are through concentric bearing holes and are used for mounting matched bearings;

a concentric inner side boss 26 is arranged on the end face of the front stator seat relative to the first middle stator seat (a schematic diagram of the middle stator seat in FIG. 5 is given), a concentric inner side boss is arranged on the end face of the rear stator seat relative to the n-1 middle stator seat, concentric inner side bosses are arranged on both end faces of the first middle stator seat … … n-1 middle stator seat, and the inner side bosses on the end faces of a plurality of middle stator seats are formed by outwards protruding bearing holes; when the first bearing, the second bearing … … nth bearing and the n +1 bearing are respectively embedded into the inner cylindrical holes of the front stator seat, the first middle stator seat … … nth-1 middle stator seat and the rear stator seat, the end faces of the bearings are flush with the end faces of the adjacent inner side bosses. Each inner side boss table surface is provided with a stator elastic body assembly 6, the back of each stator elastic body assembly is attached to the inner side boss table surface, and the end surface of each inner side boss is provided with a mounting threaded hole 223 for fixing the stator elastic body assembly; a bearing gland is coaxially arranged between the inner side boss table surface of the end surface of the front stator seat and the first certain bullet body assembly; and a bearing gland is coaxially arranged between the inner side boss table surface of the end surface of the rear stator seat and the 2n stator elastic body component. The stator elastomer component close to the front stator base is defined as a first stator elastomer component, the stator elastomer component of the first middle stator base opposite to the end face of the front stator base is defined as a stator elastomer component of a second stator elastomer component … … close to the rear stator base is defined as a 2n stator elastomer component; two flexible rotor assemblies are coaxially arranged on the end faces, opposite to the front stator seat, of the first shaft sleeve and opposite to the first middle stator seat … …, of the second shaft sleeve and opposite to the n-1 middle stator seat, and the back parts of the two flexible rotor assemblies are adjacent; two flexible rotor assemblies distributed on the end face of the first shaft sleeve, which is opposite to the front stator seat, are defined as a first flexible rotor assembly and a second flexible rotor assembly respectively, and the two flexible rotor assemblies distributed until the nth shaft sleeve is opposite to the end face of the nth-1 stator seat are defined as a 2n-1 flexible rotor assembly and a 2n flexible rotor assembly respectively.

For the back of the aforementioned stator elastomer assembly, the back of the two flexible rotor assemblies are adjacent, and here, an explanation is made on the back of the stator elastomer assembly and the back of the flexible rotor assembly, and the structure of the aforementioned first stator elastomer assembly, second stator elastomer assembly … … and 2n stator elastomer assembly is the same; the flexible printed circuit board comprises a stator elastic body, a piezoelectric ceramic piece and a flexible printed board which are sequentially overlapped from the top to the back; a thermistor is arranged on the bottom surface of the flexible printed board, and an avoidance hole 25 is formed in the plane of the end surface of the middle stator seat, which is lower than the boss on the inner side, and is used for avoiding the thermistor arranged on the bottom surface of the flexible printed board; the back of the stator elastomer assembly, which is actually the flexible printed board on which the thermistor is mounted. The first flexible rotor assembly, the second flexible rotor assembly … …, the 2n-1 flexible rotor assembly and the 2n flexible rotor assembly have the same structure; the flexible rotor comprises a friction material, a flexible rotor and vibration reduction rubber which are sequentially stacked from the top to the back; the back of the flexible rotor assembly is actually part of the cushion rubber.

The structure is further provided with a PCB (printed circuit board) 10, specifically, a first PCB, a second PCB … … n-1 th PCB and an n-th PCB are mounted on the first shell, the second shell … … n-1 th shell and the n-th shell in a fit mode along the axial side wall of the output shaft, and matched PCB enclosers are covered outside the first PCB, the second PCB … … n-1 th PCB and the n-th PCB; arranging outlet holes at the side positions of the PCB cover shells close to the first PCB, the second PCB … … the (n-1) th PCB and the nth PCB, and installing wire pressing clamps at the outlet holes; specifically, flexible printed boards in a first stator elastomer component, a second stator elastomer component … … and a 2n stator elastomer component are led out and then welded on a first PCB, a second PCB … … n-1 PCB and an n PCB which are matched, cables are continuously welded and led out from bonding pads of the first PCB, the second PCB … … n-1 PCB and the n PCB, the cables are led out from wire outlet holes and are pressed through a wire pressing clamp, and silicon rubber is filled in gaps among the wire pressing clamp, a PCB housing and the led-out cables.

The first shell, the second shell … … n-1 shell and the nth shell are all hollow square structures, as shown in fig. 4, hollow part cylindrical surfaces 19 in the first shell, the second shell … … n-1 shell and the nth shell are matched with cylindrical surfaces of outer edges of the end parts of the front stator seat, the plurality of middle stator seats and the rear stator seat; one end face of each shell is provided with four counter bores 20 which are uniformly distributed and used for fixedly mounting the shell on the front stator seat or a plurality of middle stator seats; and four threaded holes which are uniformly distributed are respectively formed in two end faces of each shell and used for fixedly mounting a front stator seat or a rear stator seat or a plurality of middle stator seats.

In the application, in order to obtain pre-pressure suitable for the working of the stator-rotor assembly, a first adjusting shim, a second adjusting shim, a third adjusting shim, a fourth adjusting shim … …, a 2n-1 adjusting shim and a 2n adjusting shim are respectively arranged between the first shaft sleeve and the first flexible rotor assembly, between the first flexible rotor assembly and the second flexible rotor assembly, between the second shaft sleeve and the third flexible rotor assembly, between the third flexible rotor assembly and the fourth flexible rotor assembly and between the … … nth shaft sleeve and the 2n-1 flexible rotor assembly and between the 2n-1 flexible rotor assembly and the 2n flexible rotor assembly. Meanwhile, the friction material of the first flexible rotor assembly is pressed on the tooth surface of the stator elastomer of the first stator elastomer assembly, and the friction material of the second flexible rotor assembly is pressed on the tooth surface of the stator elastomer of the second stator elastomer assembly … … and the friction material of the 2n flexible rotor assembly is pressed on the tooth surface of the stator elastomer of the 2n stator elastomer assembly.

It is stated that the setting of the adjusting shim 8 is to obtain a pre-pressure suitable for the operation of the stator and rotor assemblies, that is, the pre-pressure of the first flexible rotor assembly pressed on the first stator and rotor assembly is achieved by adjusting the thickness of the first adjusting shim; the pre-pressure of the second flexible rotor assembly pressed on the second stator elastomer assembly is realized by adjusting the thickness of a second adjusting gasket … …, and the pre-pressure of the 2n-1 flexible rotor assembly pressed on the 2n-1 stator elastomer assembly is realized by adjusting the thickness of the 2n-1 adjusting gasket; the pre-pressure of the 2n flexible rotor assembly pressed on the 2n stator elastic body assembly is realized by adjusting the thickness of the 2n adjusting gasket. Of course, the adjustment here is actually constrained to each other, and taking the view of fig. 1 as an example, because the installation sequence, the preferred sequence for assembling the ultrasonic motor is shown in fig. 6: firstly, debugging and assembling a first flexible rotor assembly and a first stator elastomer assembly, then debugging and assembling a second flexible rotor assembly and a second stator elastomer assembly, and considering that the pre-pressure adaptation of the second flexible rotor assembly and the second stator elastomer assembly is completed when the output torque and the total power consumption of two groups of stators and rotors are respectively close to 2 times of the ratio of the output torque and the total power consumption of one group of stators and rotors; secondly, debugging and assembling a third flexible rotor assembly and a third stator elastomer assembly, and considering that the pre-pressure adaptation of the third flexible rotor assembly and the third stator elastomer assembly is completed when the ratio of the output torque and the total power consumption of the three groups of stators and the rotors to the output torque and the total power consumption of the one group of stators and the rotors is close to 3 times; and similarly, finally debugging and assembling the 2n flexible rotor assembly and the 2n stator elastomer assembly, and when the ratio of the output torque and the total power consumption of the 2n groups of stators and rotors to the output torque and the total power consumption of the group of stators and rotors is close to 2n times, considering that the pre-pressure adaptation of all the flexible rotor assemblies and the stator elastomer assembly of the whole machine is completed.

It can also be seen from the debugging and assembling process that the structure of the coaxial infinite series connection stator and rotor can be realized just by adopting a detachable installation mode between the output shaft and the shaft sleeve.

Next, the present application provides a specific embodiment, which is described by taking an ultrasonic motor with six sets of stator and rotor assemblies connected in series when the number n of shaft sleeves is 3 as an example, and it should be specifically noted that when the number n of shaft sleeves is greater than or equal to 2, the assembly and fixation of the nth shaft sleeve and the output shaft are performed after the pre-pressure adjustment of the 2 nd n-2 flexible rotor assembly and the 2 nd n-2 stator elastomer assembly is completed, and the n-1 middle stator seat is removed (at this time, the 2 nd n-2 stator elastomer assembly and the 2 nd n-1 stator elastomer assembly are still on the n-1 middle stator seat), and after the nth shaft sleeve is fixedly installed, the n-1 middle stator seat (including the 2 nd n-2 stator elastomer assembly and the 2 nd n-1 stator elastomer assembly fixedly installed thereon) is fixedly installed again.

Fig. 7-8 illustrate a specific embodiment, which includes an output shaft, a first shaft sleeve 21, a second shaft sleeve 22, a third shaft sleeve 23, a lock nut, a first bearing 41, a second bearing 42, a third bearing 43, a fourth bearing 44, a front stator base 5, a first stator elastomeric assembly 61, a second stator elastomeric assembly 62, a third stator elastomeric assembly 63, a fourth stator elastomeric assembly 64, a fifth stator elastomeric assembly 65, a sixth stator elastomeric assembly 66, a first flexible rotor assembly 71, a second flexible rotor assembly 72, a third flexible rotor assembly 73, a fourth flexible rotor assembly 74, a fifth flexible rotor assembly 75, a sixth flexible rotor assembly 76, a first adjusting shim 81, a second adjusting shim 82, a third adjusting shim 83, a fourth adjusting shim 84, a fifth adjusting shim 85, a sixth adjusting shim 86, a first housing 91, a second housing 92, a third housing 93, a first PCB 101, a second PCB 102, a third PCB 103, a first middle viewing base 111, a second middle viewing base 112, a rear stator base 12, a first housing 91, a second housing 92, a third housing 93, a third PCB 102, a rear stator base 14, a rear stator assembly 13, a pressing cover assembly 16, and a pressing cover assembly (fig. 7-8 are shown in fig. 15). The pre-pressure of the first flexible rotor assembly pressed on the first fixed bullet body assembly is realized by adjusting the thickness of the first adjusting gasket; the pre-pressure of the second flexible rotor assembly pressed on the second stator elastomer assembly is realized by adjusting the thickness of the second adjusting gasket; the pre-pressure of the third flexible rotor assembly pressed on the third stator elastomer assembly is realized by adjusting the thickness of a third adjusting gasket; the pre-pressure of the fourth flexible rotor assembly pressed on the fourth stator elastomer assembly is realized by adjusting the thickness of a fourth adjusting gasket; the pre-pressure of the fifth flexible rotor assembly pressed on the fifth stator elastomer assembly is realized by adjusting the thickness of a fifth adjusting gasket; the pre-pressure of the sixth flexible rotor assembly pressed on the sixth stator elastomer assembly is realized by adjusting the thickness of the sixth adjusting gasket.

The stator and rotor assembly assembling and pre-pressure debugging processes in the embodiment are continuously given:

step S1: preparing a first stator elastic body component and a second stator elastic body component;

step S11: sequentially mounting a first bearing and a first certain bullet body assembly on a front stator seat, and fixedly mounting a first shaft sleeve on an output shaft;

step S12: the output shaft provided with the first shaft sleeve penetrates through the first bearing, and the first shaft sleeve is fixed on the inner ring of the first bearing through a locking nut;

step S13: the method comprises the following steps that a first adjusting gasket and a first flexible rotor assembly are coaxially arranged at the left end part of a first shaft sleeve, the surface of a friction material on the first flexible rotor assembly is pressed on the tooth surface of a first fixed magnetic body assembly, one end, which is not provided with a counter bore, of a first shell is attached to a front stator base, the first shell and the front stator base are coaxially and fixedly arranged, a first PCB is arranged on the side plane of the first shell, and a flexible printed board led out from the first fixed magnetic body assembly is welded on the first PCB;

step S14: according to the technical indexes output by the single stator and rotor ultrasonic motors, the thickness of the first adjusting gasket is adjusted to enable the first stator elastic body assembly and the first flexible rotor assembly to be in the optimal working state;

step S15: coaxially mounting a second adjusting shim and a second flexible rotor assembly on the first flexible rotor assembly, wherein the back of the second flexible rotor assembly is attached to the back of the first flexible rotor assembly, and the second adjusting shim is mounted between the first flexible rotor assembly and the second flexible rotor assembly;

step S16: the second bearing, the second stator elastomer component and the third stator elastomer component are coaxially and fixedly installed on the first middle stator seat, then one end, which is not provided with the counter bore, of the first middle stator seat is attached to the end face of the first shell, the first middle stator seat and the first shell are coaxially and fixedly installed, the tooth surface of the second stator elastomer component is pressed on the surface of the friction material on the second flexible rotor component, and the flexible printed board led out from the second stator elastomer component is welded on the first PCB;

step S17: adjusting the thickness of the second adjusting shim to enable the ratio of the output torque and the total power consumption of the two groups of stators and rotors to the output torque and the total power consumption of the one group of stators and rotors to be close to 2 times respectively, and considering that the second stator elastomer assembly and the second flexible rotor assembly are in the best working state to complete pre-pressure adaptation of the second flexible rotor assembly and the second stator elastomer assembly;

step S2: the third stator elastomer component and the fourth stator elastomer component are prepared;

step S21: the first middle stator seat is detached, and the second stator elastomer assembly and the third stator elastomer assembly are still arranged on the first middle stator seat;

step S22: fixedly mounting a second shaft sleeve on the output shaft;

step S23: fixedly mounting a first middle stator seat (comprising a second stator elastomer assembly and a third stator elastomer assembly fixedly mounted on the first middle stator seat) on the end face of the first shell coaxially;

step S24: a third adjusting shim and a third flexible rotor assembly are coaxially arranged at the left end part of a second shaft sleeve, the surface of a friction material on the third flexible rotor assembly is pressed on the tooth surface of a third stator elastomer assembly, one end of a second shell, which is not provided with a counter bore, is attached to a first middle stator seat, the second shell and the first middle stator seat are coaxially and fixedly arranged, a second PCB is arranged on the side plane of the second shell, and a flexible printed board led out from the third stator elastomer assembly is welded on the second PCB;

step S25: adjusting the thickness of the third adjusting shim to enable the ratio of the output torque and the total power consumption of the three groups of stators and rotors to be respectively close to 3 times of the ratio of the output torque and the total power consumption of the one group of stators and rotors, and considering that the third stator elastomer assembly and the third flexible rotor assembly are in the best working state to complete the pre-pressure adaptation of the third flexible rotor assembly and the third stator elastomer assembly;

step S26: coaxially mounting a fourth adjusting shim and a fourth flexible rotor assembly on the third flexible rotor assembly, wherein the back of the fourth flexible rotor assembly is attached to the back of the third flexible rotor assembly, and the fourth adjusting shim is mounted between the third flexible rotor assembly and the fourth flexible rotor assembly;

step S27: the third bearing, the fourth stator elastomer component and the fifth stator elastomer component are coaxially and fixedly installed on a second middle stator seat, then one end, which is not provided with a counter bore, of the second middle stator seat is attached to the end face of a second shell, the second middle stator seat and the second shell are coaxially and fixedly installed, the tooth surface of the fourth stator elastomer component is pressed on the surface of a friction material on a fourth flexible rotor component, and a flexible printed board led out of the fourth stator elastomer component is welded on a second PCB;

step S28: adjusting the thickness of a fourth adjusting gasket to enable the ratio of the output torque and the total power consumption of the four sets of stators and rotors to the output torque and the total power consumption of the one set of stators and rotors to be close to 4 times, and considering that the fourth stator elastomer assembly and the fourth flexible rotor assembly are in the best working state to complete the pre-pressure adaptation of the fourth flexible rotor assembly and the fourth stator elastomer assembly;

and step S3: blending a fifth stator elastomer component and a sixth stator elastomer component;

step S31: the second middle stator seat is disassembled, and the fourth stator elastomer assembly and the fifth stator elastomer assembly are still arranged on the second middle stator seat;

step S32: fixedly mounting the third shaft sleeve on the output shaft;

step S33: fixedly mounting a second middle stator seat (comprising a fourth stator elastomer assembly and a fifth stator elastomer assembly fixedly mounted on the middle stator seat) on the end face of the second shell in a coaxial manner;

step S34: a fifth adjusting shim and a fifth flexible rotor assembly are coaxially arranged at the left end part of the third shaft sleeve, the surface of a friction material on the fifth flexible rotor assembly is pressed on the tooth surface of a fifth stator elastomer assembly, one end of a third shell, which is not provided with a counter bore, is attached to a second middle stator seat, the third shell and the second middle stator seat are coaxially and fixedly arranged, a third PCB is arranged on the side plane of the third shell, and a flexible printed board led out from the fifth stator elastomer assembly is welded on the third PCB;

step S35: adjusting the thickness of a fifth adjusting gasket to enable the ratio of the output torque and the total power consumption of the five groups of stators and rotors to the output torque and the total power consumption of the one group of stators and rotors to be close to 5 times, and considering that the fifth stator elastomer assembly and the fifth flexible rotor assembly are in the optimal working state to complete the pre-pressure adaptation of the fifth flexible rotor assembly and the fifth stator elastomer assembly;

step S36: coaxially mounting a sixth adjusting shim and a sixth flexible rotor assembly on a fifth flexible rotor assembly, wherein the back of the sixth flexible rotor assembly is attached to the back of the fifth flexible rotor assembly, and the sixth adjusting shim is mounted between the fifth flexible rotor assembly and the sixth flexible rotor assembly;

step S37: the fourth bearing, the bearing gland and the sixth stator elastomer component are coaxially arranged on the rear stator seat, then one end of the rear stator seat is attached to the end face of the third shell, the rear stator seat and the third shell are coaxially and fixedly arranged, the tooth surface of the sixth stator elastomer component is pressed on the surface of a friction material on the sixth flexible rotor component, and a flexible printed board led out from the sixth stator elastomer component is welded on a third PCB;

step S38: and adjusting the thickness of the sixth adjusting gasket to enable the ratio of the output torque and the total power consumption of the six groups of stators and rotors to the output torque and the total power consumption of the one group of stators and rotors to be close to 6 times, and considering that the sixth stator elastomer assembly and the sixth flexible rotor assembly are in the optimal working state to complete pre-pressure adaptation of the sixth flexible rotor assembly and the sixth stator elastomer assembly. At this time, it is considered that the pre-pressure adaptation of all the flexible rotor assemblies and the stator elastomer assemblies of the whole machine is completed.

Above be exactly this application all explain, through the analysis, the ultrasonic motor of coaxial unlimited series connection stator, rotor that this application provided has solved the coaxial unlimited series connection stator of ultrasonic motor, rotor and has guaranteed that the motor does not have the technical problem of circumference internal clearance when just turning to, has bigger output torque, bigger output, simultaneously, can also guarantee output stability and the control accuracy of motor when positive and negative switching direction.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "and/or" as used herein is intended to include both the individual components or both.

The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (9)

1. The utility model provides an ultrasonic motor of coaxial unlimited series connection stator, rotor which characterized in that: the device comprises a shell, wherein an output shaft coaxially penetrates through the center of the shell, and the output shaft is cylindrical;

a front stator seat and a rear stator seat are respectively installed at two end parts of an output shaft, a plurality of middle stator seats are uniformly sleeved on the output shaft between the front stator seat and the rear stator seat, and the plurality of middle stator seats are defined as a first middle stator seat and a second middle stator seat … … (n-1) middle stator seat respectively;

a first bearing, a second bearing … … nth bearing and an n +1 th bearing are respectively arranged in inner cylindrical holes of the n-1 th stator seat and the rear stator seat of the front stator seat and the first middle stator seat … …, and a first shaft sleeve, a second shaft sleeve … … nth-1 shaft sleeve and an nth shaft sleeve which are matched and detachable are respectively coaxially arranged between the first bearing, the second bearing … … nth-1 bearing and the nth bearing and an output shaft; the first shaft sleeve, the second shaft sleeve … … n-1 shaft sleeve and the n shaft sleeve are fixedly connected with the output shaft through screws;

the shell comprises a first shell, a second shell … … n-1 th shell and an n < th > shell which are coaxially sleeved between the front stator seat and the first middle stator seat, between the second middle stator seat and the third middle stator seat and between the … … n-1 th middle stator seat and the rear stator seat respectively;

the end face of the front stator seat, which is opposite to the first middle stator seat, is provided with a concentric inner side boss, the end face of the rear stator seat, which is opposite to the n-1 th middle stator seat, is provided with a concentric inner side boss, and the two end faces of the n-1 th middle stator seat … … are provided with concentric inner side bosses; each inner side boss table surface is provided with a stator elastomer component, the back of each stator elastomer component is attached to the inner side boss table surface, the stator elastomer component close to the front stator base is defined as a first stator elastomer component, and the stator elastomer component of the first middle stator base opposite to the end surface of the front stator base is defined as a second stator elastomer component … … close to the rear stator base is defined as a 2n stator elastomer component;

two flexible rotor assemblies are coaxially arranged on the end faces, opposite to the front stator seat, of the first shaft sleeve and opposite to the first middle stator seat … …, of the second shaft sleeve and opposite to the n-1 middle stator seat, and the back parts of the two flexible rotor assemblies are adjacent; defining two flexible rotor assemblies which are distributed on the end face of the first shaft sleeve relative to the front stator seat as a first flexible rotor assembly and a second flexible rotor assembly respectively, and defining two flexible rotor assemblies which are distributed until the nth shaft sleeve is relative to the end face of the nth-1 stator seat as a 2n-1 flexible rotor assembly and a 2n flexible rotor assembly respectively;

evenly lay a plurality of flat structure groups of milling along the output shaft axial direction, every mills flat structure group and includes four and mills flat structure along output shaft circumference evenly distributed, mills flat structure and select one in every and mill flat structure group, offers the output shaft screw hole that runs through along the output shaft radial direction at the plane center of milling flat structure for the first axle sleeve of fixed mounting matching, second axle sleeve … … nth axle sleeve.

2. The ultrasonic motor of the coaxial infinite series stator and rotor as set forth in claim 1, wherein: first adjusting gaskets, second adjusting gaskets, third adjusting gaskets, fourth adjusting gaskets … …, 2n-1 adjusting gaskets and 2n adjusting gaskets are respectively arranged between the first shaft sleeve and the first flexible rotor assembly, between the first flexible rotor assembly and the second flexible rotor assembly, between the second shaft sleeve and the third flexible rotor assembly, between the third flexible rotor assembly and the fourth flexible rotor assembly and between the … … nth shaft sleeve and the 2n-1 flexible rotor assembly and between the 2n-1 flexible rotor assembly and the 2n flexible rotor assembly.

3. The ultrasonic motor of coaxial infinite series stator and rotor as set forth in claim 2, wherein: the pre-pressure of the first flexible rotor assembly pressed on the first fixed bullet body assembly is realized by adjusting the thickness of the first adjusting gasket; the pre-pressure of the second flexible rotor assembly pressed on the second stator elastomer assembly is realized by adjusting the thickness of a second adjusting gasket … …, and the pre-pressure of the 2n-1 flexible rotor assembly pressed on the 2n-1 stator elastomer assembly is realized by adjusting the thickness of the 2n-1 adjusting gasket; the pre-pressure of the 2n flexible rotor assembly pressed on the 2n stator elastic body assembly is realized by adjusting the thickness of the 2n adjusting gasket.

4. The ultrasonic motor of coaxial infinite series stator and rotor of claim 3, wherein: defining one end of the first shaft sleeve facing to the outside as a right end part, the other end of the first shaft sleeve as a left end part, arranging a shaft shoulder at a position close to the right end part, forming a first shaft sleeve circle Zhou Shezhi first shaft sleeve thread close to the left end part, and forming a shaft sleeve groove on the circumferential inner wall of the center of the inner cylindrical hole;

the second shaft sleeve and the third shaft sleeve … … are the same in nth shaft sleeve structure, the diameters of the two end faces are the same, and a shaft sleeve groove is formed in the circumferential inner wall of the center of the inner cylindrical hole.

5. The ultrasonic motor of coaxial infinite series stator and rotor of claim 4, wherein: the first stator elastomer component, the second stator elastomer component … … and the 2n stator elastomer component have the same structure; the stator comprises a stator elastic body, a piezoelectric ceramic piece and a flexible printed board which are sequentially overlapped from the top to the back; installing a thermistor on the bottom surface of the flexible printed board;

the first flexible rotor assembly, the second flexible rotor assembly … …, the 2n-1 flexible rotor assembly and the 2n flexible rotor assembly have the same structure; the flexible rotor comprises a friction material, a flexible rotor and vibration reduction rubber which are sequentially stacked from the top to the back;

the friction material of the first flexible rotor assembly is pressed on the stator elastomer tooth surface of the first stator elastomer assembly, and the friction material of the second flexible rotor assembly is pressed on the stator elastomer tooth surface of the second stator elastomer assembly … … and the friction material of the 2n flexible rotor assembly is pressed on the stator elastomer tooth surface of the 2n stator elastomer assembly.

6. The ultrasonic motor of coaxial infinite series stator and rotor of claim 5, wherein: a first PCB, a second PCB … … n-1 PCB and an n-th PCB are mounted on the first shell, the second shell … … n-1 shell and the n-th shell in a fitting mode along the axial side wall of the output shaft, and matched PCB cover shells are covered outside the first PCB, the second PCB … … n-1 PCB and the n-th PCB;

arranging wire outlet holes at the side positions of the PCB cover shells close to the first PCB, the second PCB … … (the (n-1) th PCB and the nth PCB in a matching manner, and simultaneously installing wire pressing clamps at the wire outlet holes;

after being led out, flexible printed boards in the first stator elastomer component … … and the 2n stator elastomer component are welded on the first PCB, the second PCB … … n-1 PCB and the n PCB which are matched, cables are continuously led out from bonding pads of the first PCB, the second PCB … … n-1 PCB and the n PCB in a welding mode, and the cables are led out from the outlet holes and are pressed through the line pressing clamp.

7. The ultrasonic motor of coaxial infinite series stator and rotor of claim 6, wherein: a bearing gland is coaxially arranged between the inner side boss table surface of the end surface of the front stator seat and the first certain bullet body assembly;

and a bearing gland is coaxially arranged between the inner side boss table surface of the end surface of the rear stator seat and the 2n stator elastic body component.

8. The ultrasonic motor of coaxial infinite series stator and rotor of claim 7, wherein: inner cylindrical holes which are formed in the centers of the plurality of middle stator seats are through concentric bearing holes and are used for mounting matched bearings;

the inner side bosses of the end surfaces of the plurality of middle stator seats are formed by outwards protruding bearing holes;

the end surface of the inner side boss is provided with a mounting threaded hole for fixing the stator elastomer component;

an avoidance hole is formed in the plane, lower than the inner side boss, of the end face of the middle stator seat and used for avoiding the thermistor arranged on the bottom face of the flexible printed board;

the first shell, the second shell … … n-1 shell and the nth shell are all hollow square structures, and hollow cylindrical surfaces in the first shell, the second shell … … n-1 shell and the nth shell are matched with cylindrical surfaces on the outer edges of the end parts of the front stator seat, the plurality of middle stator seats and the rear stator seat;

one end face of each shell is provided with four uniformly distributed counter bores for fixedly mounting the shell on the front stator seat or a plurality of middle stator seats;

and the two end faces of each shell are respectively provided with four threaded holes which are uniformly distributed and used for fixedly mounting a front stator seat or a rear stator seat or a plurality of middle stator seats.

9. The ultrasonic motor of coaxial infinite series stator and rotor of claim 8, wherein: when the first bearing, the second bearing … … nth bearing and the n +1 bearing are respectively embedded into the inner cylindrical holes of the front stator seat, the first middle stator seat … … nth-1 middle stator seat and the rear stator seat, the end faces of the bearings are flush with the end faces of the adjacent inner side bosses.

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