JP2003145047A - Ultrasonic motor and electronic instrument provided with the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rod type ultrasonic motor further miniaturized by adopting a support and a structure for pressurization and electrical connection which do not cause overstrain for miniaturization. SOLUTION: The ultrasonic motor has a vibrating body consisting of a piezoelectric vibrator and an elastic body, and drives a rotor by the vibration of the vibrating body. The piezoelectric vibrator has an overhang in the radial direction of the vibrating body. The overhang functions as a detent of the vibrating body in collaboration with the shape of the cross section of a casing in an axial direction, as a member for regulating the displacement of the vibrating body in a radial direction in collaboration with the inner wall surface of the casing, and as a member for supporting pressure by the elastic member arranged at the end of the casing in collaboration with the inner wall stepped part of the casing.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for miniaturizing an ultrasonic motor incorporated in an electronic device or the like, and more particularly to a technique for improving its structure.

[0002]

2. Description of the Related Art There are various types of ultrasonic motors, but for applications requiring high output, a so-called Langevin type vibration consisting of a piezoelectric element sandwiched between rod-shaped elastic bodies is used. Ultrasonic motors using the body are known and used. Since this Langevin type ultrasonic motor has a configuration in which it is sandwiched between rod-shaped elastic bodies on both sides of a piezoelectric vibrator composed of a piezoelectric element, the shape is generally rod-shaped. The rod-type ultrasonic motor drive system includes a longitudinal oscillator and a torsional oscillator, and the rotor is driven by combining longitudinal primary vibration and torsional secondary vibration. There is a method of driving a rotor by providing a helical notch in an elastic body using only a vertical oscillator and inducing a torsional vibration in the elastic body excited by the piezoelectric oscillator. Further, there is a method in which a piezoelectric vibrator induces two bending vibrations having different phases in a vibrating body to drive the vibrating body.

This Langevin type ultrasonic motor requires a piezoelectric element sandwiched between rod-shaped vibrating bodies and an electrode plate for feeding power to the piezoelectric element. Further, at the end of the piezoelectric element, it is necessary to take out the rotational force of the rotor to the outside while keeping the rotor pressed against the vibrating body. Therefore, the supporting structure and the conducting structure of this kind of ultrasonic motor are complicated, and further miniaturization is difficult.

An example of a Langevin type ultrasonic motor of this type is that disclosed in Japanese Utility Model Publication No. 5-25992. What is presented here is as shown in FIG.
It has an ultrasonic motor 16 in which a cylindrical stator and a rotor 28 are connected to each other by a central shaft 30, a pipe 12, and a holder 14. The ultrasonic motor support structure 10 stores the ultrasonic motor 16 inside the pipe 12 and
The end portion of is attached to the holder 14 in a freely rotatable manner. The support body 36 is loosely inserted into a hollow portion formed by drilling from one end of the central shaft 30 to a node in the torsional vibration mode, and the tip of the support body 36 is fixed to the bottom portion of the hollow portion. The other end surface of the support 36 is attached to the inner side surface of the holder 14, and the rotor is fixed to the inner surface of the pipe.

In the device of the present invention, it is necessary to process the hollow portion that perforates even the node portion and fix the tip of the support to the bottom portion of the hollow portion. Further, because the structure is complicated to connect the rotor and the pipe, and the power supply to the piezoelectric element (not shown) is complicated, further downsizing is difficult. There was a risk that the structure of the part that conducts electricity would be overloaded, resulting in energy loss.

[0006]

SUMMARY OF THE INVENTION An object of the present invention is to provide a rod-type ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body, and to provide a support, pressurizing, and conducting structure which is not difficult. Another object of the present invention is to provide an ultrasonic motor capable of further miniaturization.

[0007]

An ultrasonic motor according to the present invention is a rod type ultrasonic motor which drives a rotor by vibrating a vibrating body having elastic bodies on both sides of a piezoelectric vibrator. Since the child has the projecting portion in the radial direction of the vibrating body, the projecting portion cooperates with the axial sectional shape of the casing to serve as a rotation stopper for the vibrating body. The projecting portion cooperates with the inner wall surface of the casing to function as a member that restricts radial displacement of the vibrating body. Further, the projecting portion cooperates with the step portion of the inner wall of the casing to function as a member for supporting the pressure by the elastic member arranged at the end portion of the casing.

Further, according to the present invention, a plate-shaped piezoelectric element cut into a rectangular shape is used as the piezoelectric vibrator. The piezoelectric vibrator uses as electrodes electrodes of vapor-deposited films formed on both surfaces of the piezoelectric element, and has a projecting portion in the radial direction of the vibrating body, and a lead wire for applying a drive voltage is directly connected to the projecting portion. I did it. Further, the end surface of the vibrating body and the surface of the rotor are configured so that a pressure contact relationship is secured by an elastic member arranged at the end portion of the casing.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION According to the present invention, a rod-shaped vibrating body in a rod-type ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body is provided with a radially extending portion so that the vibrating body and the rotor are The support structure, the pressurizing mechanism between the vibrating body and the rotor, and the conductive structure with the piezoelectric vibrator electrode are simplified, thereby realizing the downsizing of the motor.

FIG. 1 shows a portion of a stator (vibrating body) 20 which is a representative of the present invention. As the piezoelectric vibrator, only the piezoelectric element 1 polarized in the thickness direction is used, and the notch groove 21 in the spiral direction is provided on the surface of the elastic body 2, so that the displacement in the thickness direction excited by the piezoelectric vibrator 1 is the elastic body. In this system, a combined vibration of the longitudinal vibration and the torsional vibration is induced in 2 and the rotor (not shown) that comes into contact with the end surface of the elastic body 2 is driven by the vibration.

The elastic body 2 of the stator (vibrating body) 20 is designed so that a standing wave is generated in the axial direction by the piezoelectric vibrator 1. If the notch 21 is present in the elastic body 2, especially if it is present at the node portion of the standing wave, a large shearing force acts on that portion and the longitudinal vibration is converted into a torsional synthetic vibration.

The ultrasonic motor of the present invention is characterized in that the piezoelectric vibrator 1 has a larger cross-sectional area (perpendicular to the axial direction) than that of the elastic body 2 (perpendicular to the axial direction). Then, a thin film is formed by vapor-depositing metal or the like on both surfaces of the piezoelectric vibrator to form the electrode 11. With such a configuration, the stator of the present invention has a relationship that the peripheral surface of the piezoelectric vibrator 1 having a large cross section abuts the inner surface of the casing without requiring a special supporting member.
A shaft center position can be determined and held in the casing. When the piezoelectric vibrator 1 has a rectangular cross section as shown in FIG. 1, the piezoelectric vibrator 1 is held unrotatable in combination with a casing having a rectangular cross section. When the cross section is circular, the cross section is circular. Combined with the casing, it is retained in its rotatable form.

Further, since the electrode 11 of the piezoelectric vibrator 1 sandwiched by the elastic body 2 from both sides has a large cross section, a part of the vapor deposition surface is exposed from the elastic body 2. Directly connected to the lead wire 5)
Can be connected. In the conventional structure, since the electrodes provided on the front and back surfaces of the piezoelectric element are hidden by the joint with the elastic body, it is possible to insert a metal plate or the like between the piezoelectric element and the elastic body and draw out the terminal to the outside. Where necessary, in the present invention, since the lead wire can be directly connected to the exposed vapor deposition surface, the structure can be simplified and the size can be reduced, and at the same time, between the metal plate and the piezoelectric vibrator or between the metal plate and the metal plate. It is possible to suppress the loss of vibration generated between the elastic body. Also, since the diameter of the piezoelectric element will be larger than before,
The advantage is that the output of the motor is correspondingly increased.

Next, regarding the pressure contact structure for realizing the driving force application between the stator and the rotor, the present invention does not use an elastic member such as a spring in the casing without using a special holding member. By simply interposing, a mode is realized in which the surface of the rotor and the end surface of the elastic body 2 are pressed against each other in the axial direction.

In the above description, the projecting portion of the vibrating body has been described as a piezoelectric vibrator, but it is also possible to use a part of the elastic body as the projecting portion. In that case, it is desirable to be the node portion of the standing wave generated in the vibrating body.

[0016]

[Embodiment 1] An embodiment of the present invention will be described with reference to FIG. 2. First, the embodiment shown in A will be described.

In the ultrasonic motor shown in FIG. 2A, the projecting portion of the piezoelectric vibrator 1 is engaged with the step portion 41 provided in the casing 4, and the end face of the elastic body 2 on the upper side and the one end side. Is arranged so that the other end surface of the rotor 3 having the drive shaft 31 integrally therewith contacts. The radial bearing 7 that supports the drive shaft 31 provided at one end of the casing 4
This is a structure in which the spring 6 is interposed between and. Although the step portion 41 in this example is provided with the projections on the inner wall surface of the casing 4 in a circumferential shape, the step portion 41 is not limited to this, and may be a step portion in which the inner diameter of the lower portion is uniformly narrowed.

The piezoelectric element used as the piezoelectric vibrator 1 has a rectangular shape as shown in FIG. Since the rectangular piezoelectric element can be used by cutting the plate-shaped piezoelectric element, not only can the size of the vibrator be reduced and a piezoelectric vibrator having a laminated structure can be easily manufactured, but it can also be effectively used without producing unnecessary parts.
When the stator is housed in a casing whose inner surface has a rectangular cross section, the inner surface of the casing 4 and the outer periphery of the piezoelectric vibrator 1 are brought into contact with each other, the core of the stator position is taken, and the piezoelectric vibrator 1 is stopped in rotation. It is held by the casing 4.
It should be noted that, considering only this rotation stopping function, it is not necessarily limited to the rectangular shape, and it can be said that a non-circular shape is sufficient.

When a driving voltage of a predetermined frequency is applied to the piezoelectric vibrator 1, the piezoelectric element expands and contracts, the elastic body 2 made of elastic material on both sides undergoes longitudinal vibration, and a standing wave in the axial direction occurs,
Due to the existence of the inclined groove 21 provided in the elastic body 2,
Converted to twist synthetic vibration. Since the end face of the rotor 3 is arranged so as to come into contact with the end face of the elastic body 2 on the upper side by receiving the urging force of the spring 6, the vertical-twist combined vibration of the elastic body 2 is generated in the twisting direction during the extension operation. Will be transmitted to the rotor 3. Since the reverse twist during the contracting operation is the contracting operation, the frictional force between the end surface of the vibrating body 2 and the end surface of the rotor 3 becomes low and is difficult to transmit. In this way, the one-direction twisting force is transmitted in response to the increase and decrease in the frictional force between the two, so that the rotor 3 is rotationally driven. This torque is
It is taken out through the drive shaft 31.

By the way, the projecting portion and the stepped portion of the casing may be fixed to each other with an adhesive or the like. Further, the casing is not limited to the rectangular shape, and may be appropriately modified as long as it has a function of supporting and fixing the vibrating body 20, the drive shaft 31, and the spring 6 in this embodiment.

As described above, according to this embodiment, the supporting structure of the ultrasonic motor, the pressurizing mechanism, and the lead wire wiring to the vibrator are simplified, so that the miniaturization is easy.

[0022]

[Second Embodiment] FIG. 2B shows a different embodiment. In this example of the ultrasonic motor, a spring 6 is installed at the bottom without providing a step in the casing 4, and the spring 6 is brought into contact with the lower surface of the projecting portion of the piezoelectric vibrator 1 to push up the stator upwards and elastically move upward. The rotor 3 in contact with the end surface of the body 2 is pressed against the upper end of the casing 4. The piezoelectric element is
If the stator is housed in a casing having a rectangular inner surface and a rectangular inner surface as in the previous embodiment, the inner surface of the casing 4 and the outer periphery of the piezoelectric vibrator 1 come into contact with each other, and the core at the stator position is taken, and at the same time, the piezoelectric vibrator. It is the same that 1 is held in the casing 4 with the rotation stopped.

When a driving voltage of a predetermined frequency is applied to the piezoelectric vibrator 1, the elastic body 2 starts vertical-twisting synthetic vibration, and the vertical-twisting synthetic vibration applies a force in the twisting direction during the extension operation to the rotor 3.
The driving operation to be transmitted to is the same as the previous example. However, this embodiment has an advantage that the longitudinal dimension of the motor can be shortened. Also in this embodiment, since the supporting structure of the ultrasonic motor, the pressure mechanism, and the lead wire wiring to the vibrator can be simplified, the size can be easily reduced.

The casing is not limited to the rectangular shape, and any suitable modification can be taken as long as it can support and fix the vibrating body 20, the drive shaft 31, and the spring 6 in this embodiment. It is the same. Further, the protruding portion may be provided on the elastic body 2 instead of the piezoelectric vibrator.

[0025]

Third Embodiment A further different embodiment is shown in FIG. An example of this ultrasonic motor is that an elastic material such as rubber is used as the pressurizing means instead of the spring 6 used in the second embodiment. In this example, an elastic material 6 ′ is installed at the bottom without providing a step in the casing 4 and brought into contact with the lower surface of the lower elastic body 2, and the stator is pushed upward to move the elastic body 2 above.
The rotor 3 that is in contact with the end surface of is pressed against the upper end of the casing 4. The piezoelectric element has a rectangular shape as in the previous two embodiments, and the inner surface of the casing 4 and the outer periphery of the piezoelectric vibrator 1 are brought into contact with each other by accommodating the stator in a casing having a rectangular inner surface. Similarly, the piezoelectric vibrator 1 is held by the casing 4 in a state where the rotation is stopped.

When a driving voltage having a predetermined frequency is applied to the piezoelectric vibrator 1, the elastic body 2 starts vertical-twisting synthetic vibration, and the vertical-twisting synthetic vibration applies a force in the twisting direction during the extension operation to the rotor 3.
The driving operation to be transmitted to is the same as the previous example. Also in this embodiment, since the supporting structure of the ultrasonic motor, the pressure mechanism, and the lead wire wiring to the vibrator can be simplified, the size can be easily reduced.

The casing is not limited to a rectangular shape, and any suitable modification can be taken as long as it can support and fix the vibrating body 20, the drive shaft 31, and the spring 6 in this embodiment. It is the same. Further, the protruding portion may be provided on the elastic body 2 instead of the piezoelectric vibrator.

[0028]

Fourth Embodiment FIG. 3 shows an embodiment of an ultrasonic motor in which the piezoelectric vibrator 1 has a circular cross section. FIG. 3B is a sectional view showing an ultrasonic motor in which a stator as shown in a perspective view of FIG. 3A is housed in a cylindrical casing 4. In this example, as in the case of the third embodiment, the elastic material 6'presses and supports the stator and the rotor on the other end surface of the casing 4. The outer peripheral surface of the piezoelectric vibrator 1 and the inner surface of the casing 4 are in contact with each other on the circumferential surface, as can be seen from C which is a sectional view taken along the line cc in FIG. Although it is difficult to provide the function of stopping rotation with, it has a function of restricting the radial displacement of the vibrating body 20. By the way, the cross section of the rectangular shape of the third embodiment is as shown in D.

In the embodiment of the ultrasonic motor shown in FIGS. 3A, 3B and 3C, the elastic material 6'acts as a rotation stop by the frictional force pressing the end face of the lower elastic body 2.
Therefore, the fixed portion of the stator is the end face of the lower elastic body 2, and the rotational force received by the rotor 3 is only the twisting force of the upper elastic body 2 in the previous example, but in this embodiment, The sum of the twisting force of the elastic body 2 and the twisting force of the lower elastic body 2 acts. That is, if the vibration modes of both are completely the same and their phases are the same, a double rotational displacement amount can be obtained. However, it is difficult to cut the piezoelectric element into a circle, which is not preferable in terms of size reduction.

Further, in this embodiment, in order to stabilize the axial center position of the stator, a shaft hole 22 is formed at the center of the end surface of the upper elastic body 2 and the lower elastic body 2, and the upper shaft hole 22 has a hole. A shaft 32 provided at the center of the rotor 3 is fitted. A shaft 42 provided at the center of the bottom of the casing 4 is fitted into the lower shaft hole 22. In short, this mechanism is provided between the end surface of the lower elastic body 2 and the stator, and the upper elastic body 2
The shaft center position is determined by the pivoting relationship between the rotor and the contact partner member. The end surface of the lower elastic body 2 serves as a fixed portion of the stator, and in this example, the elastic material 6'provides a rotation stopping function by the frictional force pressing the end surface of the lower elastic body 2. The form for providing this rotation stopping function is not limited to this, but is a form in which both surfaces of the elastic material 6'are fixed by an adhesive, or the lower shaft hole 22 and the shaft 42 provided at the center of the bottom of the casing 4 are fitted together. The shape may be non-circular. Also in this embodiment, the supporting structure of the ultrasonic motor, the pressing mechanism, and the lead wire wiring to the piezoelectric vibrator can be simplified, so that the size can be easily reduced.

Next, an application example in which the small ultrasonic motor realized by the present invention is applied to an endoscope will be described with reference to FIG.

As shown in FIG. 4, the ultrasonic motor 10 of the present invention is arranged in the distal end portion of the endoscope, and the mirror 8 is provided on the drive shaft 31.
Attach. The optical fiber 9 is passed through the tube portion of the endoscope.
Has a function of guiding the light from the light source to illuminate the affected area and guiding the image of the affected area taken through the mirror 8 to the outside of the body. By driving the small ultrasonic motor 10 of the present invention, the mirror 8 is rotationally driven, and the inner surface of the blood vessel or the inner surface of the intestine or organ can be observed 360 degrees.

In addition to various uses as an endoscope, such as attaching a CCD camera instead of a mirror, attaching it to an ultrasonic endoscope, and driving a surgical scalpel, etc., observation in a space where no one can enter It can be used by incorporating it into a wide range of electronic devices, such as inspection and inspection of Karan, which is an elongated tube. The Langevin-type ultrasonic motor of the present invention has a rod-like shape, can be further downsized, and has a large driving force. Therefore, the apparatus is required to be thin, and a long tubular member such as an endoscope is used. It can be said that it is suitable for equipment with a moving part at the tip.

[0034]

The ultrasonic motor of the present invention is an ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body, and driving a rotor by the vibration of the vibrating body, wherein the vibrating body is in a radial direction. By having the overhanging portion on the inside, the overhanging portion functions as a rotation stopper of the vibrating body in cooperation with the axial cross-sectional shape of the casing. Therefore, it is not necessary to prepare a separate member as a rotation stopper for the vibrating body.

The ultrasonic motor of the present invention serves as a member for regulating the radial displacement of the vibrating body in cooperation with the inner wall surface of the casing, and further in cooperation with the inner wall step portion of the casing. Since it functions as a member for supporting the pressure by the elastic member arranged at the end, there is no need to prepare a separate member, and the structure is simple and the size can be easily reduced.

An ultrasonic motor of the present invention is an ultrasonic motor which has a vibrating body composed of a piezoelectric vibrator and an elastic body, and drives a rotor by the vibration of the vibrating body. Since the pressure contact relationship is secured by the pressurizing means arranged at the end of the casing, it is not necessary to prepare a separate member and the structure is simple and the size can be easily reduced. The vibrator has a protruding portion in the radial direction of the vibrating body, and the protruding portion is engaged with a step portion of the inner wall of the casing to apply pressure by a pressure means arranged at the end portion of the casing. The mechanism can be realized simply.

An ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body, and driving a rotor by vibrating the vibrating body, wherein the piezoelectric vibrator has a vapor deposition film formed on both surfaces of a piezoelectric element. The ultrasonic motor of the present invention, which has an electrode, has a projecting portion in the radial direction of the vibrating body, and has a configuration in which a lead wire for applying a drive voltage is directly connected to the projecting portion, the lead wire is wired. Since the electrode of a separate member such as a metal plate is not required, the structure is simplified and the size can be reduced.

The present invention, which is a plate-shaped piezoelectric element cut into a rectangular shape as the piezoelectric vibrator to be used, is simple processing, so that it is easy to miniaturize and it is easy to form a laminated structure. Since there is no waste part, manufacturing becomes efficient.

An ultrasonic motor according to the present invention, which has a vibrating body composed of a piezoelectric vibrator and an elastic body, and whose rotation is stopped with respect to the casing at the end of the lower elastic body, has a supporting structure and a pressing structure. Since there is no need to prepare a separate member, the structure is simple and miniaturization is easy, and because the fixed part to the casing is the end of the lower vibrating body, only the torsional vibration of the upper vibrating body is used to drive the rotation of the motor. Not only that, but also the torsional vibration of the lower vibrating body contributes. As described above, in any of the methods for supporting the vibrating body according to the present embodiment, the supporting portion of the vibrating body is not fixed in any direction. Therefore, the vibration loss at the supporting portion is small, which is particularly advantageous for downsizing. Is.

Furthermore, since the Langevin type ultrasonic motor is originally rod-shaped and can be miniaturized by the present invention and has a large driving force,
It can be said that it is suitable for a device that requires a thinner one, for example, a device having an operating portion at the end of a long tubular member such as an endoscope, and is widely used as a drive source for this kind of work electronic device. You can

[Brief description of drawings]

FIG. 1 is a perspective view showing a basic structure of a stator (vibration body) of the present invention.

FIG. 2 is an embodiment example A of an ultrasonic motor according to the present invention;
It is a figure which shows 3 examples in B and C.

3A and 3B are views showing different embodiments of the ultrasonic motor according to the present invention, in which A is a perspective view showing the basic structure of the stator, B is a sectional view of the entire configuration, and C is a sectional view taken along line c-c of B. Drawing D is a comparative sectional view.

FIG. 4 is a diagram showing an example in which the ultrasonic motor according to the present invention is incorporated in an endoscope.

FIG. 5 is a diagram showing a conventional technique.

[Explanation of symbols]

1 Piezoelectric vibrator 2 elastic body 3 rotor 4 casing 5 lead wires 6 spring 6'elastic material 7 bearings 8 mirror 9 Optical fiber 10 Ultrasonic motor 11 electrodes 20 Stator (vibrating body) 21 Notch groove 22 shaft hole 31 Drive axis 32 axes 41 steps

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor, Watanabe Saint             1-8 Nakase, Nakase, Mihama-ku, Chiba City, Chiba Prefecture             Ceremony Company SII RDI Center             Within (72) Inventor Makoto Suzuki             1-8 Nakase, Nakase, Mihama-ku, Chiba City, Chiba Prefecture             Ico Instruments Co., Ltd. F term (reference) 5D107 AA13 BB07 CC04 CC10 FF10

Claims (10)

[Claims] 1. An ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body and driving a rotor by vibrating the vibrating body, wherein the vibrating body has a projecting portion in a radial direction,
The ultrasonic motor, wherein the projecting portion functions as a rotation stopper for the vibrating body in cooperation with the axial cross-sectional shape of the casing. 2. An ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body, and driving a rotor by vibrating the vibrating body, wherein the vibrating body has a protruding portion in a radial direction,
The ultrasonic motor, wherein the projecting portion functions as a member that regulates radial displacement of the vibrating body in cooperation with the inner wall surface of the casing. 3. An ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body, and driving a rotor by vibrating the vibrating body, wherein a first end surface of the vibrating body and a surface of the rotor are the casing. The ultrasonic motor is characterized in that a pressure contact relationship is secured by an elastic member arranged between the end of the vibrating body and the second end surface of the vibrating body. 4. An ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body and driving a rotor by vibrating the vibrating body, wherein the vibrating body has a projecting portion in a radial direction,
The ultrasonic motor, wherein the projecting portion cooperates with an inner wall step portion of the casing to function as a member for supporting a pressure by an elastic member arranged at an end portion of the casing. 5. An ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body, and driving a rotor by vibrating the vibrating body, wherein the piezoelectric vibrator has a projecting portion in a radial direction of the vibrating body. An ultrasonic motor, wherein a driving voltage is directly applied to an electrode extending to the projecting portion. 6. An ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body, and driving the rotor by the vibration of the vibrating body, wherein the vibrating body is provided with a rotation stopping mechanism at an end opposite to the rotor. An ultrasonic motor, wherein rotation of the casing is stopped. 7. An ultrasonic motor having a vibrating body composed of a piezoelectric vibrator and an elastic body and driving a rotor by vibrating the vibrating body, wherein at least one of the vibrating body and the rotor is provided at an end of the vibrating body. Due to the pivoting relationship with the contact member,
An ultrasonic motor characterized in that the axial center position is determined. 8. The ultrasonic motor according to claim 1, wherein the piezoelectric vibrator is formed by cutting a plate-shaped piezoelectric element into a rectangular shape. 9. The ultrasonic motor according to claim 1, wherein the vibrating body has a projecting portion in a radial direction, and the projecting portion is a piezoelectric vibrator. 10. A long tubular member provided with an operating part at the tip thereof, wherein the ultrasonic motor according to claim 1 is provided as a drive source at the tip operating part. An electronic device equipped with an ultrasonic motor, wherein an appropriate work is executed by the power of the ultrasonic motor.