Four-foot driven rotary ultrasonic motor

The invention relates to a four-foot driven driving rotary ultrasonic motor, which belongs to the technical field of piezoelectric drive and piezoelectric energy capture. The four-foot driven rotary ultrasonic motor includes a main shaft, a hollow thin rectangular plate, driving feet, a rotor, a nut, a spring, a bearing and piezoelectric ceramic sheets. The piezoelectric ceramic sheets are polarized along the thickness direction. The hollow thin rectangular plate, the driving feet and the piezoelectric ceramic sheets form a stator assembly of the ultrasonic motor. The nut and the spring form apre-tightening force adjusting mechanism between the stator assembly and the rotor. During working, the lower surfaces, bonded with the thin rectangular plate, of the piezoelectric ceramic sheets aregrounded, a two-phase high-frequency alternating voltage is connected into the upper surfaces, and the thin rectangular plate deforms and excites the elliptical movement of the end faces of the driving feet so as to drive the