Abstract:
A piezoelectric motor has a vibrating body for undergoing vibrational movement in accordance with a vibration wave, a contact member disposed in contact with and driven by the vibrating body during vibration thereof, and a support member for supporting the vibrating body in the vicinity of a vibration node of the vibration wave. A pressurization member applies pressure to the support member along a pressurization axis to maintain the vibrating body in pressure contact with the contact member so that during vibration of the vibrating body, the support member regulates movement of the vibrating body in a direction of rotation about the pressurization axis.

Description:
BACKGROUND OF THE INVENTION 
   1. Field of the Invention 
   The present invention relates to a piezoelectric motor, a stage equipped with the piezoelectric motor, and an electronic apparatus equipped with the piezoelectric motor. 
   2. Description of the Related Art 
   In recent years, as means for achieving ultraprecise positioning, attention has been given in various fields to the piezoelectric motor, also called an ultrasonic motor, for friction-driving a movable body contacting with a vibrating body having a piezoelectric element by vibration of the vibrating body. Especially, piezoelectric motor utilizing as a vibrating body a rectangular plate is widely used in various fields as a linear motor. 
   As a method of supporting the vibrating body in the form of a rectangular plate, as shown in  FIG. 15 , there is known a structure in which surroundings of rectangular plate vibrating bodies  100  comprising the piezoelectric elements are supported so as to be interposed by an elastic member  101  (for example, Patent Document 1). 
   [Patent Document 1] 
   Japanese Patent No. 2980541 Gazette (10–11 pages, FIG. 11) 
   However, in case where there is adopted the structure in which the vibrating bodies are supported by being interposed by means of the elastic member, there is such a case that the elastic member itself is deformed after positioning has been finished, so that a position of operation portion deviates. Further, also at a starting or stopping time, a support member is deformed by a reaction force, and a hysteresis in driving characteristic (moving quantity) has been liable to occur. Accordingly, as a result, the position of the movable body is liable to deviate, so that there has been a problem that it is difficult to realize the high precision positioning. 
   Further, there is an example in which vibrating bodies are supported by mutual engagement of members made of metal, for example, without using the elastic body, but also in this case there is a fear that the similar result is brought about in the engaging portion if there is a play. 
   Additionally, similarly to the support by the elastic body, if supporting conditions (constraint force, etc.) change, there has been a possibility that not only a dispersion in characteristic of an individual motor becomes large, but also the characteristic is greatly changed also by external environments (temperature, etc,). 
   SUMMARY OF THE INVENTION 
   Whereupon, a 1st mode of the invention exists in a piezoelectric motor operating, by vibration of a vibrating body having a piezoelectric element, a contact member or the vibrating body itself, having a support member which engages with the vibrating body in the vicinity of a position of node of vibration exited by the vibrating body, and which supports the vibrating body while regulating a motion of the vibrating body in a direction other than a contact direction between the vibrating body and the contact member, a contact member contacting with the vibrating body or a friction member provided in the vibrating body, and a pressurization means for pressurizing between the vibrating body and the contact member. 
   A 2nd mode of the invention exists, in the 1st mode, in a piezoelectric motor characterized by possessing plural concave portions provided in the vibrating body, and a support member having plural convex portions engaging with the concave portions. 
   A 3rd mode of the invention exists, in the 1st mode, in a piezoelectric motor characterized by possessing plural convex portions provided in the vibrating body, and a support member having plural concave portions engaging with the convex portions. 
   A 4th mode of the invention exists, in the 1st mode, in a piezoelectric motor characterized the friction member has a portion extended from the vibrating body. 
   A 5th mode of the invention exists, in the 1st mode, in a piezoelectric motor characterized it comprises a support member provided in the vibrating body and extending in a contact direction between the vibrating body and the contact member, and a guide member guiding the support member, and a motion in a direction other than a contact direction between a friction member provided in the vibrating body and the contact member is regulated by the support member and the guide member. 
   A 6th mode of the invention exists, in the 1st mode, in a piezoelectric motor characterized in that it comprises a support member provided in the vibrating body and extending in a contact direction between the vibrating body and the contact member, a guide member guiding the support member, and a spring member applying a contact pressure between the vibrating body and the contact member, the friction member provided in the vibrating body and the contact member are guided by the support member and the guide member so as to be movable in a contact direction, and a rotation of the vibrating body about the support member is constrained by the spring member and a spring guide portion engaging with the spring member. 
   A 7th mode of the invention exists, in the 1st mode, in a piezoelectric motor characterized in that it comprises a guide portion provided in the vibrating body, and a support member having an engagement portion engaging with the guide member, and a contact pressure between the vibrating body or a friction member provided in the vibrating body and the contact member is obtained by applying a pressurization force to the support member. 
   An 8th mode of the invention exists, in the 7th mode, in a piezoelectric motor characterized in that the guide portion is provided in the vicinity of a position of node of vibration of the vibrating body excited. 
   A 9th mode of the invention exists, in the 1st mode, in a piezoelectric motor characterized in that a contact pressure between the friction member and the contact member is obtained by pressurizing an extending portion provided in the vibrating body by means of the support member, the extending portion engages with the support member and performs a rotation with a center line of the extending portion being made a rotation center, and an engagement portion between the extending portion and the support member has a shape regulating an operation other than the rotation operation. 
   A 10th mode of the invention exists, in the 1st mode, in a piezoelectric motor characterized in that a pressurization applying a contact pressure between the friction member and the contact member acts on plural points in a width direction of the vibrating body, and a shape of the friction member is one at least having a curved line toward the width direction of the vibrating body. 
   An 11th mode of the invention exists, in the 1st mode, in a piezoelectric motor characterized in that it is the piezoelectric motor operating a movable body that is the contact member, the vibrating body is supported so as to be rotatable by a rotation shaft provided in the vibrating body, and a contact pressure is applied to the vibrating body and the movable body by a pressurization force from a spring member. 
   A 12th mode of the invention exists, in the 11th mode, in a piezoelectric motor characterized in that the pressurization force from the spring member acts to the vicinity of the position of node of vibration exited by the vibrating body. 
   A 13th mode of the invention exists, in the 11th mode, in a piezoelectric motor characterized in that the pressurization force from the spring member acts as a torque of the rotation shaft. 
   A 14th mode of the invention exists in an electronic equipment or apparatus having the piezoelectric motor according to any one of the modes  1 – 13 , a transmission mechanism operating monolithically with a movable body, and an output mechanism operating on the basis of an operation of the transmission mechanism. 
   A 15th mode of the invention exists in a stage having the piezoelectric motor according to any one of the modes  1 – 13 , and possessing a piezoelectric motor having a transmission mechanism operating monolithically with a movable body, and an output mechanism operated on the basis of an operation of the transmission mechanism. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
       FIGS. 1A–1E  are views showing a support structure of a piezoelectric motor according to an embodiment 1 of the present invention; 
       FIGS. 2A–2B  are views showing another example of the support structure of the piezoelectric motor according to the embodiment 1 of the invention; 
       FIGS. 3A–3E  are views showing another example of the support structure of the piezoelectric motor according to the embodiment 1 of the invention; 
       FIGS. 4A–4B  are views showing another example of the support structure of the piezoelectric motor according to the embodiment 1 of the invention; 
       FIGS. 5A–5B  are views showing another support structure of the piezoelectric motor according to an embodiment 2 of the invention; 
       FIGS. 6A–6B  are views showing another example of the support structure of the piezoelectric motor according to the embodiment 2 of the invention; 
       FIGS. 7A–7B  are views showing a vibrating body peripheral portion of the piezoelectric motor according to an embodiment 3 of the invention; 
       FIGS. 8A–8C  are views showing an example of the support member of the piezoelectric motor according to the embodiment 3 of the invention; 
       FIG. 9  is a view showing another example of a support structure of the piezoelectric motor according to the embodiment 3 of the invention; 
       FIGS. 10A–10B  are views showing a support structure of the piezoelectric motor according to an embodiment 4 of the invention; 
       FIGS. 11A–11B  are views showing another example of the support member of the piezoelectric motor according to the embodiment 4 of the invention; 
       FIGS. 12A–12B  are views showing the support member of the piezoelectric motor according to an embodiment 5 of the invention and an example of application to an electronic equipment; 
       FIGS. 13A–13B  are views showing the support member of the piezoelectric motor according to the embodiment 5 of the invention and other example of application to the electronic equipment; 
       FIG. 14  is a block diagram showing an electronic equipment using the piezoelectric motor according to the invention; and 
       FIG. 15  is a view showing an example of a conventional support structure. 
   

   DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
   Hereunder, embodiments in which the present invention has been applied are explained referring to  FIGS. 1–14 . 
   (Embodiment 1) 
     FIG. 1  shows a piezoelectric motor according to the embodiment 1 of the invention. Especially,  FIG. 1C  and  FIG. 1D  show a state of vibration amplitude, i.e., distribution of vibration, with respect to a longitudinal direction of a vibrating body  1 . 
   In  FIG. 1A , the vibrating body  1  having a piezoelectric element performs a longitudinal vibration in which the amplitude becomes maximum in its both ends and it becomes a node of the vibration in its center portion as shown in  FIG. 1C , and a bending vibration along a thickness of the vibrating body  1  as shown in  FIG. 1D . If they are excited such that phases are different, at a point where the bending vibration becomes maximum, since a friction member  3  bonded to the vibrating body  1  for instance performs an elliptic motion, a contact member  5  or the vibrating body  1  itself, which contacts with the friction member  3 , is moved in a vibrating body longitudinal direction. Here, as the vibrating body, there may be used one in which the piezoelectric element and an elastic body such as metal are bonded, or there may be used only the piezoelectric element, e.g., laminated piezoelectric element. Further, electrodes used are arbitrary as well. 
   Here as shown in  FIG. 1B , in an upper face of the vibrating body  1 , two semispherical concave portions  1   a  are provided in the vicinities of points located in node portions of the vibration. From above of the vibrating body  1 , there are provided pin-shaped support members  2  having at their tips two semi-spherical convex portions engaging with the concave portions  1   a . As shown in  FIG. 1E , the support member  2  is guided by a guide member  4 , and becomes movable only in a contact pressure direction between the friction members  3  provided in the vibrating body  1  and the contact member  5 . For example, by applying a pressurization to one end of the support member  2 , a contact pressure acts between the friction member  3  and the contact member  5 . On this occasion, the vibrating body  1  follows such that the contact between the friction member  3  and the contact member  5  becomes good, but a movement in other direction is regulated. Accordingly, there can be realized a piezoelectric motor which is high in its efficiency and excellent in its durability and whose positioning resolving power is high. 
   As the friction member  3  there are used, for example, an engineering plastic obtaining carbon fibers, a ceramics such as alumina and a hard metal such as stainless steel, and as the contact member there are used a hard metal such as stainless steel and ceramics such as alumina. 
   A modified example of the embodiment 1 is explained using  FIG. 2A  and  FIG. 2B . Although as shown in  FIGS. 2A and 2B , the vibrating body  1  is similar to one of  FIG. 1 , the vibrating body  1  is provided with two hemispherical convex portions  1   b  in place of the hemispherical concave portion. A support member  6  is made monolithic and bifurcated midway, and has two hemispherical concave portions provided at its tips and engaging with the convex portions  1   b . According to his, similarly to the constitution of  FIG. 1 , a stable contact state is obtained between the vibrating body and the contact member, and the vibrating body is constrained in its movement in other directions. 
     FIG. 3  shows a piezoelectric motor according to another of embodiment 1. Especially,  FIG. 3C  and  FIG. 3D  show the state of vibration amplitude, i.e., distribution of amplitude, with respect to the longitudinal direction of a vibrating body  7 . 
   In  FIG. 3A  and  FIG. 3B , the vibrating body  7  having a piezoelectric element performs a longitudinal vibration in which the amplitude becomes maximum in its both ends and it becomes a node of the vibration in its center portion as shown in  FIG. 3C , and a bending vibration along a thickness of the vibrating body  7  as shown in  FIG. 3D . If they are excited such that phases are different, at a point where the bending vibration becomes maximum, since a friction member  8  bonded to the vibrating body  7  for instance performs an elliptic motion, the contact member  5  or the vibrating body  7  itself, which contacts with the friction member  8 , is moved in a vibrating body longitudinal direction. Here, as the vibrating body  7 , there may be used one in which the piezoelectric element and an elastic body such as metal are bonded, or there may be used only the piezoelectric element, e.g., laminated piezoelectric element. Further, electrodes used are arbitrary as well. 
   Here as shown in  FIG. 3A , in the vicinity of a point located in the node of the bending vibration of the vibrating body, there provided receiving members  10  each having a semi-spherical concave portion  10   a . From above of the vibrating body  7 , there are provided pin-shaped support members  9  having at their tips two semi-spherical convex portions  9   a  engaging with the concave portions  10   a . As shown in  FIG. 3E , each of the support members  9  is guided by a guide member  4 , and becomes movable only in a contact pressure direction between the vibrating body  7  or the friction members  8  provided in the vibrating body  7  and the contact member  5 . In  FIG. 3E , for example, by providing a spring member  11  between the guide member  4  and the receiving member  10 , a contact pressure acts between the friction member  8  and a contact member  5 . On this occasion, the vibrating body  7  follows such that the contact between the friction member  8  and the contact member  5  becomes good, but movement in other directions is regulated. 
   As mentioned above, by the fact that the convex portion or the concave portion is provided in the vicinity of the position of the node of the vibration where the vibrating body vibrates, the vibration of the vibrating body is not hindered. Further, by the fact that the portion extended from the vibrating body is possessed by making the friction member  8  long, the vibrating body can stably maintain its position by the simple support without coming down against a pressurization from the support member  9  even in case where a thickness of the vibrating body  7  is thin. 
   Next, other example of the embodiment 1 is explained using  FIG. 4A  and  FIG. 4B . The vibrating body  7  in  FIG. 4A  is one similar to one of  FIG. 3 . Here, as shown in  FIG. 4B , a support receiving member  13  having an extending portion is bonded along a side face in the vicinity of a center portion corresponding to the node of the vibration of the vibrating body  7 . Although a gap is formed between the support receiving member  13  and the vibrating body  7 , this is for the purpose of reducing a loss of the vibration of the vibrating body  7  as small as possible. Of course, the support receiving portion  13  may be bonded to a side face of the vibrating body  7 . In this case, since a large rigidity of the support portion can be expected, a large pressurization force is applied to the vibrating body  7  and thus a large thrust is obtained and, since a stability at a starting or stopping time is increased, it is excellent in controllability. The support receiving member  13  may be made from metal and the like, but it consists of a material which hardly undergoes an influence of the vibration to the vibrating body  7  because it greatly differs in its elasticity and acoustic impedance from engineering plastic and the like. The extending portion of the support receiving portion  13  is provided with a through-hole  13   a  becoming the concave portion, engages with a support member  37  having at its tip a conical convex portion  37   a  as shown above, and is supported. The support member  37  is guided by a guide member (not shown), and becomes movable only in a contact pressure direction between the vibrating body  7  or a friction member  12  provided in the vibrating body  7  and the contact member  5 . By this, in addition to the advantages mentioned hitherto, since a distance between the two engaging portions becoming support points can be widened and a position of the engaging portion can be lowered to a point adjoining the contact member  5 , a stable support is possible even in case where a thickness of the vibrating body  7  is thin. 
   (Embodiment 2) 
   Embodiment 2 of the invention is described below on the basis of  FIG. 5  and  FIG. 6 . 
   In  FIG. 5  and  FIG. 6 , since the vibrating body  7  is one similar to  FIG. 3 , only different points are mentioned. In  FIG. 5A  and  FIG. 5B , the vibrating body  7  comprises a support member  14  extending in a contact direction between the vibrating body  7  and the contact member  5 , and a guide member  15  guiding the support member  14 . The support member  14  is provided with a deformed portion  14   a . Since the guide member  15  has a shape conforming to the deformed portion  14   a , a motion in the direction other than the contact direction between the vibrating body  7  and the contact member  5  is regulated, so that a stiff and stable support is obtained by a simple structure. Accordingly, a motion of the vibrating body  7  at the starting/stopping time is suppressed, and the positioning control excellent in controllability and having a high precision becomes possible. Since the support member  14  is provided in the vicinity of the node of the vibration of the vibrating body, the vibration of the vibrating body  7  is not hindered. 
     FIG. 6A  and  FIG. 6B  show other example of the embodiment 2 of the invention. The vibrating body  7  comprises a support member  19  extending in a contact direction between the vibrating body  7  and the contact member  5 , and it is adapted so as to regulate a movement other than a movement in the contact direction between the vibrating body  7  and the contact member  5  and a rotational motion whose rotation axis is made the support member  19 . Between the vibrating body  7  and a fixation plate  18  fixing the guide member  4 , there are provided a pressurization spring  17  as a spring member and a regulation member  16  connected to the pressurization spring  17 . The regulation member  16  and the pressurization spring  17  are provided with holes through which the support member  19  passes. A motion, of the pressurization spring  17 , other than the contact direction between the vibrating body  7  and the contact member  5  is regulated by a guide groove  18   a . Since the regulation member  16  is provided with a V-groove  16   a , it undergoes a force of the pressurization spring  17 , so that a motion of the vibrating body  7  is also regulated. In this manner, a strong and stable support is obtained by a thin structure including a pressurization mechanism. Further, since the support member  19  and the regulation member  16  are provided in the vicinity of the node of the vibration of the vibrating body, the vibration of the vibrating body  7  is not hindered. 
   (Embodiment 3) 
   Embodiment 3 of the invention is described below by using  FIG. 7 ,  FIG. 8  and  FIG. 9 . The vibrating bodies  7  and  20  are ones similar to one shown in  FIG. 3 . In  FIG. 7A , a receiving member  21  having a V-groove  21   a  is bonded in the vicinity of a position corresponding to the node of the vibration. For the receiving member  21 , a metal and the like may be used, but it is preferable to use, for example, an engineering plastic which differs greatly in acoustic impedance, elastic modulus and the like from the vibrating body  7 . As shown in  FIG. 8 , a support member  22  engages with V-groove  21   a  of the receiving member  21 . The support member  22  is provided with a deformed portion  22   b , is guided by a guide member (not shown), and it is adapted such that the vibrating body  7  is supported and the pressurization force is applied similarly to the embodiment 1. Further, since the support member  22  is engaged with the V-groove  21   a  of the receiving member  21 , it is stably supported without play. A motion of the vibrating body  7  in a width direction is obtained by a friction force between the support member  22  and the receiving member  21 , but a stopper  22   a  is provided for caution&#39;s sake. Further, it is preferable to perform a selection of a material, etc. such that friction force between the support member  22  and the receiving member  21  becomes larger than a friction force between the friction member  12  and the contact member  5 . As a shape of the support member, there are considered one having a V-groove  24   a  in a support member  24  like  FIG. 8C , one provided like  FIG. 8B  with a columnar stopper  23   a  in place of the stopper  22   a  in  FIG. 8A , or a combination of these, and the like. However, like  FIG. 8B , in case where the support member  23  is used, it is necessary to bore in the receiving member  21  a hole in which the stopper  23   a  is accommodated. Further, a support member  23  is provided with a deformed portion  23   b , is guided by a guide member (not pressurization force similarly to the embodiment 1. Similarly, the support member  24  is provided with a deformed portion  24   b , is guided by a guide member (not shown), it supports the vibrating body  7  and applies the pressurization force similarly to the embodiment 1. 
   The receiving member  21  is bonded to the vibrating body  7  in  FIG. 7A , but a receiving portion  20   a  may be directly provided in the vibrating body  20  as shown in  FIG. 7B . It is preferable that the receiving portion  20   a  and the receiving member  21  are provided symmetrically to the vibrating bodies  7 ,  20  in this manner. By adopting such a structure, the vibrations generated in the vibration bodies  7 ,  20  also become symmetrical shapes, so that unnecessary vibration is difficult to occur. 
   Further, as a shape of the support member, a support member  26  having a convex portion  26   a  is made a + driver shape as shown in  FIG. 9 , and a shape of a receiving portion  25   a  in a receiving member  25  may be made a groove engaging with the + driver shape. 
   By adopting the above structure, since a loss of the vibration is small and a stable support is possible, a piezoelectric motor having a high efficiency and excellent in positioning resolving power can be realized. 
   (Embodiment 4) 
   The embodiment 4 is explained on the basis of  FIG. 10  and  FIG. 11 . 
   The vibrating body  7  is similar to one shown in  FIG. 3 . In  FIG. 10 , an extended portion  28  is provided in the vicinity of a side face center portion of the vibrating member  7 , i.e., position corresponding to the node of the vibration. The extended portion  28  may be bonded to a side face of the vibrating body  7  by an adhesive and the like, or it may be provided by providing a hole penetrating through the vibrating body  7  and connected by a screw and the like. As shown in the embodiment 1, above the vibrating body  7 , a support member  29  is provided with a deformed portion  29   b  and a guide member (not shown) guiding the deformed portion  29   b . A tip (vibrating body  7  side) of the support member  29  is bifurcated, and has a V-groove  29   a . Also in the extended portion  28  there is provided a V-groove  28   a  in a peripheral direction, and it is adapted so as to engage with the V-groove  29   a  of the support member without a play. By making a shape of the friction member  27  into a semispherical form, a dimensional displacement between the two V-grooves  29   a  and the extended portion  28  is absorbed, so that a stable contact state is obtained between the vibrating body  7  and the contact portion  5 . 
   As a structure of the extended portion, a pin  31   a  may be monolithically provided in a band-like shape  31   b  as shown in  FIG. 11 . In this case, a bonding strength between the extended portion  31  and the vibrating body  7  becomes large. Further, in this case, since the extended portion  31  is bonded over the whole width direction of the vibrating body  7 , the vibration of the vibrating body  7  is not affected even if a position of the pin  31   a  is not agreed with a center, and a stable support becomes possible by lowering the position of the pin  31   a  to the contact member  5  side. Further, here, the similar advantage is obtained by making a friction member  30  into a half-cylindrical shape. 
   In this manner, if there is adopted a structure in which a pressurization or support force applying a contact pressure between the friction member and the contact member acts on plural points in a width direction of the vibrating body by making a shape of the friction member into one having a curved line at least toward the width direction of the vibrating body, no limitation is given to the structure, mainly one shown in  FIG. 4 , so that there is solved an instability of contact between the friction member and the contact member, which is generated by a dispersion of the pressurization in plural points, a dispersion of dimension of the support member, and the like. 
   Further, if the friction member is made into the hemispherical shape, besides these advantages, also an influence of dimensional variation, etc. generated in a bonded portion between the friction member and the vibrating body can be nullified. And, in this case, the advantage is obtained not by the support and the pressurization structure. 
   By the way, as materials for the extended portions  28  and  31 , it is preferable to use engineering plastic, etc. for instance, which are greatly different in acoustic impedance, elastic modulus and the like from the vibrating body  7 . In this case, there are advantages that not only the vibration of the vibrating body  7  is not damaged, but also a vibration mode shape is difficult to be influenced, and it is difficult to generate an energy loss by the support and a dispersion of individual product. 
   However, in this manner, if the extended portion  31  is one having a portion bonded to the vibrating body  31 , e.g., the band-like shape portion  31   b , there may be used a metal having high thermal conductivity, e.g., copper alloy, aluminum alloy, and the like. In this case, since it is possible to radiate the heat generated in the vibrating body  7 , it is possible to apply a large input, so that a high output piezoelectric motor can be realized. Especially, in this embodiment, since it is provided in the vicinity of the node where the generation of heat is large, an efficiency of heat radiation is good. Especially, if the pin  31   a  is provided in the center of the vibrating body  7 , it becomes effective because fears of the loss of vibration and the change in the vibration mode shape owing to the fact that the extended portion has been attached are small. 
   (Embodiment 5) 
   The embodiment 5 of the invention is explained using  FIG. 12  and  FIG. 13 . This is an example in which the piezoelectric motor of the invention is applied to a drive of a head of a hard disc. 
   In  FIG. 12A , a rotation shaft  47  is provided in a center of the vibrating body  7 , i.e., in the vicinity of a position becoming the node of vibration. In  FIG. 12B , the rotation shaft  47  is guided by a bearing  38  fixed to a presser plate  39 . The rotation shaft  47  is drive-fixed to an inner ring of the bearing  38 , and no play occurs in the rotation shaft  47  because a pre-load is applied to the bearing by a pre-load spring (not shown). The friction member  12  provided in the vibrating body  12  and a movable body  40   a  to which an arm  40   b  having a head  40   c  are pressurized by a pressurization spring  32  of a spring material in the vicinity of a node position of the vibration of the vibrating body  7 , and a tip  32   a  of the spring is pressurization-contacted. An arm portion  40  comprising the movable body  40   a , the arm  40   b  and the head  40  operates coinciding with a rotation of the movable body  40   a , and the head  40   c  reads information of a disc  41 . Since the piezoelectric motor of the invention is very high in its positioning resolving power and is excellent in its response characteristic, it can be applied to a future information storage device in which a high dencification of information is being proceeded, such as HDD and optical disc. Further, since no electric power is consumed at a stationary time, it is possible to aim at a power conservation of the equipment. 
     FIG. 13  is a modified example of  FIG. 12 . In  FIG. 13A , a rotation shaft  42  is provided in a center of the vibrating body  7 , i.e., in the vicinity of a position becoming the node of vibration. In  FIG. 13B , the rotation shaft  42  is guided by a bearing  33  fixed to a presser plate  34 . The rotation shaft  42  is drive-fixed to an inner ring of the bearing  33 . Here, by adopting such a structure that the pressurization acts as a torque of the rotation shaft  42  by pressurizing a tip  35   a  of a pressurization receiving member  35  connected to the rotation shaft  42  by means of a spring member  36  instead of applying the pressurization to the vibrating body  7 , since the pressurization does not act directly to the vibrating body  7 , there is no loss of the vibration, the high efficiency is obtained, and the dispersion in characteristic of the individual motor becomes small. 
   In the above, although it has been shown about the embodiments 1–5, the shape of the vibrating body, the operation principle and the like are not limited by these embodiments, and the support structure concerned may be applied to a non-resonant ultrasonic motor for instance. Also in this case, it is desirable that the support position exists in a portion in which the displacement is small. 
   Further, as to the friction member, it may not exist, and the contact member and the vibrating body may be directly contacted. 
   (Embodiment 6) 
   On the basis of  FIG. 14 , it is explained about an example in which an electronic equipment is constituted by using the piezoelectric motor according to the embodiments 1–5. 
     FIG. 14  shows a block diagram in case where a piezoelectric motor  200  driven by the invention is applied to a drive source of the electronic equipment. The electronic equipment is composed of the piezoelectric motor  200  comprising a vibrating body  50 , a friction member  51  connected to the vibrating body  50 , a pressurization means  55  for pressurizing the friction member  51  and a movable body  54 , and the movable body  54  friction-driven under a state of being pressurized; a transmission mechanism  52  operating monolithically with the movable body  54 ; and an output mechanism  53  operated on the basis of an operation of the transmission mechanism  52 . 
   Here, it is explained about an example in which the movable member is made a rotating body and the movable body is rotation-operated. 
   In the transmission mechanism  52 , there are used, for example, gear trains and transmission wheels such as friction wheels. As the output mechanism  53 , there are used a paper feed mechanism in printers, a shutter drive mechanism, lens drive mechanism, film winding mechanism and the like in cameras, a pointer and the like in electronic equipments and measuring instruments, an arm mechanism in robots, and a gear tooth feed mechanism, workpiece feed mechanism and the like in machine tools. 
   Incidentally, as the electronic equipments in this embodiment, there are realized electronic timepieces, measuring instruments, cameras, printers, printing machines, robots, machine tools, game devices, optical information equipments, medical equipments, mobile equipments and the like. Additionally, if an output shaft is provided in the movable body and there is adopted a constitution having a power transmission mechanism for transmitting a torque from the output shaft, a piezoelectric motor drive apparatus can be realized. And, if a stage is constituted as the piezoelectric motor drive apparatus, it is possible to provide the stage having the piezoelectric motor whose mechanism is simple and small size and which can be used even under an environment avoiding a magnetization in comparison with a stage using a usual electromagnetic motor. 
   According to the invention, in a piezoelectric motor operating, by vibration of a vibrating body having a piezoelectric element, a contact member or the vibrating body itself, there are possessed plural concave portions provided in the vibrating body, and a support member having plural convex portions engaging with the concave portions. Further, there are possessed plural convex portions provided in the vibrating body, and a support member having plural concave portions engaging with the convex portions. According to this, a stable contact state is obtained between the vibrating body and the contact portion, and the vibrating body is restrained in its motion in other direction. 
   Further, by the fact that the convex portion or the concave portion is provided in the vicinity of the position of node of vibration excited by the vibrating body, the vibration of the vibrating body is not hindered. 
   Further, by the fact that the friction member provided in the vibrating body is caused to have the portion extending from the vibrating body, the vibrating body can stably maintain the position also against the pressurization from the support member without coming down. 
   Further, by adapting such that it comprises a support member provided in the vibrating body and extending in a contact direction between the vibrating body and the contact member, and a guide member guiding the support member, and a motion in a direction other than a contact direction between a friction member provided in the vibrating body and the contact member is regulated by the support member and the guide member, a simple and stable support is obtained. 
   Further, also by the facts that it comprises a support member provided in the vibrating body and extending in a contact direction between the vibrating body and the contact member, a guide member guiding the support member, and a spring member applying a contact pressure between the vibrating body and the contact member, the vibrating body and the contact member are guided by the support member and the guide member so as to be movable in a contact direction, and a rotation of the vibrating body about the support member is constrained by the spring member and a spring guide portion engaging with the spring member, the similar advantage is obtained. 
   Further, by the facts that it comprises a guide portion provided in the vibrating body, and one support member having an engagement portion engaging with the guide member, and a structure obtaining a contact pressure between the vibrating body and a friction member is made by applying a pressurization force to the support member, a stable contact state is obtained between the vibrating body and the contact portion and, since the vibrating body is restrained in its motion in other direction, a stable support having no play becomes possible. 
   Further, by the fact that the guide portion is provided in the vicinity of a position of node of vibration excited the vibrating body, a stable support becomes possible without hindering the vibration of the vibrating body. 
   Further, by the facts that a contact pressure between the friction member and the contact member is obtained by pressurizing an extending portion provided in the vibrating body by means of the support member, the extending portion engages with the support member and enables a rotation with a center line of the extending portion being made a rotation center, and shapes of the extending portion and the support member are determined such that an operation other than the rotation operation is regulated, a stable support having no play becomes possible. 
   Further, by making the friction member into a hemispherical or half-cylindrical shape, a dimensional difference of plural support portions is absorbed, and a stable contact state is obtained between the vibrating body and the contact portion. 
   Further, by the fact that there is adopted a structure in which the vibrating body is supported so as to be rotatable by a rotation shaft provided in the vibrating body, and a contact pressure is applied to the vibrating body and the movable body by a pressurization force from a spring member, a structure having no play in the support portion becomes possible. 
   Further, by adapting such that the pressurization force from the spring member acts to the vicinity of node of vibration exited by the vibrating body, a motor having high efficiency can be realized without hindering the vibration of the vibrating body. 
   Further, by adopting such a structure that the pressurization force from the spring member acts as a torque of the rotation shaft, there is no loss because no pressurization acts directly on the vibrating body, and an efficiency is high and a dispersion of individual motor becomes small. 
   Further, an electronic equipment with piezoelectric motor, in which there is mounted any one of the above piezoelectric motors, can drive a movable portion whose response is high and which has high positioning resolving power, and it is possible to realize an electronic equipment whose electric power consumption is low. 
   Further, a stage having any one of the above piezoelectric motors can provide a stage having a piezoelectric motor whose mechanism is simple and small, and which can be used even under an environment avoiding magnetization. By the above, according to the invention, since there is no mechanical play in the support portion or, even if the play exists, since it is maintained by a friction force between the vibrating body and the movable body, the stable positioning control which is high in precision becomes possible. And, since a vibration loss in the support portion is extremely small and a good contact is obtained between the vibrating body and the movable body, there is obtained a piezoelectric motor whose efficiency is high and whose life is long.