JP2007124893A - Rotary driving method and driver - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a small rotary drive of simple structure which can produce high speed rotation easily while exhibiting excellent rotation characteristics and capable of micromachining. <P>SOLUTION: The rotation driving method rotates a resilient rod or a tubular rotor 120 for a stator 110 supporting the both ends of the rotor 120 rotatably. Rocking moment of the rotor 120 of different phase is generated about at least two axes intersecting an axis connecting the both ends of the rotor 120 and intersecting each other. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a rotation driving method and apparatus using Coriolis force applied to a gyro sensor.

Conventionally, a rotary drive device holds a bearing inside a holding cylinder fixed to a stator plate, attaches a magnetic core to the outer periphery thereof, winds a plurality of drive coils around it, and uses a rotor magnet fixed to a rotor case to magnetize the magnet. The rotor shaft was supported by a bearing so as to surround the core, and the position detection sensor was arranged on the outer periphery of the rotor case.
JP-A-9-322508

  However, the rotary drive device as described above has a problem that it is difficult to reduce the size because the magnet is disposed so as to surround the magnetic core.

  The present invention has been made to solve the above-described problems, and provides a rotation driving method and apparatus that has a simple structure and can be made into a small micromachine, and that can easily achieve high-speed rotation and good rotation characteristics. The purpose is to provide.

  A rotational drive method according to claim 1 of the present invention is a rotational drive method for rotating a rod-like or cylindrical rotor having elasticity with respect to a stator that rotatably supports both end portions of the rotor. Oscillating moments having different phases of the rotor are generated around at least two axes that intersect with each other and intersect each other.

  A rotational drive method according to a second aspect of the present invention is a rotational drive method for rotating a rod-like or cylindrical rotor having elasticity with respect to a stator that rotatably supports both end portions of the rotor, wherein the rotor Generating a swinging moment of the rotor having a phase difference corresponding to the crossing angle between the at least two axes, around at least two axes intersecting with each other and intersecting each other. Features.

  According to a third aspect of the present invention, in the rotational driving method according to the first or second aspect, the at least two axes are orthogonal to the axis of the rotor.

  According to a fourth aspect of the present invention, in the rotational driving method according to the second or third aspect, the at least two axes are orthogonal to each other, and a phase difference of π / 2 around the at least two axes. A swinging moment of the rotor having the above is generated.

  According to a fifth aspect of the present invention, there is provided a rotary drive apparatus comprising: a stator; a rod-like or cylindrical rotor having both ends rotatably supported by the stator; and an axis connecting the both ends of the rotor And a plurality of drive members capable of generating swinging moments having different phases of the rotor around at least two axes intersecting each other.

  According to a sixth aspect of the present invention, there is provided a rotary drive device comprising: a stator; a rod-like or cylindrical rotor having both ends rotatably supported by the stator; and an axis connecting the both ends of the rotor A plurality of drive members capable of generating a swinging moment of the rotor having a phase difference corresponding to the crossing angle between the at least two axes, around at least two axes intersecting with each other. It is characterized by having.

  According to a seventh aspect of the present invention, in the rotary driving device according to the fifth or sixth aspect, the plurality of driving members are arranged around the at least two axes perpendicular to the axes of the rotor. Each of the rotor can generate a swinging moment.

  According to an eighth aspect of the present invention, in the rotary driving device according to the sixth or seventh aspect, the plurality of driving members are arranged at a position of π / 2 around the at least two axes orthogonal to each other. It is possible to generate a swinging moment of the rotor having a phase difference.

  A rotary drive device according to a ninth aspect of the present invention is the rotary drive device according to any one of the fifth to eighth aspects, wherein the plurality of drive members are provided near the center between the both end portions of the rotor. It is characterized by that.

  A rotary drive device according to a tenth aspect of the present invention is the rotary drive device according to the ninth aspect, wherein the plurality of drive members act near the center of the elastic rotor, thereby connecting the both end portions. The resonance of the rotor can be generated.

  The rotary drive device according to an eleventh aspect of the present invention is the rotary drive device according to any one of the fifth to tenth aspects, wherein the plurality of drive members are provided on the stator.

  A rotary drive device according to a twelfth aspect of the present invention is the rotary drive device according to any one of the fifth to eleventh aspects, wherein each of the drive members can generate a swinging moment of the rotor using electromagnetic force. It is characterized by comprising an electromagnetic driving member.

  A rotary drive device according to a thirteenth aspect of the present invention is the rotary drive device according to any one of the fifth to eleventh aspects, wherein each of the drive members can generate a swinging moment of the rotor using an electrostatic force. It is characterized by comprising an electrostatic force driving member.

  According to a fourteenth aspect of the present invention, in the rotary driving device according to any one of the fifth to eleventh aspects, each of the driving members can generate a swinging moment of the rotor using a piezoelectric power. It is characterized by comprising a piezoelectric power drive member.

  A rotary drive device according to a fifteenth aspect of the present invention is the rotary drive device according to any one of the fifth to eleventh aspects, wherein each of the drive members can generate a swinging moment of the rotor using light pressure. It is characterized by comprising an optical pressure driving member.

  According to a sixteenth aspect of the present invention, in the rotary driving device according to any one of the fifth to eleventh aspects, each driving member generates a swinging moment of the rotor by using a photovoltaic force. It is characterized by comprising a possible photovoltaic drive member.

  A rotary drive device according to a seventeenth aspect of the present invention is the rotary drive device according to any one of the fifth to eleventh aspects, wherein each of the drive members swings the rotor using thermal stress (thermal expansion). It is composed of a thermal stress (thermal expansion) driving member capable of generating a moment.

  According to an eighteenth aspect of the present invention, in the rotary driving device according to any one of the fifth to seventeenth aspects, the acceleration / deceleration for accelerating or decelerating the rotational speed in a state where the rotor is rotating. A member is further provided.

  A rotary drive device according to a nineteenth aspect of the present invention is the rotary drive device according to the eighteenth aspect, wherein the acceleration / deceleration member is a magnetic field having the same polarity as a magnetic charge or a charge polarity of a partial region of the rotor. Or a magnetic pole or electrode that can be generated by switching between an electric field and a magnetic field or electric field of opposite polarity, and before the region of the rotor passes through the acceleration / deceleration member, the magnetic pole or electrode The rotor is accelerated by generating a magnetic field or electric field having a polarity opposite to the polarity of the charge, and the magnetic pole or electrode generates a magnetic field or electric field having the same polarity as the polarity of the magnetic charge or charge. It is characterized by decelerating.

  A rotary drive device according to a twentieth aspect of the present invention is the rotary drive device according to the eighteenth or nineteenth aspect, wherein the acceleration / deceleration member is provided in the stator.

  As described above, the present invention is a rotational driving method for rotating a rod-like or cylindrical rotor having elasticity with respect to a stator that rotatably supports both end portions of the rotor, wherein the both end portions of the rotor are Since it is configured to generate oscillation moments with different phases of the rotor around at least two axes intersecting with each other and intersecting each other, high-speed rotation can be easily obtained, rotation characteristics are good, and the structure is Simple and compact micro-machine is possible.

  Embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic front view showing an embodiment of a rotary drive device according to the present invention, and FIG. 2 is a schematic sectional view. The rotational drive device 101 includes a stator 110 and a rod-shaped or cylindrical rotor 120. In the rotor 120, a magnetic ring 122 is attached to the center between both ends of the elastic shaft 121, and bearings 123 at both ends are rotatably supported by the stator 110. The stator 110 is provided with four drive members 115a, 115b, 115c, and 115d.

  These drive members 115a, 115b, 115c, and 115d have the swinging moments Mx1, Mx2, My1, and My2 of the rotor 120 around the other two axes X and Y, where Z is an axis connecting both ends of the rotor 120. Can be generated (induced).

  That is, the first and third drive members 115a and 115c capable of generating the swinging moments Mx1 and Mx2 of the rotor 120 around the X axis, and the swinging moments My1 and My2 of the rotor 120 around the Y axis can be generated. The second and fourth drive members 115b and 115d are arranged at an angle of 90 ° with respect to each other.

  By operating such driving members 115a to 115d with a phase difference of 90 °, the rotor 120 generates swing moments Mx1, Mx2 around the X axis and swing moments My1, My2 around the Y axis alternately (induction). ). Then, by causing the rotor 120 to alternately generate the swing moments Mx1, Mx2 about the X axis and the swing moments My1, My2 about the Y axis with a phase difference of 90 °, the moment about the rotation axis Z of the rotor 120 is generated. Mz is generated, and the rotor 120 rotates about the Z axis as a rotation axis by the moment Mz around the Z axis.

  Here, the operation principle of the rotary drive device 101 will be described with reference to FIGS. That is, it will be described that the rotor 120 of the rotary drive device 101 rotates by sequentially operating the four drive members 115a to 115d.

  First, as shown in FIGS. 3 and 4, when the driving member 115a is operated, a moment of Mx1 is generated in the magnetic ring 122 of the rotor 120, which causes the elastic shaft 121 to be distorted and the magnetic ring 122 to be driven. It is attracted to the member 115a.

  Next, as shown in FIGS. 5 and 6, when the driving member 115b is operated, a My1 moment is generated in the magnetic ring 122 of the rotor 120, which causes the elastic shaft 121 to be distorted and the magnetic ring 122 to move. It is attracted to the drive member 115b.

  Next, as shown in FIGS. 7 and 8, when the driving member 115c is operated, a moment of Mx2 is generated in the magnetic ring 122 of the rotor 120, which causes the elastic shaft 121 to be distorted and the magnetic ring 122 to move. It is attracted to the drive member 115c.

  Next, as shown in FIGS. 9 and 10, when the driving member 115d is operated, a My2 moment is generated in the magnetic ring 122 of the rotor 120, which causes the elastic shaft 121 to be distorted and the magnetic ring 122 to move. It is attracted to the driving member 115d.

  That is, in FIGS. 1 and 2, it can be understood that the rotation of the rotor 120 occurs according to the law of conservation of angular motion when viewed from the center portion (magnetic ring 122) of the rotor 120.

  On the other hand, when viewed from both end portions (bearings 123) of the rotor 120, the operation principle of the rotary drive device 101 can be said as follows. FIG. 11 is a schematic perspective view of what is generally referred to as the earth sesame 1, which uses a gyro moment.

  The center of the rotor 20 is supported from the left and right by a pivot bearing 11 provided on the gimbal 10. Therefore, the rotor 20 can rotate around the X axis. The center of the gimbal 10 is supported from the left and right by a pivot bearing 13 provided on the gimbal 12. Therefore, the gimbal 10 can rotate around the Y axis. The gimbal 12 is supported by a pivot bearing 14 from above and below (not shown). Therefore, the gimbal 12 can rotate around the Z axis.

  In the earth sesame 1 as described above, there is a rotor 20 that rotates about the X axis with a swinging moment Mx. To this, the gimbal 10 is rotated around the Y axis, and a swinging moment My is applied. Then, a gyro moment called Mz is generated around the Z axis, and the gimbal 12 rotates.

  That is, when viewed from both ends (bearings 123) of the rotor 120, it is understood that the rotary drive device 101 rotates by the action of the gyro moment, that is, the Coriolis force.

  The rotation direction of the rotor 120 according to the above-mentioned law of conservation of angular motion and the rotation direction of the rotor 120 due to the Coriolis force (the action of the gyro moment) are the same direction.

  As an input waveform for operating such driving members 115a to 115d, a rectangular wave (pulse waveform) as shown in FIG. 12 can be used. Here, the rotational direction of the rotor 120 will be described with reference to FIG.

  First, as shown in FIG. 12 (a), the first driving member 115a is operated, and then the second driving member 115b is operated with a phase difference of 90 ° (π / 2) with this, followed by this. When the third driving member 115c is operated with a phase difference of 90 ° (π / 2) and the fourth driving member 115d is operated with a phase difference of 90 ° (π / 2) with this, The rotor 120 has a rocking moment My1 around the Y axis with a phase difference of 90 ° following the rocking moment Mx1 around the X axis, and further 90 ° following the rocking moment Mx2 around the X axis. The oscillation moment My2 around the Y axis is alternately generated (induced) with a phase difference of. Thus, the rotor 120 rotates in a direction in which the position (location) corresponding to the second drive member 115b moves to the position (location) corresponding to the first drive member 115a due to the moment generated around the Z axis. .

  On the contrary, as shown in FIG. 12B, the fourth driving member 115d is operated, and then the third driving member 115c is operated with a phase difference of 90 ° (π / 2) with this, followed by When the second drive member 115b is operated with a phase difference of 90 ° (π / 2) from this, and then the first drive member 115a is operated with a phase difference of 90 ° (π / 2) with this The rotor 120 has a rocking moment Mx2 about the X axis with a phase difference of 90 ° following the rocking moment My2 about the Y axis, and further follows the rocking moment My1 about the Y axis. Oscillation moment Mx1 around the X axis is alternately generated (induced) with a phase difference of °. Thereby, the rotor 120 rotates in a direction in which the position (location) corresponding to the first drive member 115a moves to the position (location) corresponding to the second drive member 115b by the moment generated around the Z axis. .

  For example, a sine wave can be used as the input waveform for operating the driving members 115a to 115d instead of the rectangular wave (pulse waveform) as shown in FIG.

  Such driving members 115a to 115d can be configured by, for example, electromagnetic force driving members that generate driving force in the rotor 120 using electromagnetic force. In this case, the driving members 115a to 115d are constituted by electromagnets, and the central portion of the rotor 120 is constituted by the magnetic ring 122, so that when the electromagnetic force driving members 115a to 115d are energized, the central portion of the rotor 120 (magnetic material) The rings 122) can be sucked in the direction of the drive members 115a to 115d, respectively.

  Further, the driving members 115a to 115d can be configured by, for example, electrostatic force driving members that generate driving force on the rotor 120 using electrostatic force. In this case, the driving members 115a to 115d are made of electrodes, and the central portion of the rotor 120 is made of an insulator or dielectric so that when the electrostatic force driving members 115a to 115d are energized, the central portion of the rotor 120 (insulating) Body or dielectric) can be attracted or repelled in the direction of drive members 115a-115d, respectively.

  Further, the driving members 115a to 115d can be configured by, for example, a piezoelectric power driving member that generates a driving force on the rotor 120 using piezoelectric power. In this case, the driving members 115a to 115d are formed of piezoelectric elements, and when the piezoelectric power driving members 115a to 115d are driven by directly contacting the central portion of the rotor 120, the central portions of the rotor 120 are respectively connected to the driving members 115a. It can be repelled in the direction opposite to the direction of ~ 115d.

  Further, the driving members 115a to 115d can be configured by, for example, optical pressure driving members that generate a driving force on the rotor 120 using optical pressure. In this case, the driving members 115a to 115d are configured by a photon pressure discharging device, so that when the light pressure driving members 115a to 115d are driven, the central portion of the rotor 120 is set in the direction opposite to the direction of the driving members 115a to 115d, respectively. Can be repelled.

  Further, the driving members 115a to 115d can be constituted by, for example, photovoltaic driving members that generate driving force on the rotor 120 using photovoltaic power. In this case, when the driving members 115a to 115d are configured by a laser discharge device and an electromotive force is generated by a photodiode at the center of the rotor 120, the photovoltaic driving members 115a to 115d are driven. The central part of the rotor 120 can be sucked or repelled in the direction of the driving members 115a to 115d, respectively.

  Further, the driving members 115a to 115d can be constituted by, for example, thermal stress (thermal expansion) driving members that generate a driving force on the rotor 120 using thermal stress (thermal expansion). In this case, the driving members 115a to 115d are constituted by a heat source, and the thermal stress (thermal expansion) driving members 115a to 115d are driven by directly contacting the central portion of the rotor 120 and applying thermal stress (thermal expansion) to the rotor 120. When this is done, the central part of the rotor 120 can be repelled in the direction opposite to the direction of the drive members 115a to 115d.

  Even when any of the above-described configurations is adopted as the driving members 115a to 115d, the important thing is that the driving member 115a is provided at the center between both ends of the elastic shaft 121 whose both ends are rotatably supported by the stator 110 by bearings 123. To exert an action (attraction or repulsion) by ~ 115d. Then, the rotor 120 is resonated by acting on the central portion between the both ends of the elastic shaft 121 (for example, the magnetic ring 122), and thereby it is possible to extract output energy that is efficient with respect to input energy.

  In the rotation drive device 101, it is preferable that an acceleration / deceleration member 116 for accelerating or decelerating the rotation speed while the rotor 120 is rotating is preferably provided on the stator 110.

  As shown in FIG. 13, the acceleration / deceleration member 116 has a magnetic field having the same polarity as the polarity (N pole or S pole) of the magnetic charge (magnetism) included in a partial region 126 of the rotor 120 and a magnetic field having the opposite polarity. And a magnetic pole (electromagnet) 117 that can be generated by switching between the two.

  That is, as shown in FIG. 13, the magnet plate 127 is attached to a partial region 126 of the rotor 120. For example, an N-pole magnet plate 127 is attached.

  The electromagnet (magnetic pole) 117 of the acceleration / deceleration member 116 is disposed at or near the position where the region 126 to which the magnet plate 127 is attached passes when the rotor 120 is rotating. For example, as shown in FIG. 10, an electromagnet (magnetic pole) 117 is arranged.

  Then, before the region 126 of the rotor 120 passes through the acceleration / deceleration member 116, the electromagnet 117 is energized to generate an N-pole or S-pole magnetic pole. Further, at the moment when the region 126 of the rotor 120 passes through the acceleration / deceleration member 116, the electromagnet 117 is de-energized and depolarized. Such on / off timing of the electromagnet 117 is accurately performed using an appropriate sensor.

  When accelerating the rotation of the rotor 120, as shown in FIG. 13, the electromagnet 117 is energized to generate an S pole. As a result, a magnetic attractive force acts on the magnet plate 127 (N pole) of the rotor 120 from the magnetic pole (S pole) of the electromagnet 117, and as a result, the rotation of the rotor 120 is accelerated.

  On the other hand, when the rotation of the rotor 120 is decelerated, as shown in FIG. 14, the electromagnet 117 is energized to generate an N-pole magnetic pole. Thereby, a magnetic repulsive force acts on the magnet plate 127 (N pole) of the rotor 120 from the magnetic pole (N pole) of the electromagnet 117, and as a result, the rotation of the rotor 120 is decelerated.

  Although not shown, the accelerating / decelerating member 116 switches between an electric field having the same polarity as the polarity of the charge (a positive pole or a negative pole) included in a part of the rotor 120 and an electric field having a reverse polarity. It is also possible to provide a configuration with an electrode portion that can be generated.

  According to the present invention as described above, the principle of having two or more driving force generating portions on an axis orthogonal to the rotor and rotating the rotor by operating each driving force with a phase shifted is used. This eliminates the need to place a magnet around the shaft core. That is, downsizing is possible.

It is a schematic front view which shows one Embodiment of the rotational drive apparatus by this invention. It is a schematic sectional drawing of the rotational drive apparatus of FIG. FIG. 3 is a schematic plan view when a drive member 115a is operated in the rotary drive device of FIGS. 1 and 2. FIG. 3 is a schematic cross-sectional view when a drive member 115a is operated in the rotary drive device of FIGS. 1 and 2. FIG. 3 is a schematic front view when a drive member 115b is operated in the rotary drive device of FIGS. 1 and 2; FIG. 3 is a schematic cross-sectional view when a drive member 115b is operated in the rotary drive device of FIGS. 1 and 2. FIG. 3 is a schematic plan view when a driving member 115 c is operated in the rotary driving device of FIGS. 1 and 2. FIG. 3 is a schematic cross-sectional view when a drive member 115 c is operated in the rotary drive device of FIGS. 1 and 2. FIG. 3 is a schematic front view when a drive member 115d is operated in the rotary drive device of FIGS. 1 and 2. FIG. 3 is a schematic cross-sectional view when a driving member 115d is operated in the rotary driving device of FIGS. 1 and 2; It is a schematic perspective view for demonstrating a gyro moment. It is a wave form diagram which shows an example of the input waveform input into the drive member of the rotational drive apparatus of FIG. 1, FIG. It is explanatory drawing which shows an example of the acceleration method of the rotational drive apparatus of FIG. 1, FIG. It is explanatory drawing which shows an example of the deceleration method of the rotational drive apparatus of FIG. 1, FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 Rotation drive apparatus 110 Stator 115a-115d Drive member 120 Rotor 121 Elastic body shaft 122 Magnetic body ring 123 Bearing 116 Acceleration / deceleration member 117 Electromagnet 127 Magnetic plate

Claims (20)

A rotational drive method of rotating a rod-like or cylindrical rotor having elasticity with respect to a stator that rotatably supports both end portions of the rotor,
A rotational driving method characterized by generating swinging moments having different phases of the rotor around at least two axes intersecting with an axis connecting the both end portions of the rotor. A rotational drive method of rotating a rod-like or cylindrical rotor having elasticity with respect to a stator that rotatably supports both end portions of the rotor,
An oscillation moment of the rotor having a phase difference corresponding to an intersection angle between the at least two axes is generated around at least two axes intersecting with each other and intersecting with the axis connecting the both end portions of the rotor. And a rotational driving method.   The rotation driving method according to claim 1, wherein the at least two axes are orthogonal to the axis of the rotor.   4. The rotational drive according to claim 2, wherein the at least two axes are orthogonal to each other and generate a swinging moment of the rotor having a phase difference of π / 2 around the at least two axes. Method. A stator,
A rod-like or cylindrical rotor having both ends rotatably supported by the stator and having elasticity;
A plurality of drive members that can generate oscillation moments having different phases of the rotor around at least two axes that intersect the axis connecting the both ends of the rotor and intersect each other;
A rotary drive device comprising: A stator,
A rod-like or cylindrical rotor having both ends rotatably supported by the stator and having elasticity;
Oscillating moments of the rotor having a phase difference corresponding to the intersecting angle between the at least two axes are generated around at least two axes intersecting with the axis connecting the both end portions of the rotor. A plurality of possible drive members;
A rotary drive device comprising:   7. The rotation according to claim 5, wherein the plurality of drive members are capable of generating a swinging moment of the rotor around the at least two axes orthogonal to the axis of the rotor, respectively. Drive device.   8. The plurality of driving members can respectively generate a swinging moment of the rotor having a phase difference of π / 2 around the at least two axes orthogonal to each other. The rotational drive device described.   The rotary drive device according to claim 5, wherein the plurality of drive members are provided in the vicinity of the center between the both end portions of the rotor.   The rotational drive according to claim 9, wherein the plurality of driving members are capable of causing resonance of the rotor having nodes at both ends by acting near the center of the elastic rotor. apparatus.   The rotary drive device according to claim 5, wherein the plurality of drive members are provided on the stator.   The rotary drive device according to any one of claims 5 to 11, wherein each of the drive members is configured by an electromagnetic force drive member capable of generating a swinging moment of the rotor using an electromagnetic force.   The rotary drive device according to any one of claims 5 to 11, wherein each of the drive members includes an electrostatic force drive member capable of generating a swinging moment of the rotor using an electrostatic force.   The rotary driving device according to any one of claims 5 to 11, wherein each of the driving members includes a piezoelectric power driving member capable of generating a swinging moment of the rotor using piezoelectric power.   The rotary driving device according to any one of claims 5 to 11, wherein each of the driving members is configured by a light pressure driving member capable of generating a swinging moment of the rotor using light pressure.   The rotational drive according to any one of claims 5 to 11, wherein each of the driving members is configured by a photovoltaic driving member capable of generating a swinging moment of the rotor by using a photovoltaic force. apparatus.   Each said drive member is comprised with the thermal stress (thermal expansion) drive member which can generate | occur | produce the rocking | fluctuation moment of the said rotor using a thermal stress (thermal expansion), The any one of Claims 5-11 characterized by the above-mentioned. The rotation drive device according to claim 1.   18. The rotary drive device according to claim 5, further comprising an acceleration / deceleration member that accelerates or decelerates a rotation speed in a state where the rotor is rotating. The acceleration / deceleration member includes a magnetic pole or an electrode that can be generated by switching between a magnetic field or electric field having the same polarity as the magnetic charge or electric charge of a partial region of the rotor and a magnetic field or electric field having an opposite polarity. ,
Before the region of the rotor passes through the acceleration / deceleration member, the magnetic pole or electrode generates a magnetic field or electric field having a polarity opposite to the polarity of the magnetic charge or charge to accelerate the rotor, and 19. The rotary drive device according to claim 18, wherein the magnetic pole or the electrode generates a magnetic field or an electric field having the same polarity as that of the magnetic charge or electric charge to decelerate the rotor.   20. The rotary drive device according to claim 18, wherein the acceleration / deceleration member is provided in the stator.

Images