JP2007124895A - 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 rotary driving method rotates a second rotor 130 equipped with an inner circumferential surface having a diameter larger than that of the outer circumferential surface of a first rotor 120 rotatable about the axis and equipped with the outer circumferential surface along the outer circumferential surface. Attraction or repulsion of different phase in the rotational direction is applied to the second rotor 130 radially outward or inward of the first or second rotor 120, 130. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a rotation driving method and apparatus using a cycloid operation.

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.

  According to a first aspect of the present invention, there is provided a rotational drive method comprising an inner peripheral surface that is rotatable about an axis and has a larger diameter than the outer peripheral surface along the outer peripheral surface of a first rotor having an outer peripheral surface. A rotational drive method for rotating a second rotor provided, wherein the second rotor has an attractive force or a repulsive force having a rotational phase different inwardly or radially outwardly of the first or second rotor. It is made to act.

  According to a second aspect of the present invention, in the rotational driving method according to the first aspect, the outer peripheral surface of the first rotor is toothed, and the inner peripheral surface of the second rotor. Is characterized in that teeth that mesh with the teeth of the one rotor are carved.

  The rotational drive method according to claim 3 of the present invention is the rotational drive method according to claim 1 or 2, wherein the second rotor has an attractive force or a repulsive force having a phase difference corresponding to a phase angle in the rotational direction. It is characterized by acting.

  According to a fourth aspect of the present invention, there is provided a rotary drive device comprising: a stator; a first rotor supported by the stator so as to be rotatable about an axis; and an outer peripheral surface; and the outer peripheral surface of the first rotor. An attractive force or a repulsive force that is different in phase in the rotational direction with respect to the second rotor between the second rotor having a larger-diameter inner peripheral surface and the radially inner side or the outer side of the first or second rotor. And a plurality of drive members that can be generated respectively.

  According to a fifth aspect of the present invention, there is provided a rotary drive device comprising: a stator; a first rotor supported on the stator so as to be rotatable around an axis; and having an outer peripheral surface inscribed with teeth; and the first rotor A second rotor having an inner peripheral surface that is larger in diameter than the outer peripheral surface of the rotor and engraved with teeth that mesh with the teeth of the first rotor; and a radial direction of the first or second rotor And a plurality of drive members capable of generating attraction or repulsion forces having different rotational phases relative to the second rotor, either inward or outward.

  According to a sixth aspect of the present invention, in the rotary driving device according to the fourth or fifth aspect, the plurality of driving members are at an arbitrary angle with respect to each other along the rotational direction of the second rotor. And an attractive force or a repulsive force each having a phase difference corresponding to the angle can be generated.

  According to a seventh aspect of the present invention, in the rotary driving device according to the fourth or fifth aspect, the plurality of driving members are mutually π / 2 along the rotational direction of the second rotor. And an attractive force or a repulsive force having a phase difference of π / 2 according to the angle can be generated.

  The rotary drive device according to an eighth aspect of the present invention is the rotary drive device according to any one of the fourth to seventh aspects, wherein the plurality of drive members are provided in the stator.

  A rotary drive device according to a ninth aspect of the present invention is the rotary drive device according to any one of the fourth to eighth aspects, wherein each of the drive members can generate an attractive force or a repulsive force with respect to the rotor using an electromagnetic force. It is characterized by comprising an electromagnetic driving member.

  A rotary drive device according to a tenth aspect of the present invention is the rotary drive device according to any one of the fourth to eighth aspects, wherein each of the drive members can generate an attractive force or a repulsive force with respect to the rotor using an electrostatic force. It is characterized by comprising an electrostatic force driving member.

  The rotary drive apparatus according to an eleventh aspect of the present invention is the rotary drive apparatus according to any one of the fourth to eighth aspects, wherein each of the drive members can generate an attractive force or a repulsive force with respect to the rotor using a piezoelectric power. It is characterized by comprising a piezoelectric power drive member.

  A rotary drive device according to a twelfth aspect of the present invention is the rotary drive device according to any one of the fourth to eighth aspects, wherein each of the drive members can generate an attractive force or a repulsive force on the rotor using light pressure. It is characterized by comprising an optical pressure 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 fourth to eighth aspects, wherein each of the drive members generates an attractive force or a repulsive force with respect to the rotor using a photovoltaic force. It is characterized by comprising a possible photovoltaic drive member.

  A rotary drive device according to a fourteenth aspect of the present invention is the rotary drive device according to any one of the fourth to eighth aspects, wherein each of the driving members uses an attractive force against the rotor or a thermal stress (thermal expansion). It is characterized by comprising a thermal stress (thermal expansion) driving member capable of generating repulsive force.

  According to a fifteenth aspect of the present invention, in the rotary drive device according to any one of the fourth to fourteenth aspects, the acceleration / deceleration for accelerating or decelerating the rotation speed in a state where the rotor is rotating. A member is further provided.

  According to a sixteenth aspect of the present invention, in the rotary driving device according to the fifteenth aspect, the acceleration / deceleration member is a magnetic field having the same polarity as the polarity of the magnetic charge or charge 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.

  According to a seventeenth aspect of the present invention, in the rotary driving device according to the fifteenth or sixteenth aspect, the acceleration / deceleration member is provided in the stator.

  As described above, according to the second aspect of the present invention, the second rotor having an inner peripheral surface having a larger diameter than the outer peripheral surface is provided along the outer peripheral surface of the first rotor that is rotatable around the axis and has the outer peripheral surface. A rotational driving method for rotating a rotor, wherein an attractive force or a repulsive force having different phases in the rotational direction is applied to the second rotor inward or outward in the radial direction of the first or second rotor. Therefore, high-speed rotation can be easily obtained, the rotation characteristics are good, the structure is simple, and a small micromachine can be realized.

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

  FIG. 1 is a schematic plan view showing a first embodiment of a rotary drive device according to the present invention, and FIG. 2 is a schematic longitudinal sectional view. The operation principle of the rotary drive device 101 will be described.

  In the rotary drive device 101, a first rotor 120 is attached to the center of a stepped stator 110 via a bearing 112 so as to be rotatable about a Z axis. A gear (not shown in detail) 121 is formed on the outer peripheral surface of the first rotor 120. Further, a second rotor 130 having a gear (not shown in detail) 131 that meshes with the gear 121 on the inner peripheral surface is placed on a step portion of the stator 110. The second rotor 130 moves freely on the XY plane, and can rotate about the Z axis.

  That is, the first rotor 120 of the rotary drive device 101 can rotate around the Z axis, and the second rotor 130 can be as much as the clearance between the outer diameter of the first rotor 120 and the inner diameter of the second rotor 130. It can move freely on the XY plane.

  Outside the stator 110, drive members 115a, 115b, 115c, and 115d are provided on the extended lines of the X axis and the Y axis. These drive members 115a, 115b, 115c, and 115d are disposed at an angle of 90 degrees with the center of the stator 110 as the center, and when each drive member is operated, the second rotor 130 may be attracted or repelled. it can.

  Next, the rotation of the second rotor 130 of the rotary drive device 101 by sequentially operating the four drive members 115a to 115d will be described with reference to FIGS.

  First, as shown in FIG. 1, when the driving member 115a is operated, the second rotor 130 is sucked and moved to the position shown in the drawing. At this time, it is assumed that the second rotor 130 has a point (1).

  Next, as shown in FIG. 3, when the driving member 115b is operated, the second rotor 130 is sucked and moved to the position shown in the drawing. At this time, when the inner diameter of the second rotor 130 revolves along the outer diameter of the first rotor 120, the point shown in (1) in FIG. 1 moves to the position (2).

  Next, as shown in FIG. 4, when the driving member 115 c is operated, the second rotor 130 is sucked and moved to the illustrated position. At this time, when the inner diameter of the second rotor 130 revolves along the outer diameter of the first rotor 120, the point shown in (2) in FIG. 3 moves to the position (3).

  Next, as shown in FIG. 5, when the driving member 115d is operated, the second rotor 130 is sucked and moved to the illustrated position. At this time, when the inner diameter of the second rotor 130 revolves along the outer diameter of the first rotor 120, the point shown in (3) in FIG. 4 moves to the position (4).

  Next, as shown in FIG. 6, when the driving member 115a is actuated again, the second rotor 130 is sucked and moved to the illustrated position. At this time, when the inner diameter of the second rotor 130 revolves along the outer diameter of the first rotor 120, the point shown in (4) in FIG. 5 moves to the position (5).

That is, when the driving members 115a to 115d are operated in order to cause the second rotor 130 to revolve once,
2π * (inner diameter of second rotor) / (outer diameter of first rotor) −2π
Rotate the angle [unit is rad].

  That is, it is understood that the rotation of the second rotor 130 occurs due to the law of conservation of angular motion and friction.

  Then, when the second rotor 130 is rotated, the first rotor 120 is rotated around the axis line with the Z axis as a rotation axis via the gear 121 meshing with the gear 131 of the second rotor 130.

  Note that the positions (1) to (5) of these points are shown for convenience, and do not indicate the exact positions when the driving members 115a to 115d are operated in order.

  Such driving members 115a to 115d can be configured by, for example, electromagnetic force driving members that generate driving force on the second rotor 130 using electromagnetic force. In this case, the drive members 115a to 115d are made of electromagnets, and the second rotor 130 is made of a magnetic material, so that when the electromagnetic force drive members 115a to 115d are energized, the second rotor 130 is made to be drive members 115a to 115d, respectively. Can be sucked in the direction of

  Further, the driving members 115a to 115d can be configured by, for example, electrostatic force driving members that generate driving force on the second rotor 130 using electrostatic force. In this case, the driving members 115a to 115d are configured by electrodes, and the second rotor 130 is configured by an insulator or a dielectric, so that when the electrostatic force driving members 115a to 115d are energized, the second rotor 130 is driven by the driving member. Suction or repulsion can be performed in the direction of 115a to 115d.

  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 second rotor 130 using piezoelectric power. In this case, the driving members 115a to 115d are constituted by piezoelectric elements, and when the piezoelectric power driving members 115a to 115d are driven by directly contacting the second rotor 130 without the stator 110, the second rotor 130 is moved. Repulsion can be made in the direction opposite to the direction of the drive members 115a to 115d, respectively.

  Further, the driving members 115a to 115d can be configured by, for example, optical pressure driving members that generate a driving force on the second rotor 130 using optical pressure. In this case, the driving members 115a to 115d are constituted by photon pressure discharge devices, so that when the light pressure driving members 115a to 115d are driven, the second rotor 130 is repelled in the direction opposite to the direction of the driving members 115a to 115d. Can be made.

  Further, the driving members 115a to 115d can be configured by, for example, photovoltaic driving members that generate driving force on the second rotor 130 using photovoltaic power. In this case, when the driving members 115a to 115d are configured by a laser discharge device and the second rotor 130 is configured to generate an electromotive force by a photodiode, when the photovoltaic driving members 115a to 115d are driven, The second rotor 130 can be sucked or repelled in the direction of the drive 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 second rotor 130 using thermal stress (thermal expansion). In this case, the driving members 115a to 115d are constituted by a heat source, and are brought into direct contact with the second rotor 130 without passing through the stator 110 so as to apply thermal stress (thermal expansion) to the second rotor 130, thereby causing thermal stress (thermal expansion). When the driving members 115a to 115d are driven, the second rotor 130 can be repelled in directions opposite to the directions of the driving members 115a to 115d, respectively.

  By operating each of the driving members 115a to 115d with a phase difference of 90 °, the second rotor 130 has Mx1 in the X axis direction, My1 in the Y axis direction, Mx2 in the X axis direction, and My2 in the Y axis direction. Each can be generated. Then, by causing Mx1, My1, Mx2, and My2 to be generated in order in the second rotor 130, the second rotor 130 rotates about the Z axis as a rotation axis.

  As an input waveform for operating such driving members 115a to 115d, a rectangular wave (pulse waveform) as shown in FIG. 7 can be used. Here, the second rotor 130 will be described with reference to FIG.

  First, as shown in FIG. 7 (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 second rotor 130 has a Y-axis moment My1 with a 90 ° phase difference following the X-axis moment Mx1, and further has a 90 ° phase difference with the Y-axis moment Mx2. Moments My2 are alternately generated (induced), whereby a moment Mza as shown by an arrow a in FIG. 2 is generated around the Z axis. That is, the second rotor 130 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.

  As the second rotor 130 rotates, the first rotor 120 rotates in the same direction as the rotation direction of the second rotor 130.

  On the other hand, as shown in FIG. 7B, 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 second rotor 130 has an X-axis moment Mx2 with a 90 ° phase difference following the Y-axis moment My2, and further a Y-axis moment My1 with a 90 ° phase difference from the X-axis moment Mx2. The upper moment Mx1 is alternately generated (induced), whereby a moment Mzb as shown by an arrow b in FIG. 2 is generated around the Z axis. That is, the second rotor 130 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.

  As the second rotor 130 rotates, the first rotor 120 rotates in the same direction as the rotation direction of the second rotor 130.

  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.

  In the rotation drive device 101, it is preferable that the stator 110 further includes an acceleration / deceleration member 116 that accelerates or decelerates the rotation speed while the second rotor 130 is rotating.

  As shown in FIG. 8, the acceleration / deceleration member 116 includes a magnetic field having the same polarity as the polarity (N pole or S pole) of the magnetic charge (magnetism) included in a part of the region 126 of the second rotor 130, and a reverse polarity. Magnetic poles (electromagnets) 117 that can be generated by switching between these magnetic fields.

  That is, as shown in FIG. 8, the magnet plate 127 is attached to a partial region 126 of the second rotor 130. For example, an N-pole magnet plate 127N is attached to the upper surface side of the second rotor 130, and an S-pole magnet plate 127S is attached to the lower surface side of the rotor 120.

  The electromagnet (magnetic pole) 117 of the acceleration / deceleration member 116 is disposed at or near the position where the region 126 where the magnet plate 127 is attached passes when the second rotor 130 is rotating. For example, as shown in FIG. 8, an electromagnet (magnetic pole) 117U is arranged on the upper surface side of the second rotor 130, and an electromagnet (magnetic pole) 117D is arranged on the lower surface side of the second rotor 130.

  Then, before the region 126 of the second rotor 130 passes through the acceleration / deceleration member 116, the electromagnets 117U and 117D are energized to generate N or S poles. Further, at the moment when the region 126 of the second rotor 130 passes through the acceleration / deceleration member 116, the electromagnets 117U and 117D are de-energized and depolarized. Such on / off timing of the electromagnets 117U and 117D is accurately performed using an appropriate sensor.

  When accelerating the rotation of the second rotor 130, as shown in FIG. 8, the electromagnet 117U is energized to generate an S pole, and the electromagnet 117D is energized to generate an N pole. As a result, a magnetic attractive force acts on the magnet plate 127N (N pole) on the upper surface side of the second rotor 130 from the magnetic pole (S pole) of the electromagnet 117U, and the magnet on the lower surface side of the second rotor 130. A magnetic attraction force acts on the plate 127S (S pole) from the magnetic pole (N pole) of the electromagnet 117D. As a result, the rotation of the second rotor 130 is accelerated.

  On the other hand, when the rotation of the second rotor 130 is decelerated, as shown in FIG. 9, the electromagnet 117U is energized to generate an N pole magnetic pole, and the electromagnet 117D is energized to generate an S pole magnetic pole. Thereby, a magnetic repulsive force acts on the magnet plate 127N (N pole) on the upper surface side of the second rotor 130 from the magnetic pole (N pole) of the electromagnet 117U, and the magnet plate on the lower surface side of the second rotor 130. A magnetic repulsive force acts on the 127S (S pole) from the magnetic pole (S pole) of the electromagnet 117D, and as a result, the rotation of the second rotor 130 is decelerated.

  Further, as shown in FIG. 10, the acceleration / deceleration member 116 has an electric field having the same polarity as the polarity (+ polarity or −polarity) of the partial region 128 of the second rotor 130 and an electric field having the opposite polarity. It is also possible to provide an electrode part 118 that can be generated by switching between

  That is, as shown in FIG. 10, a positive electrode or a negative electrode (for example, a negative electrode) is charged in a partial region 128 of the second rotor 130.

  The electrode portion 118 of the acceleration / deceleration member 116 is disposed at or near the position where the charging region 128 passes when the second rotor 130 is rotating. For example, as shown in FIG. 10, the electrode portion 118 </ b> U is disposed on the upper surface side of the second rotor 130, and the electrode portion 118 </ b> D is disposed on the lower surface side of the second rotor 130. Then, before the charging region 128 of the second rotor 130 passes through the acceleration / deceleration member 116, the electrodes 118U and 118D are energized to generate a positive electrode or a negative electrode.

  When accelerating the rotation of the second rotor 130, as shown in FIG. 10 (a), the electrodes 118U and 118D are energized to generate a positive electrode. As a result, an electrical attraction force acts on the charging area 128 (−pole) of the second rotor 130 from the electrodes (+ pole) of the electrode portions 118U and 118D. As a result, the rotation of the second rotor 130 is prevented. Accelerated.

  On the other hand, when the rotation of the second rotor 130 is decelerated, as shown in FIG. 10B, the electrode portions 118U and 118D are energized to cause a negative electrode. As a result, an electrical repulsive force acts on the charging area 128 (−pole) of the second rotor 130 from the electrodes (−pole) of the electrode portions 118U and 118D, and as a result, the rotation of the second rotor 130 is decelerated. Is done.

  FIG. 11 is a schematic plan view showing a second embodiment of the rotary drive device according to the present invention, and FIG. 12 is a schematic longitudinal sectional view.

  In the rotation driving device 201, a first rotor 220 is attached to a stator 210 having a stepped column 211 via a bearing 212 attached to the stepped column 211 so as to be rotatable about the Z axis. A gear (not shown in detail) 221 is formed on the outer peripheral surface of the first rotor 220. A second rotor 230 having a gear (not shown in detail) 231 that meshes with the gear 221 on the inner peripheral surface is placed on the stator 210. The second rotor 230 moves freely on the XY plane and can rotate around the Z axis.

  In other words, the first rotor 220 of the rotary drive device 201 can rotate around the Z axis, and the second rotor 230 can have a clearance corresponding to the clearance between the outer diameter of the first rotor 220 and the inner diameter of the second rotor 230. It can move freely on the XY plane.

  The stator 210 is provided with four drive members 215a, 215b, 215c, and 215d on the extended lines of the X axis and the Y axis. These driving members 215a, 215b, 215c, and 215d are arranged at an angle of 90 degrees with the center of the stator 210 as the center, and when each driving member is operated, the second rotor 230 may be attracted or repelled. it can.

  By operating the driving members 215a to 215d with a phase difference of 90 °, the second rotor 230 alternately generates X-axis moments Mx1 and Mx2 and Y-axis moments My1 and My2. A moment Mz is generated around the rotation axis Z, and the second rotor 230 rotates around the Z axis by the moment Mz around the Z axis.

  Next, the rotation of the second rotor 230 of the rotation driving device 201 by sequentially operating the four driving members 215a to 215d will be described with reference to FIGS.

  First, as shown in FIG. 11, when the driving member 215a is operated, the second rotor 230 is sucked and moved to the position shown in the drawing. At this time, it is assumed that the second rotor 230 has a point (1).

  Next, as shown in FIG. 13, when the drive member 215b is operated, the second rotor 230 is sucked and moved to the position shown in the drawing. At this time, when the inner diameter of the second rotor 230 revolves along the outer diameter of the first rotor 220, the point shown in (1) in FIG. 11 moves to the position (2).

  Next, as shown in FIG. 14, when the drive member 215c is operated, the second rotor 230 is sucked and moved to the illustrated position. At this time, when the inner diameter of the second rotor 230 revolves along the outer diameter of the first rotor 220, the point shown in (2) in FIG. 13 moves to the position (3).

  Next, as shown in FIG. 15, when the driving member 215d is operated, the second rotor 230 is sucked and moved to the illustrated position. At this time, when the inner diameter of the second rotor 230 revolves along the outer diameter of the first rotor 220, the point shown in (3) in FIG. 14 moves to the position (4).

  Next, as shown in FIG. 16, when the driving member 215a is actuated again, the second rotor 230 is sucked and moved to the illustrated position. At this time, when the inner diameter of the second rotor 230 revolves along the outer diameter of the first rotor 220, the point shown in (4) in FIG. 15 moves to the position (5).

That is, when the driving members 215a to 215d are operated in order to cause the second rotor 230 to make one revolution,
2π * (inner diameter of second rotor) / (outer diameter of first rotor) −2π
Rotate the angle [unit is rad].

  That is, it is understood that the rotation of the second rotor 230 occurs due to the law of conservation of angular motion and friction.

  Then, when the second rotor 230 is rotated, the first rotor 220 is rotated about its axis with the Z axis as a rotation axis via the gear 221 meshing with the gear 231 of the second rotor 230.

  Note that the positions (1) to (5) of these points are shown for convenience, and do not indicate the exact positions when the drive members 215a to 215d are operated in order.

  As an input waveform for operating such driving members 215a to 215d, a rectangular wave (pulse waveform) as shown in FIG. 7 can be used. Here, the rotation direction of the second rotor 230 will be described with reference to FIG.

  First, as shown in FIG. 7 (a), the first driving member 215a is operated, and then the second driving member 215b is operated with a phase difference of 90 ° (π / 2) with this, followed by this. When the third driving member 215c is operated with a phase difference of 90 ° (π / 2) and the fourth driving member 215d is operated with a phase difference of 90 ° (π / 2) with this, The second rotor 230 has a Y-axis moment My1 with a 90 ° phase difference following the X-axis moment Mx1, and further follows a X-axis moment Mx2 with a 90 ° phase difference on the Y-axis. Moments My2 are alternately generated (induced), whereby a moment Mza as shown by an arrow a in FIG. 12 is generated around the Z axis. That is, the second rotor 230 rotates in a direction in which the position (location) corresponding to the first drive member 215a moves to the position (location) corresponding to the second drive member 215b.

  As the second rotor 230 rotates, the first rotor 220 rotates in the same direction as the rotation direction of the second rotor 230.

  On the other hand, as shown in FIG. 7B, the fourth driving member 215d is operated, and then the third driving member 215c is operated with a phase difference of 90 ° (π / 2), followed by When the second driving member 215b is operated with a phase difference of 90 ° (π / 2) from this, and then the first driving member 215a is operated with a phase difference of 90 ° (π / 2) with this The second rotor 230 has an X-axis moment Mx2 with a 90 ° phase difference following the Y-axis moment My2, and further a Y-axis moment My1 with a 90 ° phase difference with the X-axis moment Mx2. The upper moment Mx1 is alternately generated (induced), whereby a moment Mzb as shown by an arrow b in FIG. 12 is generated around the Z axis. That is, the second rotor 230 rotates in a direction in which the position (location) corresponding to the second drive member 215b moves to the position (location) corresponding to the first drive member 215a.

  As the second rotor 230 rotates, the first rotor 220 rotates in the same direction as the rotation direction of the second rotor 230.

  Also in this embodiment, it is preferable to provide an appropriate acceleration / deceleration member as with the acceleration / deceleration member 116 of the first embodiment.

  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, it is possible to reduce the size, and for example, it can be applied as a motor for a thin hard disk drive.

FIG. 2 is a schematic plan view showing the first embodiment of the rotary drive device according to the present invention when the drive member 115a is operated. It is a schematic longitudinal cross-sectional view of the rotational drive apparatus of FIG. FIG. 2 is a schematic plan view when a driving member 115b is operated in the rotation driving device of FIG. 1. FIG. 2 is a schematic plan view when a drive member 115c is operated in the rotary drive device of FIG. FIG. 2 is a schematic plan view when a drive member 115d is operated in the rotary drive device of FIG. 1. FIG. 2 is a schematic plan view when the driving member 115a is operated again in the rotation driving device of FIG. 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. It is explanatory drawing which shows an example of the acceleration method of the rotational drive apparatus of FIG. It is explanatory drawing which shows an example of the deceleration method of the rotational drive apparatus of FIG. It is explanatory drawing which shows the other example of the acceleration method and deceleration method of the rotational drive apparatus of FIG. FIG. 7 is a schematic plan view showing a second embodiment of the rotary drive device according to the present invention when a drive member 215a is operated. It is a schematic longitudinal cross-sectional view of the rotational drive apparatus of FIG. FIG. 12 is a schematic plan view when a drive member 315b is operated in the rotary drive device of FIG. 11. FIG. 12 is a schematic plan view when a drive member 315c is operated in the rotary drive device of FIG. 11. FIG. 12 is a schematic plan view when a drive member 315d is operated in the rotary drive device of FIG. 11. FIG. 12 is a schematic plan view when the drive member 315a is actuated again in the rotary drive device of FIG. 11.

Explanation of symbols

101, 201 Rotation drive device 110, 210 Stator 112, 212 Bearing 211 Post 115a-115d, 215a-215d Drive member 120, 220 First rotor 121, 221 Gear 116 Acceleration / deceleration member 117 Electromagnet 118 Electrode 127 Magnetic plates 130, 230 Second rotor 131, 231 gear

Claims (17)

A rotational drive method for rotating a second rotor having an inner peripheral surface larger than the outer peripheral surface along the outer peripheral surface of the first rotor having an outer peripheral surface that is rotatable around an axis. There,
A rotation driving method, wherein an attractive force or a repulsive force having a different phase in a rotational direction is applied to the second rotor inward or outward in a radial direction of the first or second rotor.   The outer peripheral surface of the first rotor is engraved with teeth, and the inner peripheral surface of the second rotor is engraved with teeth that mesh with the teeth of the first rotor. The rotation driving method according to claim 1.   The rotational drive method according to claim 1, wherein an attractive force or a repulsive force having a phase difference corresponding to a phase angle in the rotation direction is applied to the second rotor. A stator,
A first rotor supported by the stator so as to be rotatable around an axis and having an outer peripheral surface;
A second rotor having an inner peripheral surface larger in diameter than the outer peripheral surface of the first rotor;
A plurality of driving members capable of generating attractive forces or repulsive forces having different phases in the rotational direction with respect to the second rotor, respectively, inward or outward in the radial direction of the first or second rotor;
A rotary drive device comprising: A stator,
A first rotor supported on the stator so as to be rotatable around an axis and having an outer peripheral surface with teeth engraved;
A second rotor having an inner peripheral surface that is larger in diameter than the outer peripheral surface of the first rotor and engraved with teeth that mesh with the teeth of the first rotor;
A plurality of driving members capable of generating attractive forces or repulsive forces having different phases in the rotational direction with respect to the second rotor, respectively, inward or outward in the radial direction of the first or second rotor;
A rotary drive device comprising:   The plurality of driving members are arranged with an arbitrary angle between each other along the rotation direction of the second rotor, and can generate an attractive force or a repulsive force having a phase difference corresponding to the angle. The rotary drive device according to claim 4 or 5.   The plurality of driving members are arranged with a π / 2 angle between each other along the rotation direction of the second rotor, and generate an attractive force or a repulsive force having a phase difference of π / 2 corresponding to the angle. 6. The rotary drive device according to claim 4 or 5, which is possible.   The rotary driving device according to claim 4, wherein the plurality of driving members are provided on the stator.   The rotary driving device according to any one of claims 4 to 8, wherein each of the driving members is configured by an electromagnetic force driving member capable of generating an attractive force or a repulsive force with respect to the rotor by using an electromagnetic force.   9. The rotary drive device according to claim 4, wherein each of the drive members is configured by an electrostatic force drive member that can generate an attractive force or a repulsive force with respect to the rotor using an electrostatic force.   9. The rotary drive device according to claim 4, wherein each of the driving members is configured by a piezoelectric power driving member capable of generating attractive force or repulsive force with respect to the rotor using piezoelectric power.   The rotary driving device according to any one of claims 4 to 8, wherein each of the driving members is configured by an optical pressure driving member capable of generating an attractive force or a repulsive force with respect to the rotor by using an optical pressure.   9. The rotational drive according to claim 4, wherein each of the driving members is a photovoltaic driving member capable of generating an attractive force or a repulsive force with respect to 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 attraction or repulsion with respect to the said rotor using a thermal stress (thermal expansion), The any one of Claims 4-8 characterized by the above-mentioned. The rotation drive device according to claim 1.   The rotation drive device according to any one of claims 4 to 14, 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 The rotary drive device according to claim 15, wherein the magnetic pole or the electrode decelerates the rotor by generating a magnetic field or electric field having the same polarity as that of the magnetic charge or electric charge.   The rotation driving device according to claim 15, wherein the acceleration / deceleration member is provided in the stator.

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