JPH04101671A - Harmonic drive electrostatic motor - Google Patents

Abstract

PURPOSE:To prevent breakage of coating and to facilitate highly accurate machining of a drive electrode by fitting a hollow tubular rotor over a stator mounted on the outer circumferential face of the drive electrode. CONSTITUTION:A metallic hollow tubular stator casing 2 is entirely covered with an insulation layer 3 composed of insulating adhesive and a plurality of drive electrodes P1-P8 are disposed, with predetermined pitches, in the circumferential direction on the surface of the insulation layer 3 while spacing from one another and a rotor rolling face 5 is formed on the outer circumferential faces of the drive electrodes P1-P8 thus constituting a stator 1. A hollow cylindrical rotor 11 is then fitted over the stator 1 while surrounding the stator 1. The rotor 11 is constituted of a metallic rotor electrode 12 and an insulating film 13 which covers the inner circumferential face or the entire face of the rotor electrode 12 so that the drive electrodes P1-P8 are not connected electrically with the rotor electrode 12.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a harmonic drive type electrostatic motor, which is a type of electrostatic motor.

[Background Art] A harmonic drive type electrostatic motor uses a temporal change in capacitance obtained by applying a drive voltage between a plurality of drive electrodes formed on a stator and a rotor as a driving energy source. Since it has a two-dimensional configuration, miniaturization is possible.

For this reason, research on harmonic drive type electrostatic motors is underway with the aim of putting them into practical use.

What is shown in FIGS. 5(a) and 5(b) is the structure of the currently proposed harmonic drive type electrostatic motor.
A rotor 61 having a hollow cylindrical shape or a solid cylindrical shape is inserted into a stator 51 having a hollow cylindrical shape. This stator 51 covers the inner peripheral surface of a hollow cylindrical metal stator casing 52 with an insulating layer 53 made of an insulating adhesive.
A plurality of curved drive electrode plates T1. T
2. ... are arranged with an air gap (groove) 54 therebetween, and the insulating layer 53 connects each drive electrode plate Tl, T2 . ...
are adhesively fixed to the stator casing 52, and drive electrode plates Tl, T2 . A rotor rolling surface 55 is formed on the inner peripheral surface of... On the other hand, the rotor 61 has an insulating film 63 formed on the outer peripheral surface of a rotor electrode 62.

Thus, the drive electrodes Tl, T2 . ...and rotor electrode 6
The outer circumferential surface of the rotor 61 and the stator 5 are connected to each other via the insulating film 63 by the electrostatic attraction force exerted by the voltage applied between the rotor 61 and the stator 5.
1 (drive electrodes Tl, T2, . . . ) are in contact with the inner peripheral surfaces of drive electrodes T1. When the voltage application positions of T2° . . . are sequentially switched, the rotor 61 precesses within the stator 51.

[Problems to be Solved by the Invention] The inventors of the present invention utilized a harmonic drive type electrostatic motor with a hollow rotor, and wired adjacent equipment or other electrical systems through the rotor. We are thinking of increasing the space utilization efficiency of the motor. However, with the inner rotor type harmonic drive type electrostatic motor as mentioned above, when the cord is wired inside the rotor,
There was a risk that the cord and the rotor would come into contact with each other, preventing rotation of the rotor or causing the cord coating to wear out.

Furthermore, since the drive electrode is formed on the inner peripheral surface of the stator casing, it is difficult to adhere the drive electrode to the stator casing and to process the drive electrode with high precision.

Furthermore, when using an inner rotor type harmonic drive type electrostatic motor in a feeding mechanism for paper or card feeders, the rotation of the rotor is extracted through a coupling and transmitted through mechanical parts such as gears and link mechanisms. It is necessary to transmit the signal to the feed roller, which makes the structure complicated.

The present invention was made in view of the above-mentioned technical background, and its purpose is to be able to route the cords of adjacent equipment without contacting the rotor, and to enable high-precision machining of drive electrodes. It is an object of the present invention to provide a harmonic drive type electrostatic motor which can be easily operated and also used in a simple paper feeding mechanism.

[Means for Solving the Problems] The harmonic drive type electrostatic motor of the present invention includes a stator provided with a plurality of pieces of mutually insulated drive electrodes on the outer circumferential surface, and a plurality of mutually insulated drive electrodes arranged on the outer circumference of the stator so as to surround the stator. The rotor electrode is characterized by comprising a hollow cylindrical rotor electrode, and an insulating film that electrically insulates the drive electrode and the rotor electrode.

[Function] The harmonic drive type electrostatic motor of the present invention has an outer rotor type in which the rotor is placed outside the stator. Therefore, when the inner stator is formed into a hollow cylinder, adjacent equipment can be placed in the hollow space of this stator. Even if a cord such as the above is wired, the cord and the rotor will not come into contact with each other, and there is no risk that the rotation of the rotor will be hindered by the wiring. Further, there is no possibility that the cord will be rubbed by the rotor and the coating will break.

Furthermore, since the drive electrode is provided on the outer circumferential surface of the stator, it is easy to bond the drive electrode to the outer circumferential surface of the stator, and the processing of the drive electrode is also facilitated, enabling high-precision processing of the drive electrode. Become.

Furthermore, since the rotor rotates outside the stator, it is possible to use the rotor directly as a paper feed roller in a paper feeder, etc., and the mechanism for driving the rotating collage can be configured with a simple structure. I can do it.

[Example] Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

FIGS. 1(a) and 1(b) show a schematic configuration of a harmonic drive type electrostatic motor A according to an embodiment of the present invention.

This motor A is composed of a stator 1, a rotor 11, and a drive control section 21.

The stator 1 has a hollow cylindrical metal stator casing 2 whose entire outer periphery is covered with an insulating layer made of an insulating adhesive, and a plurality of drive electrodes P1 to P8 (in the illustrated example, 8 poles) are provided on the surface of the insulating layer. The drive electrodes P1 to P8 are spaced apart from each other and arranged at regular pitches in the circumferential direction, and a rotor rolling surface 5 is formed on the outer peripheral surface of the drive electrodes P1 to P8. Further, insulating spacers 6 made of resin are embedded in each gap 4 between the drive electrodes 21 to 28. In this way, each drive electrode P1 to P8
are adhered to the outer peripheral surface of the stator casing 2 by the adhesive force of the insulating layer 3, and at the same time, the insulating layer 3 ensures insulation between the stator casing 2 and the drive electrodes P1 to P8. As a result, the insulation between the drive electrodes 21 to 28 is improved.

A hollow cylindrical rotor 11 whose inner diameter is slightly larger than the outer diameter of the stator 1 is inserted outside the stator 1 so as to surround the stator 1.
It has approximately the same length as the stator 1. The rotor 11 consists of a metal rotor electrode 12 and an insulating film 13, and the inner circumferential surface or the entire surface of the rotor electrode 12 is It is covered with an insulating or dielectric insulating film 13. Of course, the insulating film 13 may not be provided on the rotor 11 but may be provided on the outer peripheral surface of the stator 1. The rotor electrode 12 is always grounded via a support portion (not shown).

On the other hand, the drive control section 21 of the harmonic drive type electrostatic motor A includes a DC power supply 23, an oscillator 22, and a switching circuit 24, as shown in FIG. Each drive type t! A switching circuit 24 is connected to Pi to P8 via a drive electrode cable 25, and the switching circuit 24 applies a drive voltage V from a DC power supply 23 to the drive electrodes in tune with the signal from the oscillator 22. P1-P8
are being switched sequentially.

What is shown in FIG. S is a time chart showing changes in the voltage of each drive electrode P1 to P8 controlled by the switching circuit 24. In this way, each drive electrode P1~
As for P8, since the application position of the drive voltage V is moved one by one in the circumferential direction by the switching circuit 24, the direction in which the rotor 11 is attracted by the electrostatic attraction force sequentially moves counterclockwise, and thereby the rotor 11 rolls on the inner circumferential surface of stator 1 and revolves counterclockwise, and at the same time rotates counterclockwise (
It rotates in the direction of the arrow in Figure 2). Note that this driving method is just an example, and for example, voltage application positions may be switched while applying voltage to a plurality of drive electrodes simultaneously.

By using the outer rotor type motor A in which the rotor 11 is configured to rotate around the outer periphery of the stator 1 in this manner, the mechanism for rotating the rollers can be simplified. That is, it is conceivable to use this rotor as a rotating roller.

The one shown in FIG. 4 is an example of this application, in which a paper feeding mechanism B is constructed using an outer rotor type harmonic drive type electrostatic motor A. A driven roller 31 is disposed to face the outer circumferential surface of the rotor 11, so that when the outer circumferential surface of the rotor 11 approaches the driven roller 31 most closely, the outer circumferential surface of the rotor 11 and the outer circumferential surface of the driven roller 31 come into pressure contact. It is located in Since the rotor 11 is oscillating (precessing) outside the stator 1, when the paper 32 is fed onto the driven roller 31, the paper 32 is
Each time the rotor 11 rotates once, the rotor 11 and the driven roller 3
1 and is sent by the rotation of the rotor 11. In this way, the paper 32 is fed intermittently every rotation of the rotor 11, but if the rotation of the rotor 11 is set to an appropriate speed, the paper 32
2 can be sent out smoothly. In addition, rotor 1
It is preferable to form a rubber film or the like on the outer peripheral surface of 1 to prevent slipping.

[Effects of the Invention] In the outer rotor type harmonic drive electrostatic motor of the present invention, if the stator is made into a hollow cylinder, cords of adjacent equipment can be routed through the stator, which improves the motor's nuvene utilization efficiency. can be improved. Moreover, even if a cord or the like is routed through the motor, the cord or the like will not come into contact with the rotor, so there is no risk that the rotor's rotation will be hindered by the wiring, and there is also a risk that the cord or the like will be rubbed by the rotor and cause the coating to break. There is no.

Furthermore, since the drive electrode is provided on the outer circumferential surface of the stator, the drive electrode can be easily machined, and the drive electrode can be machined with high precision. Therefore, the rotor rotates smoothly and motor output loss is reduced.

Furthermore, since the rotor rotates outside the stator, it is also possible to use the rotor directly as a paper or card feeding roller in a paper feeder, etc., making it possible to simplify the mechanism that drives the rotating roller. Can be composed of structures.

[Brief explanation of drawings]

1(a) and 1(b) are perspective views and front views showing one embodiment of the present invention, FIG. 2 is a schematic configuration diagram showing a method of driving the same motor, and FIG. 3 is a diagram showing each drive electrode of the above. FIG. 4 is a diagram showing an example of the use of the same motor as above, and FIGS. It is a front view. ]...Stators P1 to P8...Drive electrode 11...Rotor]2...Rotor electrode 13...Insulating film

Claims (1)

[Claims] (1) A stator having a plurality of drive electrodes insulated from each other on its outer circumferential surface; a hollow cylindrical rotor electrode that is inserted around the outer circumference of the stator so as to surround the stator; A harmonic drive type electrostatic motor characterized by comprising an insulating film that is electrically insulated.