A rotary electrostatic adsorption driver

Abstract

The present invention provides a rotary electrostatic adsorption driver, which includes a driver body. The driver body is a cylinder formed by a first outer frame, a second outer frame and a plurality of electrodes. Both ends of the electrodes are inserted into the holes of the first outer frame and the second outer frame and fixed. The number of electrodes is multiple and they are evenly distributed in the circumferential direction between the first outer frame and the second outer frame. A power supply assembly capable of supplying power to the electrodes. The driver body is placed on a supporting plane, and an electrostatic field is generated between the electrodes and the supporting plane. The electrodes are subjected to electrostatic adsorption force, and the driver body generates a rotational motion on the supporting plane under the action of the electrostatic adsorption force. This driver can directly drive the rotational motion by using the torque generated by adsorption, thereby reducing redundant structures.

Description

Technical Field

[0001] The present invention relates to a driver provided by the present invention, which uses electrostatic adsorption force as a driving force and can achieve rolling in a specified direction (or along a specified track) by relying on the electrostatic adsorption force between the driver and the ground (or track surface). It can be used to make toy models, demonstration props, and applied to complex mechanical flaw detection, targeted delivery of medical micro-drugs, unknown environment detection and other scenarios. Background Art

[0002] Static electricity is a static charge or a non-flowing charge (flowing charges form an electric current). When charges gather on an object or surface, static electricity is formed. Charges are divided into positive and negative charges, which means that static electricity is also divided into two types, positive static electricity and negative static electricity. When positive charges gather on an object, positive static electricity is formed, and when negative charges gather on an object, negative static electricity is formed. The basic principle of electrostatic adsorption is the electrostatic induction phenomenon. By energizing the electrodes, the adsorbed surface will induce charges of opposite polarity to the electrodes, thereby generating an electrostatic adsorption force between the electrode and the adsorbed surface. The electrostatic adsorption force is proportional to the voltage and inversely proportional to the distance between the electrode and the adsorbed surface. According to this principle, the electrostatic adsorption force is used as the driving force, and through a certain structural design, an electrostatic adsorption drive can be made. At present, most common electrostatic adsorption drives are linear reciprocating drives, and the following problems exist when used as power devices:

[0003] ① The driving stroke is small. Since the size of the electrostatic adsorption force is inversely proportional to the adsorption distance, in order to maintain a certain adsorption force, it is necessary to control a smaller distance, resulting in a smaller driving stroke.

[0004] ② The speed of driving motion is slow. The generation and elimination of electrostatic adsorption force depends on the transfer of charge, so there is a response time, that is, dielectric relaxation time, which limits the speed at which electrostatic adsorption force is used to drive motion.

[0005] ③ The drive structure is complex. In order to convert the linear motion of the driver into the motion of the overall motion device, it is usually necessary to use an elastic recovery mechanism and a displacement amplification mechanism, which makes the structure of the driver more complex.

[0006] Therefore, it is necessary to develop an electrostatic adsorption driver that can solve the above problems. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0008] In order to achieve the above-mentioned object, the technical solution of the present invention provides a rotary electrostatic adsorption driver, characterized in that it includes:

[0009] The drive body is a cylinder formed by a first outer frame, a second outer frame, and a plurality of electrodes.

[0010] Both the first outer frame and the second outer frame have support surfaces in the circumferential direction.

[0011] The number of electrodes is multiple and they are evenly distributed in the circumferential direction between the first outer frame and the second outer frame, and can be powered by a power supply assembly.

[0012] The drive body is placed on a support plane, an electrostatic field is generated between the electrodes and the support plane, the electrodes are subjected to an electrostatic adsorption force, and the drive body generates a rotational movement on the support plane under the action of the electrostatic adsorption force.

[0013] More preferably, both the first outer frame and the second outer frame are provided with holes; both ends of the electrodes are inserted into the holes of the first outer frame and the second outer frame and are fixed.

[0014] More preferably, the power supply assembly includes a first stage of the power supply located on the support plane, a second stage of the power supply, and a track. The first stage of the power supply and the second stage of the power supply are respectively located on both sides of the track. The first outer frame corresponds to the first stage of the power supply, and the electrodes correspond to the second stage of the power supply and at least partially located above the second stage of the power supply.

[0015] The first outer frame is provided with conductive sheets. The number of conductive sheets is the same as the number of electrodes and the conductive sheets are electrically connected to the first stage of the power supply. An electrostatic field is generated between the electrodes of the drive body and the second stage of the power supply. The electrodes are subjected to an electrostatic adsorption force, and the drive body generates a rotational movement on the track under the action of the electrostatic adsorption force.

[0016] More preferably, the conductive sheets are located on the side surface of the first outer frame. One end of the conductive sheet is a contact surface, and the contact surface is formed at the edge of the circumferential support surface of the first outer frame, and the other end is located at the edge of the hole.

[0017] More preferably, the drive body further has an inner shaft, and both ends of the inner shaft are respectively connected to the first outer frame and the second outer frame through support frames.

[0018] The power supply assembly supplies power to the electrodes through a wire assembly.

[0019] The wire assembly includes an inner shaft collar and a first wire and a second wire on the inner shaft collar; at least one of the first wire and the second wire is connected to the electrode.

[0020] More preferably, the first wire and the second wire extend radially outward in a radial direction of the circular cross-section of the drive body with the inner shaft as the center.

[0021] More preferably, a counterweight is located on the inner shaft collar, and the counterweight can adjust the positions of the first wire and the second wire within the circular cross-section of the drive body.

[0022] More preferably, the counterweight is a battery, and the battery is fixed on the inner shaft collar.

[0023] Beneficial effects:

[0024] ① The driving structure is simple and can be miniaturized to the centimeter or even millimeter scale. The torque generated by the electrostatic adsorption force drives the rotational motion, without the need for a complex mechanical transmission structure, thus facilitating miniaturization; moreover, the electrostatic adsorption force increases with the decrease in size, so it has more advantages at the microscale.

[0025] ② High energy conversion efficiency, low power consumption, and easy to achieve offline motion. The driving force of the structure comes from the electrostatic adsorption force. During the motion process, the charged positions in the circumferentially distributed electrodes do not contact the adsorbed surface to generate charge transfer, so the power consumption is small, and more electrical energy can be converted into kinetic energy.

[0026] ③ Strong adaptability. Different driver structures can be selected according to planes, inclined planes or track surfaces of different materials to meet the task requirements.

[0027] ④ Wide application scenarios. It has considerable application prospects in scenarios such as complex mechanical flaw detection, medical micro - small drug targeted delivery, and unknown environment detection.

[0028] The additional aspects and advantages of the present invention will become obvious in the following description part, or be understood through the practice of the present invention. Description of the Drawings

[0029] The above - mentioned and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0030] Figure 1 Shows a schematic structural principle diagram of a rotary electrostatic adsorption driver according to an embodiment of the present invention;

[0031] Figure 2 Shows Figure 1 the top view of

[0032] Figure 3 Shows Figure 1 a three - dimensional schematic structural diagram of some components of a rotary electrostatic adsorption driver of

[0033] Figure 4 Shows a schematic structural diagram of a rotary electrostatic adsorption driver according to a second embodiment of the present invention;

[0034] Figure 5 Shows a schematic structural diagram of a rotary electrostatic adsorption driver according to a third embodiment of the present invention;

[0035] Figure 6 The figure shows a physical diagram made during the verification experiment according to the present invention.

[0036] Figure 7 The figure shows according to the present invention Figure 1 a physical diagram made according to the principle.

[0037] Among them, Figures 1 to 6 the corresponding relationship between the markings and the structures in the figure is as follows:

[0038] Rotary electrostatic actuator 100, first outer frame 101, second outer frame 102, support frame 103, inner shaft 104, electrode 105, conductive sheet 106, contact surface 107, hole 108, first support surface 109a, second support surface 109b, inner shaft collar 110, first wire 111, second wire 112, support plane 200, first stage of power supply 201, second pole of power supply 202, track 203. Specific embodiments

[0039] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0040] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0041] Next, refer to Figures 1 to 6 to describe some embodiments according to the present invention.

[0042] Embodiment 1:

[0043] This embodiment provides a rotary electrostatic adsorption actuator 100. Refer to Figures 1 to 6Comprising: a cylindrical drive body formed by a first outer frame 101, a second outer frame 102 and a plurality of electrodes; both the first outer frame 101 and the second outer frame 102 have support surfaces in the circumferential direction, and the body thereof also has holes 108; both ends of the electrodes are respectively inserted into the holes 108 of the first outer frame 101 and the second outer frame 102 and fixed, the number of electrodes is multiple and they are evenly distributed in the circumferential direction between the first outer frame 101 and the second outer frame 102; a power supply component capable of supplying power to the electrodes; the drive body is placed on a support plane 200, and there is no contact between the electrodes and the support plane 200, that is, the drive body rolls on the support plane 200 through two support surfaces 109a and 109b, there is a certain distance between the electrodes and the support plane 200 and an electrostatic field is generated, the electrodes are subjected to an electrostatic adsorption force, and the drive body generates a rotational movement on the support plane 200 under the action of the electrostatic adsorption force.

[0044] In the above embodiment, the first outer frame 101 and the second outer frame 102 can be made of insulating materials, or polyimide films can be attached to both ends of the electrodes as insulating layers to maintain insulation between the electrodes and the first outer frame 101 and the second outer frame 102.

[0045] The forms of power supply from the power supply component to the electrodes are diverse and will be elaborated in the subsequent embodiments.

[0046] The rotary electrostatic adsorption drive in this embodiment adopts circumferentially distributed electrodes. During the rotation process, the electrodes are periodically and alternately powered on, and the direction of the electrostatic adsorption force between the powered-on electrodes and the ground (or the track surface) remains constant, so it can continuously drive the rotation; at the same time, in order to avoid the residual adsorption force from hindering the movement, the distance between the electrodes and the adsorbed surface can be controlled to be a certain distance, and an insulating layer is covered on the surface of the electrodes to avoid contact between the two.

[0047] The experimental drawings of this embodiment can be referred to Figure 7 .

[0048] This embodiment has the following beneficial effects:

[0049] ① The drive structure is simple and can be miniaturized to the centimeter or even millimeter scale. The torque generated by the electrostatic adsorption force drives the rotational movement, without a complex mechanical transmission structure, so it is convenient for miniaturization; and the electrostatic adsorption force increases with the decrease of the size, so it has more advantages at the microscale.

[0050] ② The energy conversion efficiency is high, the power consumption is small, and it is easy to achieve off-line movement. The driving force of the structure comes from the electrostatic adsorption force. During the movement process, the charged positions in the circumferentially distributed electrodes do not contact the adsorbed surface to generate charge transfer, so the power consumption is small, and more electrical energy can be converted into kinetic energy.

[0051] ③ Wide range of application scenarios. It has considerable application prospects in scenarios such as complex mechanical flaw detection, medical micro - and mini - drug targeted delivery, and unknown environment investigation.

[0052] Embodiment 2:

[0053] In addition to including the content of the previous embodiment, this embodiment also provides a rotary electrostatic adsorption driver 100. Specifically, an embodiment of power supply in the form of setting positive and negative electrodes on the supporting plane is given. Refer to the attached drawings of the specification Figures 1 - 3 .

[0054] The power supply assembly includes a first - stage power supply 201, a second - stage power supply 202, and a track 203 located on the supporting plane 200. The first - stage power supply 201 and the second - stage power supply 202 are respectively located on both sides of the track 203. For example, the first - stage power supply 201 is the positive electrode, the second - stage power supply 202 is the negative electrode. The first outer frame 101 corresponds to the first - stage power supply 201, and the electrode corresponds to the second - stage power supply 202 and is at least partially located above the second - stage power supply 202;

[0055] The first outer frame 101 is provided with conductive sheets 106. The number of conductive sheets 106 is the same as the number of electrodes, and the conductive sheets 106 are electrically connected to the first - stage power supply 201. An electrostatic field is generated between the electrode of the driver body and the second - stage power supply 202. The electrode is subjected to an electrostatic adsorption force, and the driver body generates a rotational motion on the track 203 under the action of the electrostatic adsorption force.

[0056] The distance between the electrode and the supporting plane should be greater than the thickness of the track 203. The driver body needs to contact the supporting plane 200 through the circumferential supporting surfaces of the first outer frame 101 and the second outer frame 102, so that the multiple conductive sheets 106 can contact the supporting plane 200 sequentially and periodically. The positive and negative electrodes are arranged in parallel on both sides of the track. One of the electrodes is connected to the circumferentially distributed electrodes by contacting the first outer frame 101 of the driver, then an electrostatic adsorption force is generated between the energized electrode and the other - electrode track, so that the driver can roll along the track direction. The form of the track is not limited in this embodiment and can have various different structures such as a plane track, an inclined - plane track, and an arc - shaped track.

[0057] Embodiment 3:

[0058] In addition to including the content of the previous embodiment, this embodiment also provides a rotary electrostatic adsorption driver 100, with further limitation on the conductive structure. Refer to the attached drawings of the specification Figure 3 .

[0059] The conductive sheet 106 is located on the side of the first outer frame 101. One end of the conductive sheet 106 is a contact surface 107, and the contact surface 107 is formed at the edge of the circumferential support surface of the first outer frame 101, and the other end is located at the edge of the hole 108.

[0060] Specifically, in Figures 1 - 3 , the conductive sheet 106 is located on the side of the first outer frame 101 at a deflection angle, connecting the end of the electrode to the edge of the circumferential support surface of the first outer frame 101. The advantage of this setting is that when the electrode is connected to the first stage 201 of the power supply through the conductive sheet 106, there is a certain height distance between the electrode and the support plane, and at the same time, the electrostatic adsorption torque received by the electrode is relatively large, making it easier for the drive body to be stressed and rotate.

[0061] For the sake of facilitating the rotary electrostatic adsorption drive 100 to be applicable to different tracks, conductive sheets 106 can also be provided on the second outer frame 102. However, when setting the conductive sheets 106 on the second outer frame 102, it should be noted that the situation where both ends of the same electrode are respectively in contact with the first stage 201 of the power supply and the second pole 202 of the power supply through the conductive sheets 106 on both sides should not occur, otherwise no electrostatic field will be generated between the electrode and the second pole 202 of the power supply.

[0062] See Figure 1 , Figure 3 , in this embodiment, the conductive sheets 106 on the first outer frame 101 and the second outer frame 102 are deflected at opposite angles. For the same electrode, the conductive sheets 106 on the first outer frame 101 and the second outer frame 102 connected to it are respectively located above and below the electrode.

[0063] Embodiment 4:

[0064] In addition to including the content of the previous embodiment, this embodiment also provides a rotary electrostatic adsorption drive 100, giving another way of power supply. See the attached Figure 4 .

[0065] The drive body also has an inner shaft 104, and both ends of the inner shaft 104 are respectively connected to the first outer frame 101 and the second outer frame 102 through a support frame 103;

[0066] The power supply assembly supplies power to the electrode through a wire assembly;

[0067] The wire assembly includes an inner shaft collar 110 and a first wire 111 and a second wire 112 on the inner shaft collar 110; at least one of the first wire 111 and the second wire 112 is connected to the electrode.

[0068] In this embodiment, the drive body is placed on a horizontal plane. By alternately energizing the circumferentially distributed electrodes, the electrostatic adsorption force between the drive and the horizontal plane can continuously drive the drive to rotate in the same direction. The overall structure of the drive is cylindrical, as Figure 4As shown in the figure, for weight reduction considerations, the two circular surfaces are designed as annular outer frames. The inner ring of the outer frame is fixedly connected to the inner shaft through a support frame. The outer frame is evenly drilled with holes, and distributed electrodes are inserted into the flat holes to form the skeleton of the driver. The electrodes can use materials with good electrical conductivity and certain rigidity such as carbon fiber. During rotation, the electrodes are periodically and alternately energized, and the direction of the electrostatic adsorption force between the energized electrode and the ground remains constant, so continuous rotation can be driven.

[0069] The inner shaft 104 can be used to install power supply wires or the power supply.

[0070] The direction of rotation is related to the material properties of the horizontal plane. If the material of the horizontal plane is rubber, polyester, etc. which are easy to gain electrons (that is, they show the generation of negative charges), then the positive charge on the electrode contacted by the positive wire on the power supply side induces negative charges on the nearby horizontal plane, thus generating an adsorption force between this electrode and the horizontal plane, and the driver will rotate towards the positive side, as Figure 4 , shown in Figure 5; conversely, if the material of the horizontal plane is glass, nylon, etc. which are easy to lose electrons (that is, they show the generation of positive charges), then the negative charge on the electrode contacted by the negative wire on the power supply side induces positive charges on the nearby horizontal plane, causing the driver to rotate towards the negative side.

[0071] The rotary electrostatic adsorption driver 100 in this embodiment has strong adaptability. Different driver structures can be selected according to different materials of the plane, inclined plane or track surface to meet the task requirements.

[0072] Embodiment 5:

[0073] In addition to including the content of the previous embodiment, this embodiment also provides a rotary electrostatic adsorption driver 100.

[0074] The first wire 111 and the second wire 112 extend radially outward in a radial manner centered on the inner shaft 104 along the circular cross-section of the driver body.

[0075] In this embodiment, during rotation, since the power supply fixedly connected to the inner shaft collar has a counterweight function, it can ensure that the two wires connected to it always point in the set direction, so that the electrodes are periodically and alternately energized, and the direction of the electrostatic adsorption force between the energized electrode and the ground remains constant, thus continuous rotation can be driven.

[0076] Embodiment 6:

[0077] This embodiment also provides a rotary electrostatic adsorption driver 100, which further includes a counterweight located on the inner shaft collar 110, and the counterweight can adjust the positions of the first wire 111 and the second wire 112 within the circular cross-section of the driver body.

[0078] The counterweight mainly adjusts the angles of deflection of the first wire 111 and the second wire 112 relative to the direction of gravity, so that the driver 100 has the ability to rotate on an inclined plane. As Figure 5 .

[0079] The driver is placed on the inclined plane, and the placement angles of the first wire 111 and the second wire 112 (positive and negative electrode wires) are adjusted so that they are respectively on both sides of the perpendicular line drawn from the axis to the inclined plane. Appropriate parameters (such as voltage, distance between the electrode and the adsorbed surface, etc.) are set so that the electrostatic adsorption force is generated at the upper pole and its torque is greater than the torque generated by gravity, and the driver can roll upward along the inclined plane.

[0080] A preferred embodiment is that the counterweight is a battery, and the battery is fixed on the inner bushing ring 110. In this way, no additional counterweight needs to be set. The applicant also conducted experiments for verification, which can be seen in Figure 6 , which is a prototype made according to the principle of the present invention. The driver of this prototype is powered by two silver wires to the wire assembly.

[0081] Embodiment 7:

[0082] The structure of the driver in this example is the same as that of Figure 4 , 5. The power supply is a ceramic capacitor (with a withstand voltage of 10 kV and a capacitance value of 1 nF) fixed on the inner bushing ring of the driver. During the test, first, the capacitor inside the driver is charged. Here, a high-voltage power supply (set to 8 kV DC voltage) is used, and two 220 kΩ resistors are connected in series in the charging circuit to limit the charging current. During the charging process, the driver is suspended to prevent it from moving on the board. After charging, the driver is placed on a nylon board, and the electrode connected to the negative side wire of the capacitor and the board surface generate an adsorption force, driving the overall structure to move towards this side; to avoid the possible influence of the inclination of the board surface on the movement, the driver is picked up and turned around and placed in the original position, and it can be found that the movement direction also changes accordingly, which can confirm that the movement is driven by electrostatic force.

[0083] Embodiment 8:

[0084] This embodiment also provides a rotary electrostatic adsorption driver 100, and provides another power supply installation method. In the embodiment, the driver structure is the same as that of Figure 4 , Figure 5Basically the same, except that the power supply capacitor changes from a ceramic capacitor to a lighter surface mount capacitor (with a withstand voltage of 6 kV and a capacitance value of 270 pF). During the test, the capacitor is also charged first. After the charging is completed, the driver is placed on a nylon board, and the overall structure moves towards the negative electrode side of the capacitor. The movement distance in this example is farther than that in Example 6 because although the surface mount capacitor has a smaller capacitance value, it is lighter in weight and has a better mass relationship with the overall structure, thus bringing about a smoother and more lasting movement. During the test, the driver is placed horizontally on the nylon board. After the power is turned on, an adsorption force is generated between the electrode connected to the negative wire and the board at its corresponding position, driving the overall structure to move towards this side.

[0085] Therefore, the present invention studies a rotary electrostatic adsorption driver, mainly solving the following technical problems.

[0086] ① Simplify the drive structure. Conventional electrostatic adsorption drivers mostly have a linear reciprocating driving force and require a complex mechanism to drive. This driver can directly drive the rotary motion by using the torque generated by adsorption, thus reducing the redundant structure.

[0087] ② Increase the driving speed. The driving stroke of conventional electrostatic adsorption drivers is relatively small, so they mainly drive by vibration and are easily limited by the dielectric relaxation phenomenon in terms of vibration frequency. This driver adopts a rotary driving method, solving the problems of small driving stroke and slow response, and greatly improving the movement speed of the overall motion device.

[0088] ③ Broaden the application scenarios. Conventional electrostatic adsorption drivers are mostly applied to micro devices such as microelectronic sensors. This driver can be used for the overall motion device to perform desired motions in complex environments, such as complex mechanical flaw detection, medical micro drug targeted delivery, etc.

[0089] In the present invention, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance; the term "plurality" means two or more, unless otherwise clearly defined. Terms such as "installed", "connected", "joined", "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "joined" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0090] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "spatial horizontal" and "spatial vertical" and the like is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0091] In the description of this specification, the description of terms such as "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0092] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A rotary electrostatic adsorption driver (100), characterized in that, Comprising: A drive body, which is a cylinder formed by a first outer frame (101), a second outer frame (102) and a plurality of electrodes; Both the first outer frame (101) and the second outer frame (102) have support surfaces in the circumferential direction; The number of electrodes is multiple and they are evenly distributed in the circumferential direction between the first outer frame (101) and the second outer frame (102), and can be powered by a power supply assembly; The drive body is placed on a support plane (200), the electrodes do not contact the support plane (200), an electrostatic field is generated between the electrodes and the support plane (200), the electrodes are subject to electrostatic adsorption force, and the drive body generates a rotational movement on the support plane (200) through two support surfaces under the action of the electrostatic adsorption force.

2. The rotary electrostatic adsorption driver (100) according to claim 1, characterized in that Both the first outer frame (101) and the second outer frame (102) are provided with holes (108); both ends of the electrodes are inserted into the holes (108) of the first outer frame (101) and the second outer frame (102) and are fixed.

3. The rotary electrostatic adsorption driver (100) according to claim 2, wherein The power supply assembly includes a first stage of the power supply (201) located on the support plane (200), a second stage of the power supply (202), the first stage of the power supply (201) and the second stage of the power supply (202) are respectively located on both sides of the track (203), the first outer frame (101) corresponds to the first stage of the power supply (201), and the electrodes correspond to the second stage of the power supply (202) and at least partially located above the second stage of the power supply (202); The first outer frame (101) is provided with conductive sheets (106), the number of conductive sheets (106) is the same as the number of electrodes and the conductive sheets (106) are electrically connected to the first stage of the power supply (201), an electrostatic field is generated between the electrodes of the drive body and the second stage of the power supply (202), the electrodes are subject to electrostatic adsorption force, and the drive body generates a rotational movement on the track (203) under the action of the electrostatic adsorption force.

4. The rotary electrostatic adsorption drive (100) according to claim 3, wherein: The conductive sheet (106) is located on the side surface of the first outer frame (101), one end of the conductive sheet (106) is a contact surface (107), the contact surface (107) is formed at the edge of the circumferential support surface of the first outer frame (101), and the other end is located at the edge of the hole (108).

5. The rotary electrostatic adsorption drive (100) according to claim 1, wherein: The drive body has an inner shaft (104), and both ends of the inner shaft (104) are respectively connected to the first outer frame (101) and the second outer frame (102) through a support frame (103); The power supply assembly supplies power to the electrodes through a wire assembly; The wire assembly, which includes an inner shaft collar (110) and a first wire (111) and a second wire (112) on the inner shaft collar (110); at least one of the first wire (111) and the second wire (112) is connected to the electrode.

6. The rotary electrostatic adsorption drive (100) according to claim 5, wherein: The first wire (111) and the second wire (112) are centered on the inner shaft (104) and radially extend outward along the radial direction of the circular cross-section of the drive body.

7. The rotary electrostatic adsorption driver (100) according to claim 6, characterized in that: A counterweight, which is located on the inner bushing ring (110), and the counterweight can adjust the positions of the first wire (111) and the second wire (112) within the circular cross-section of the driver body.

8. The rotary electrostatic adsorption driver (100) according to claim 7, characterized in that: The counterweight is a battery, and the battery is fixed on the inner bushing ring (110).

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