Rotary electrostatic motor and control method thereof

Abstract

The invention discloses a rotary type electrostatic motor, which comprises a casing, a rotor, a rotor, a rotor and a motor rotor, and is characterized in that the casing comprises a cavity and an opening; the stator disc fixing cylinder is fixedly arranged on the inner wall of the cavity of the casing; the stator disc group is composed of a plurality of stator discs, and the plurality of stator discs are arranged on the stator disc fixing cylinder in parallel in the axial direction of the stator disc fixing cylinder; the front cover is arranged at the opening of the machine shell; one end of the rotating shaft is rotationally fixed on the front cover, and the other end is rotationally fixed at the bottom of the cavity and used for rotating in the cavity; the mover disc group is composed of a plurality of mover discs, the plurality of mover discs are arranged on the rotating shaft in parallel in the axial direction of the rotating shaft, and each mover disc comprises a positive electrode and a negative electrode; the angle sensor is arranged on the rotating shaft, and the electric brush comprises an anode carbon brush and a cathode carbon brush, is fixed on the rotating shaft and is electrically connected with the anode and the cathode of the rotor disc.

Description

Technical Field

[0001] The present invention relates to the technical field of electrostatic motors, and particularly to a rotary electrostatic motor and a control method thereof. Background Art

[0002] An electrostatic motor is a device driven by electrostatic force, and its working principles mainly include two categories: dielectric relaxation effect and capacitance variable principle. In the fields of micro machinery, precision instruments, etc., the electrostatic motor has potential application value due to its characteristics such as no electromagnetic interference and simple structure. However, there are significant defects in the prior art in practical applications, which limit its wide application:

[0003] Traditional electrostatic motors are difficult to provide sufficient driving torque due to their small dielectric constant, resulting in limited load capacity. For example, asynchronous electrostatic motors rely on precise control of dielectric materials, while synchronous electrostatic motors require precise adjustment of the rotor position, both of which pose extremely high requirements for manufacturing processes. In addition, existing designs often rely on scarce materials such as rare earth magnets and electrical steel, which are not only costly but also do not conform to the environmental protection trend.

[0004] The structural design of existing electrostatic motors is complex and the production efficiency is low. For example, linear electrostatic motors use flexible printed circuit (FPC) film technology, but their structures are difficult to be extended into rotary designs; the split stator and rotor components need to be processed separately and then assembled, resulting in a long production cycle and high costs. Literature shows that the assembly efficiency of traditional electrostatic motors is only 30% of that of similar electromagnetic motors, and the maintenance and replacement costs are relatively high.

[0005] Insufficient control accuracy is another key problem. Existing technologies mostly use capacitance charge detection methods for commutation control, which are easily affected by environmental interference, resulting in large errors in commutation timing. Due to the response lag of dielectric materials, the step angle accuracy of asynchronous motors is usually greater than 1°, and the drag torque fluctuation rate exceeds 20%, making it difficult to meet the requirements of precision drive. In addition, capacitive synchronous motors need to detect the rotor position through complex circuits, further increasing the system complexity and manufacturing costs.

[0006] In summary, existing electrostatic motors have significant defects in driving force, structural design, control accuracy, and production efficiency, and there is an urgent need for a new solution that can balance high driving performance, modular production, and precise control. Summary of the Invention

[0007] The present invention provides a rotary electrostatic motor, comprising: a housing including a cavity and an opening; a stator disk fixing cylinder fixedly arranged on the inner wall of the cavity of the housing; a stator disk group composed of a plurality of stator disks, the plurality of stator disks being arranged parallel to each other along the axial direction of the stator disk fixing cylinder on the stator disk fixing cylinder; a front cover arranged at the opening of the housing; a rotating shaft, one end of which is rotatably fixed on the front cover and the other end of which is rotatably fixed at the bottom of the cavity for rotating in the cavity; a rotor disk group composed of a plurality of rotor disks, the plurality of rotor disks being arranged parallel to each other along the axial direction of the rotating shaft on the rotating shaft, each rotor disk including a positive electrode and a negative electrode; an angle sensor arranged on the rotating shaft for detecting the rotation angle of the plurality of rotor disks, and a brush including a positive carbon brush and a negative carbon brush, fixed on the rotating shaft and electrically connected to the positive electrode and the negative electrode of the rotor disk; wherein, the outer diameter of the stator disk is larger than the outer diameter of the rotor disk, and the inner diameter of the rotor disk is smaller than the inner diameter of the stator disk, so that the stator disk group and the rotor disk group are cross-over stacked.

[0008] In some embodiments, the stator disk is sequentially formed by three poles of phase A, phase B, and phase C in a cycle, and each stator disk includes 3×n poles; the rotor disk is composed of two poles of a positive electrode and a negative electrode, and each rotor disk includes 2×n poles; wherein, n is a natural number.

[0009] In some embodiments, each stator disk in the stator disk group is connected by an SMD elastic sheet, the phase A of each stator disk is connected to each other, the phase B of each stator disk is connected to each other, and the phase C of each stator disk is connected to each other; each rotor disk in the rotor disk group is connected by an SMD elastic sheet, the positive electrodes of each rotor disk are connected to each other, and the negative electrodes of each rotor disk are connected to each other.

[0010] In some embodiments, the rotary electrostatic motor further includes: a driving board, the phase A, phase B, and phase C of the stator disk are respectively led out of the housing through wires and connected to the driving board; the positive electrode and the negative electrode of the rotor disk are respectively connected to the positive carbon brush and the negative carbon brush through wires.

[0011] In some embodiments, a gas, liquid or solid dielectric with a dielectric constant greater than 1.0 is filled between the stator disk group and the rotor disk group.

[0012] In some embodiments, the housing and the stator disk fixing cylinder are of an integrally formed structure, and the rotating shaft and the rotor disk fixing cylinder are of an integrally formed structure.

[0013] In some embodiments, the stator disk and the rotor disk are manufactured by a printed circuit board process, and the materials of the stator disk and the rotor disk include any one of FR4 boards, metal substrates, ceramic substrates or polymer substrates.

[0014] The present invention also provides a control method for a rotary electrostatic motor, comprising the following steps: applying high-voltage power supplies to the A-phase, B-phase, and C-phase of the stator disk group in sequence, and switching according to the timing sequence of A-AB-B-BC-C-CA-A to form a rotating electrostatic field; detecting the rotation angle of the rotor disk in real time through an angle sensor, and feeding back the angle signal to the microcontroller of the drive board; adjusting the timing switching time according to the angle signal.

[0015] In some embodiments, the timing switching logic is a binary-coded cycle.

[0016] Through one or more of the above embodiments in the present invention, at least the following technical effects can be achieved: The rotary electrostatic motor provided by the present invention significantly improves the comprehensive performance of the electrostatic motor by manufacturing the stator disk and the rotor disk using the printed circuit board (PCB) process and designing a modular stacking structure. Specifically: The stator disk and the rotor disk can be continuously stacked to improve the driving ability, and the machine shell, the rotating shaft, and the fixing columns are integrally formed by an integrated molding process to achieve batch and rapid production; through the differential design of the outer diameter and the inner diameter, the stator disk group and the rotor disk group are cross-stacked and installed using SMD spring pieces, greatly simplifying the assembly process; combined with the angle sensor to detect the rotation angle of the rotor disk in real time, and adopting the A-AB-B-BC-C-CA-A timing control method to achieve high-precision commutation and stable operation. The present invention synergistically optimizes in terms of driving ability, production efficiency, installation convenience, and control accuracy, and solves the technical defects of insufficient driving force, complex process, and low precision of traditional electrostatic motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the present invention will be briefly introduced below. It can be understood that these drawings are merely exemplary and do not constitute any limitation to the embodiments of the present invention.

[0018] Figure 1 Showing a cross-sectional view of a rotary electrostatic motor according to some embodiments of the present invention;

[0019] Figure 2 Showing a schematic structural diagram of a rotor disk according to some embodiments of the present invention;

[0020] Figure 3 Showing a schematic structural diagram of a rotating shaft according to some embodiments of the present invention;

[0021] Figure 4 Showing a schematic structural diagram of a stator disk according to some embodiments of the present invention;

[0022] Figure 5 Showing a schematic structural diagram of a machine shell according to some embodiments of the present invention;

[0023] Figure 6Schematic structural diagram of a front cover according to some embodiments of the present invention;

[0024] Figure 7 Control block diagram of a rotary electrostatic motor according to some embodiments of the present invention;

[0025] Figure 8 Flowchart of a control method for a rotary electrostatic motor according to some embodiments of the present invention.

[0026] In the above-mentioned drawings, each reference numeral represents respectively:

[0027] Rotary electrostatic motor 100, housing 1, stator disk group fixing cylinder 101, stator disk 2, rotor disk 3, rotor disk group fixing cylinder 301, rotating shaft 4, positive carbon brush 401, negative carbon brush 402, fixed column tooth groove 302, rotating shaft hole 403, angle sensor 5, front cover 6, positive electrode 7, negative electrode 8, fixed round hole 12 Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present invention.

[0029] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the communication inside two elements. 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 situations.

[0030] Figure 1 Cross-sectional view of a rotary electrostatic motor 100 according to some embodiments of the present invention. Figure 4Schematic structural diagram of a stator disk according to some embodiments of the present invention; Figure 5 Schematic structural diagram of the housing 1 according to some embodiments of the present invention.

[0031] As Figure 1 , Figure 4 and Figure 5 As shown, the present invention provides a rotary electrostatic motor 100 which may include a housing 1, a stator disk fixing cylinder 101, a stator disk group, a front cover 6, a rotating shaft 4, a rotor disk group, an angle sensor 5, and a brush. The housing 1 may include a cavity and an opening. The stator disk fixing cylinder 101 is fixedly arranged on the inner wall of the cavity of the housing 1. The stator disk group may be composed of a plurality of stator disks 2. The plurality of stator disks 2 are arranged parallel to each other along the axial direction of the stator disk fixing cylinder 101 on the stator disk fixing cylinder 101. The stator disk group is tightly connected to the housing 1 through the stator disk fixing cylinder 101.

[0032] As Figure 4 As shown, in some embodiments of the present invention, the stator disk 2 is composed of three poles of phase A, phase B, and phase C in sequence and cross-cyclically, with a total of 3*n poles, where n is a natural number. The three poles of phase A, phase B, and phase C of the stator disk 2 are evenly distributed on the stator disk 2. The stator disk 2 is double-sided printed using printed circuit board technology, and the printed circuit board can be any one of FR4 board, metal substrate, ceramic substrate, and polymer substrate. All the phase A of the plurality of stator disks 2 in the stator disk group are connected together, all the phase B are connected together, all the phase C are connected together. All the stator disks 2 are connected by SMD shrapnel at the outer diameter edge to form a stator disk group. Four fixing post tooth grooves are provided on the stator disk 2, which can be used to fix the stator disk group on the housing 1. Two fixing round holes 12 on the front cover 6 can be used to fix the stator disk during manufacturing.

[0033] Figure 2 Schematic structural diagram of a rotor disk according to some embodiments of the present invention; Figure 3 Schematic structural diagram of the rotating shaft 4 according to some embodiments of the present invention; Figure 6 Schematic structural diagram of the front cover 6 according to some embodiments of the present invention.

[0034] As Figure 2 , Figure 3 and Figure 6 As shown, in some embodiments of the present invention, the front cover 6 is arranged at the opening of the housing 1. The front cover 6 includes four fixing post square holes 103, a rotating shaft hole 403, and two fixing round holes 12. The four fixing post square holes 103 can be used to fix the front cover 6 and the housing 1. The rotating shaft hole 403 can be used to fix the front cover 6 on the rotating shaft 4. The fixing round holes 12 can be used to fix the stator disk group 2 and the front cover 6. One end of the rotating shaft 4 is rotatably connected to the front cover 6, and the other end is rotatably fixed at the bottom of the cavity of the housing 1, which can be used to rotate in the cavity.

[0035] As Figure 2 , Figure 3 and Figure 6 shown, in some embodiments of the present invention, the rotor disk group includes a plurality of rotor disks 3, and the plurality of rotor disks 3 are arranged parallel to each other along the axial direction of the rotating shaft on the rotating shaft 4. As Figure 2 shown, each rotor disk 3 includes a positive electrode 7 and a negative electrode 8, with a total of 2*n poles, which are evenly distributed on the rotor disk. Among them, n is a natural number. The plurality of rotor disks 3 are all double-sided printed using printed circuit board technology, and the printed circuit board can be any one of FR4 board, metal substrate, ceramic substrate, and polymer substrate. All the positive electrodes of the plurality of rotor disks 3 are connected together, all the negative electrodes are connected together, and all the rotor disks 3 are connected together by SMD elastic pieces at the inner diameter edge to form a rotor disk group. Four fixing post teeth grooves 302 and a rotating shaft hole 403 are also provided on the rotor disk 3, which can be used to fix the rotor disk group on the rotating shaft 4.

[0036] In some embodiments of the present invention, the stator disk 2 and the rotor disk 3 of the rotary electrostatic motor 100 adopt printed circuit board (PCB) technology, and the stator disk 2 and the rotor disk 3 can be continuously stacked, thereby improving the driving ability. In addition, the machine shell 1, the stator disk fixing cylinder 101, the rotating shaft 4, and the rotor disk fixing cylinder 301 are all integrally formed, which improves the production efficiency and enables batch and rapid production.

[0037] As Figures 1-6 shown, in some embodiments of the present invention, the rotary electrostatic motor 100 of the present invention may further include an angle sensor 5 and a brush. The angle sensor 5 is arranged on the rotating shaft 4 and can be used to detect the rotation angle of the plurality of rotor disks. The brush may include a positive carbon brush 401 and a negative carbon brush 402, which are fixed on the rotating shaft 4 and are electrically connected to the positive electrode 7 and the negative electrode 8 of the rotor disk 3.

[0038] In some embodiments of the present invention, the rotary electrostatic motor 100 of the present invention may further include a drive board. The A phase, B phase, and C phase of the stator disk 2 are respectively led out of the machine shell 1 through wires and connected to the drive board; the positive electrode 7 and the negative electrode 8 of the rotor disk 3 are respectively connected to the positive carbon brush 401 and the negative carbon brush 402 through wires.

[0039] In some embodiments of the present invention, the stator disk 2 of the rotary electrostatic motor 100 of the present invention is composed of a phase A, a phase B, and a phase C, and is respectively connected to the phase A, the phase B, and the phase C of the driving board through wires. The rotor disk 3 is composed of a positive electrode and a negative electrode in two phases, and is respectively connected to the positive carbon brush 401 and the negative carbon brush 402 of the driving board through wires. The outer diameter of the stator disk 2 is larger than the outer diameter of the rotor disk 3, and the inner diameter of the rotor disk 3 is smaller than the inner diameter of the stator disk 2. When the stator disk 2 and the rotor disk 3 are cross-stacked, the stator disks 2 are connected by SMD spring pieces at the outer diameter edge to form a stator disk group, and the rotor disks 3 are connected by SMD spring pieces at the inner diameter edge to form a rotor disk group, realizing a modular stacking installation process through structural design.

[0040] Those skilled in the art can understand that although Figure 1 the number of stator disks shown is 11 and the number of rotor disks is 10, this is only exemplary. The number of stator disks can be greater than 11 or less than 11. Similarly, the number of rotor disks can be less than 10 or greater than 10.

[0041] In some embodiments of the present invention, a gas, a liquid, or a solid dielectric with a dielectric constant greater than 1.0 is filled between the stator disk group and the rotor disk group.

[0042] Figure 7 Fig. shows a control block diagram of the rotary electrostatic motor 100 according to some embodiments of the present invention. Figure 8 Fig. shows a flowchart of a control method for a rotary electrostatic motor according to some embodiments of the present invention.

[0043] As Figure 7 and Figure 8 shown, the present invention also provides a control method 500 for a rotary electrostatic motor, including the following steps:

[0044] Step 502, apply a high-voltage power supply to the phase A, the phase B, and the phase C of the stator disk group in sequence, and switch according to the timing sequence of A-AB-B-BC-C-CA-A to form a rotating electrostatic field. Among them, operations such as starting, stopping, and speed setting are performed through the input circuit, and the microcontroller MCU executes the logic program. The positive electrode is connected in sequence according to the timing sequence of A-AB-B-BC-C-CA-A, that is, the rotating control of the electrostatic field is realized by the timing control method of 100-110-010-011-001-101-100, and the precise control of 0.5 times the step distance is realized. The high-voltage power supply can provide the high voltage required by the rotary electrostatic motor 100 and is connected to the corresponding phase A, phase B, and phase C of the stator disk group through the driving circuit.

[0045] Step 504, detect the rotation angle of the rotor disk 3 in real time through the angle sensor 5, and feedback the angle signal to the microcontroller of the driving board.

[0046] Step 506, adjust the timing switching time according to the angle signal. Among them, the angle sensor can be used to accurately measure the angle of the rotating type of the mover disk 3, and according to the angle feedback of the real-time position of the mover disk 3, accurately adjust the control timings of phases A, B, and C.

[0047] It should be understood that the embodiments described in the present invention are only exemplary embodiments and do not constitute a limitation to the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A rotary electrostatic motor, comprising: A housing, including a cavity and an opening; A stator disk fixing cylinder, fixedly arranged on the inner wall of the cavity of the housing; A stator disk group, the stator disk group being composed of a plurality of stator disks, and the plurality of stator disks being arranged parallel to each other along the axial direction of the stator disk fixing cylinder on the stator disk fixing cylinder; A front cover, arranged at the opening of the housing; A rotating shaft, one end of which is rotatably fixed on the front cover, and the other end of which is rotatably fixed at the bottom of the cavity, for rotating within the cavity; A rotor disk group, the rotor disk group being composed of a plurality of rotor disks, and the plurality of rotor disks being arranged parallel to each other along the axial direction of the rotating shaft on the rotating shaft, and each rotor disk including a positive electrode and a negative electrode; An angle sensor, arranged on the rotating shaft, for detecting the rotation angle of the plurality of rotor disks, and Brushes, including a positive carbon brush and a negative carbon brush, fixed on the rotating shaft and electrically connected to the positive electrode and the negative electrode of the rotor disk; Wherein, the outer diameter of the stator disk is greater than the outer diameter of the rotor disk, and the inner diameter of the rotor disk is less than the inner diameter of the stator disk, so that the stator disk group and the rotor disk group are cross-overlapped.

2. The rotary electrostatic motor according to claim 1, wherein The stator disk is sequentially formed by three poles of phase A, phase B, and phase C in a cycle, and each stator disk includes 3×n poles; The rotor disk is composed of two poles of a positive electrode and a negative electrode, and each rotor disk includes 2×n poles; Wherein, n is a natural number.

3. The rotary electrostatic motor according to claim 2, wherein Each of the stator disks in the stator disk group is connected by an SMD elastic sheet, the phase A of each stator disk is connected to each other, the phase B of each stator disk is connected to each other, and the phase C of each stator disk is connected to each other; Each of the rotor disks in the rotor disk group is connected by an SMD elastic sheet, the positive electrodes of each rotor disk are connected to each other, and the negative electrodes of each rotor disk are connected to each other.

4. The rotary electrostatic motor according to claim 3, wherein It further includes: A drive board, The phase A, phase B, and phase C of the stator disk are respectively led out of the housing through wires and connected to the drive board; The positive electrode and the negative electrode of the rotor disk are respectively connected to the positive carbon brush and the negative carbon brush through wires.

5. The rotary electrostatic motor according to claim 1, wherein A gas, liquid or solid dielectric with a dielectric constant greater than 1.0 is filled between the stator disk group and the rotor disk group.

6. The rotary electrostatic motor according to claim 1, wherein The housing and the stator disk fixing cylinder are of an integrally formed structure, and the rotating shaft and the rotor disk fixing cylinder are of an integrally formed structure.

7. The rotary electrostatic motor according to claim 1, wherein The stator disk and the rotor disk are manufactured by printed circuit board technology, The materials of the stator disk and the rotor disk include any one of FR4 board, metal substrate, ceramic substrate or polymer substrate.

8. A rotational electrostatic motor control method according to any one of claims 1-7, characterized in that, It includes the following steps: Apply high-voltage power supplies to the phase A, phase B, and phase C of the stator disk group in sequence, and switch according to the timing of A-AB-B-BC-C-CA-A to form a rotating electrostatic field; The rotation angle of the mover disk is detected in real time by the angle sensor, and the angle signal is fed back to the microcontroller of the drive board; The timing switching time is adjusted according to the angle signal.

9. The rotation type electrostatic motor control method according to claim 8, characterized in that The timing switching logic is a binary coded cycle.

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