CA2656897A1 - Electrostatic motor - Google Patents
Electrostatic motor Download PDFInfo
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- CA2656897A1 CA2656897A1 CA002656897A CA2656897A CA2656897A1 CA 2656897 A1 CA2656897 A1 CA 2656897A1 CA 002656897 A CA002656897 A CA 002656897A CA 2656897 A CA2656897 A CA 2656897A CA 2656897 A1 CA2656897 A1 CA 2656897A1
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- Prior art keywords
- electrodes
- stator
- rotor
- electrostatic motor
- motor according
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- 239000012212 insulator Substances 0.000 claims abstract description 23
- 230000005684 electric field Effects 0.000 claims abstract description 11
- 239000000463 material Substances 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 4
- 239000010935 stainless steel Substances 0.000 claims description 4
- 239000011358 absorbing material Substances 0.000 claims description 2
- 230000015556 catabolic process Effects 0.000 description 4
- 239000011521 glass Substances 0.000 description 2
- 229910052573 porcelain Inorganic materials 0.000 description 2
- 240000006829 Ficus sundaica Species 0.000 description 1
- 241000408495 Iton Species 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- QCWXUUIWCKQGHC-UHFFFAOYSA-N Zirconium Chemical compound [Zr] QCWXUUIWCKQGHC-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005247 gettering Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 229910052715 tantalum Inorganic materials 0.000 description 1
- GUVRBAGPIYLISA-UHFFFAOYSA-N tantalum atom Chemical compound [Ta] GUVRBAGPIYLISA-UHFFFAOYSA-N 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
- -1 vanadiuni Chemical compound 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
- 229910052726 zirconium Inorganic materials 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N1/00—Electrostatic generators or motors using a solid moving electrostatic charge carrier
- H02N1/002—Electrostatic motors
- H02N1/004—Electrostatic motors in which a body is moved along a path due to interaction with an electric field travelling along the path
Abstract
Provided is an electrostatic motor, in which a disc-shaped stator (S) and a disc-shaped rotor (R) are opposed to each other in a vacuum container (11). In the stator (S), first electrodes (34A) and second electrodes (34B), which are attached to electrode supports (31, 32), respectively, and which are electrically insulated from each other by an insulator (33), are arranged alternately in the circumferential direction. In the rotor (R), first electrodes (44A) and second electrodes (44B), which are attached to electrode supports (41, 42), respectively, and which are electrically insulated from each other by an insulator (43), are arranged alternately in the circumferential direction. The first electrodes (34A) and the second electrodes (34B) on the side of the stator (S) are arranged at a spacing of two or more rows at a predetermined distance from the center of a rotating shaft (1). The first electrodes (44A) and the second electrodes (44B) on the side of the rotor (R) are arranged at a predetermined distance from the center of the rotating shaft (1) and at an intermediate position between the rows of the first electrodes (34A) and the second electrodes (34B) on the side of the stator (S). As a result, the electrostatic motor can establish a high electric field in the vacuum so that it can rotationally drive with a sufficient driving force.
Description
DE5CRIP'ITON
ELECTROSTATIC MOTOR
Technical Field The present invention relates to an clectrostatic motor that rotationally drives using electrostatic force, and in particular to an electrostatic nlotor that rotationally drives by generating a higii electric field in a vacuum.
Background Art Most conventional electric motors use electromagnetic force generated by a coil and magnet. Electrostatic motors that rotationail}= drive using electrostatic force are also known (e.g., Japanese Patent Application Laid-Open No. 8-88454, and Study of Servo System using Electrostatic Motors written by Akao'Yamamoto et al., www.intellect.pe.u-tokyo.ac. j p/j apanese(dissertation,j/yamarn oto.html) However, conventional electric motors using electromagnetic force generated by a coil and magnet produce gas in a vacuum, breaking up the vacuuin. In addition, since conventional electric motors use magnetic materials, they camiot be operated in strong magnetic fxelds.
Conventional electrostatic motors, as described above, also prodrYce gas in a vacuum, breaking up the vacuum. In conventional electrostatic motors, the e)ectric field is increased by placing a large number of pairs of electrodes on an insulator so that the electrodes are closely spaced. )rTo'wever, this inethod is prone to dielectric breakdown, creeping discharge, spark discharge, and other concern,s, Accordingly, a strong electric field cannot be generated, and sufficient driving force cannot be produced.
Therefore, practical electrostatic motors have not yet been realized.
Disclosure of the Xnvention The present invention has been made in view of the foregoing drawbacks.
A,ccordingly, axi object of this invention is to prov'ide an electrostatic inotor that geuerates a strong electric field in a vacuum so that it can rotationallv drive with sufficient driving force.
Another object of the present invention is to provide an electrostatic motor designed so as to prevent dielectric breakdown, creeping discbarge, spark discharge, and the like to operate in a stiong electric field, and also to be ligtttweight.
In order to solve the foregoing problems, an electrostatic motor according the present inventioxx has the characteristics described bclow.
A first aspect of the invention is an electrostatic motor characterized in that a disc-shaped stator and a disc-shaped rotor are disposed opposite each other in a vacuum container such tlaat the stator is fixed to the main body of the vacuum container and the rotor is pivota(ly supported on the main body of the vacunni container so as to freely rotate via a rotating shaft; the stator has first electrodes and second electrodes electricall;v insulated by an insulator and attached to electrode supports so as to alternate along the circumferences of the eJectrode supports; the rotor has first electrodes and second electrodes electricall.y insulated by an insulator and attached to electrode supports so as to alternate along the cyrcuznferences of the electrode supports; the first aud second electrodes on the stator sid;e are each arranged at a spacing of two or more rows at a predetermined distance from the center of the rotating shaft; the first and second elcctrodes on the rotor side are each arranged at a predetermined distance from the center of the rotating shaft, and intermediate between the rows of the first and second electrodes on the stator side; predetermined electric fields are applied to the first and second electrodes on the stator side; and voltages of different polarities are applied to the first and second electrodes on the rotor side so as to be switched according to pxedetermined timing.
A second aspect of the invention is the eleetrostatic motor of the first aspect described above, characterized in that the tirst and second electrodes on the stator side and the first and second electrodes on the rotor side are each pin-shaped and szre each arranged parallel to the axial direction of the rotating shaft.
A third aspect of tlie invention is the electrostatic motor of the first or second aspect described above, characterized in that the electrode supports of the first and second electrodes on the stator side, and the electrode supports of the first and second electrodes on the rotor side are insulatively supported by the iinsulators respectively so as to allow sufficient creepage distance.
A fourth aspect of the invention is the electrostatic motor of any one of the fn=st to third aspects described above, characterized in that the insulators on the stator side and the rotor side each have one or a plurality of grooves formed thereon.
A fifth aspect of the invention is the electrostatic motor of any one of the first to fourth aspects described above, characterized in that the ends o-P the i:ii-st and second electrodes on the stator side and the ends of the first and second electrodes on the rotor side are round in shape.
A sixth aspect of the invention is the electrostatic motor of any one of the first to fifth aspects described above, characterized in that stainless steel is used for metallic components disposed in the vacuum container and inorganic insulator is used as insulating componeuts.
A seventh aspect of the xazvention is the electrostatic motor of any one of the fixst to sixth aspects described above, characterized in that a nonmaguetic material is used as the metallic components disposed in ttie vacuum container.
An eighth aspect of the invention is the electrostatic motor of any one of the first to seventh aspects described above, comprising an encoder includinry a slit plate and a sensor that detect the relative position between the first and second electrodes on the stator side and the first and second electrodes on the rotoir side.
A ninth aspect of the invention is the electrostatic motor of any one of the first to eighth aspects described above, chflracterized in that a gas-absorbin.g material is deposited on coznponents disposed in the vacuonl container.
. The present invention adopts the foregoing configuration in wliich the first and second electrodes attached to the eleclrode supports of the stator and the rotor are located within the vacuwn. Accordingly, unlilt.e a conventional electrostatic motor in whicll groups of electrodes are supported by an insulator or insulators, the present invention prevents dielectric breakdown even if there is a strong electric field between the electrodes.
This results in otxtput as lugh as or higher than that obtained by an electromagnetic motor.
Accordingly, an electrostatic niotor that generates a strong electric field in the vacuum such that it can rotationally drive witlt suf'ticient driving force ca.n be provided. An electrostatic motor that can dz7ive in a high, clean vacuum is applicable, for example, in semiconductor manufacturing apparattzses. In addition, the electrostatic inotor is free from windage loss, thus offering improved effciency. Moreover, an electrostatic motor that drives in a strong electric field generated between the electrodes aIlowvs practical applications including small or large motors, and achieves higlx output and weight reduct'loxi.
Tn the present invention, the electrode supports are insulatively supported and grooves are formed in the insulator, allowing sufficient distance for creepage.
Accordingly, an electrostatic motor effectively prevents dielectric breakdown, creeping discharge, spark discharge, and otlxer concerns, and generates a strong electric f=ield.
Additionallp, in the electrostatic motor according to the present invention, a stainless steel ete. or an inorganic insulatoz that produce less residual gas, sue.lt as porcelain or glass, are used as components. Therefore, the electrostatic motor can be used in the clean vacuum. b'urther, using a nonmagnetic material as a znetallic:
components restilts in a nonmagnetic motor, which can be used in a strong magnetic field.
Purthermore, the electrostatic motor according to the present invention uses no heavy tnagnetic materials as metaIlic corttponents and is therefore lighter in weight than cotxvezttional ones.
Brief Description of Drawings FIG. 1 shows a'vertical section of an electrostAtrc xnotor according to the first embodiment of the present invention;
FI.GL 2 is a plan view of a stator in the first embodiment;
FIG 3 is a plan view of a rotor in the first embodiment;
Fltx 4 is a partially-detailed schematic view of fzrst and second electrodes of lhe stator in the first embodiment;
FIG S(A) is a development vertical partial view of electrode supports and first and secoxad electrodes on the stator side in the brst embod'ruaeatt;
F'YGL 5(B) is a developnient vertical partial view of the electrode supports and first and second electrodes on the rotor side in the first embodiznent;
FIG. 6 illustrates the principle of action of tbe r"u=st and second electrodes on the stator side and the first and second electrodes on the rotor side in the first embodiment;
FTC,~ 7 shows the voltage waveforms of the firs-t and second electrodes on the i-otor side in the tust embodiment;
FIG S shows a vertical section of an electrostatic motor according to the second cinbodfinen~;t;
FIG. 9 shows a vertical section of an electrostatic niotor according to the third embodiment;
FIG 10 shows a verticul section of an electrostatic znotor according to the fourth ernbodaxnent, in which fiu-st and second electrodes on the stator side and first and second electrodes on the rotor side are radially arranged with respect to the center of a rotating shaft;
FIG 11 is a sectionol view of the stator in the fouxtli enibodiment; anxd FIG 12 is a sectional view of the rotor in the fourth embodiment.
Best Modes for Caiz=ying Out the Invention rmbodiments of an electrostatic motor according to the present inventio n will be described in detail hereiuxafter.
FIG. 1 shows a vertical section of an electrostatic motor according to the first cmbodiment of the present invention. FICY. 2 is a plan view of a stator in the first embodiment, and FTtx 3 is a plan view of a rotor in the first eanbodimelot.
FIG 4 is a partially-detailed schematic view of the first at-d second electrodes of the .5tator in the first embodiment.
In azi electrostatic motor according to the first embodiment, disc-slaaped stator S
and disc-shaped rotor R are disposed opposite to each other in vacuum container ll, and stator S is fixed to the main body of the vacuum container U. The electrostatic znotor in the first embodinient is operable in the vacuum of 3Pa or less.
In the electrostatic motor in this embodiment, first electrodes 34A are fixed to electrode supports 31 on the stator S side. The first electrodes 34rl, are arranged in two rows at a predetermined distance from the center of rotating shaft 1(i.e., the center of motor ba.se 10). S'rmilarly, second electrodes 34Ii are fixed to other electrode supports 32 ou tlae stator S side. As sbown in FIGS. 2 and 4, the first electrodes 34A and the second electrodes 34B are arranged so as to alternate. The first and second electrodes 34A, 34B
are disposed along the circumferences of the electrode substrates 31, 32 respectively at regular intervals parallel to the rotating sbaft 1 such that the farst and second electrodes 34A, 34B are radially f1?eed in two rows. The electrode supports 31, 32 with the first and second electrodes 34A, 34I# respectively are fixed on an insulator 33, which is moimted on the motor base 10 (i.e., the main body of the vacuum container 11). The ia isulatar 33 provides sufficient insulating thickness and ereepage distance, and has a plurality of grooves formed to prevent creeping discharge. Here, sufficient insulating thickness should be equfil to or greater than the brealtdown voltage of the insulator, and sufficfent creepage distance is several times or more larger than this thiclcness. Tbe number of e oove.s, groove shape, groove depth, and other cliaracteristics, may be set as needed according to the size and application of tlae electrostatic motox.
On the other hand, a first electrode 44A is fixed to each electrode stipports 41 on the rotoi- it side. These :lzrst electrodes 44A are arranged in one row at a predetermined distance from the center of the rotating shaft 1, Also, disposed on each of the other electrode supports 42, on the rotor R side is a second electrode 44B. As shown in p'rG. 3, the first electrodes 44A and the second electrodes 44B are arranged so as to alternate like those on the stator S side. The fwst and second electrodes 44A, 44B are disposed along the eircumferences of the electrode supports 41, 42 respectively at regtxlaz-intervals parallel to the rotating shaft 1 sucli that the first and second electrodes 44A, 44B are radially fixed in one row. The electrode supports 41, 42 with the first and second electrodes 44A, 44B respectively are fixed on an insulator 43, which is mounted on the rotating shaft 1. As on the stator S side, the insulator 43 provides snfficient insulating thicltness and creepage distance, and has a plurality of grooves formed to prevent creeping discliarge. The nuxnber of grooves, groove sbape, groove depth, and other characteristics u;Aay be set as needed according to the size and application of the electrostatic motor.
As described above, the first and second electrodes 44A, 44B on the rotor R
side :tre fixed on the supports 41, 42 respectively at regular intervals parallel to the rotating shaft 1, like the first and second electrodes 34A, 34B on the stator S side.
However, as sbown in FICx 1, the positions of the first and second electi=odes 44A, 44B on the rotor R
side ti-om the center of the rotating shaft 1 are in the middle of the rows of the first and secoud electrodes 34A and 34B on the stator S side so that the rotor R is rotationally drivable. The first electrode 34A, second electrode 34B, first electrode 44A
and second electrode 44B are pin-shaped. It is preferable that the ends of the electrodes are round in order to prevent discharge between them. The shape of these electrodes, however, is zxot limited to pin-slxape.
Power is supplied to the electrode.s 44A, 44B on the rotor ].t side tlirough slip rings 51, 52 and brttshes 61, 62.
An etacoder is composed by adopting an optical system (i.e., a slit plate 7 and a sensor 8) or a magnetic system (Le., a magnetic disc and a sensor). In this embodiment, the former is tlsed. The tiniing oi'the supply oC power to the first and second electrode.s 44A, 44B on the rotor R side is detected by the sensor 8, and the detected result is subjected to signal processing by a drive circuit (not shown). A high vottage (approximately X to 100kV) is outputted and supplied to the first and second electrodes 44A,44B.
When the electrostatic motor is used in air or gas, a vacuum seal 9 is attached to the motor base 10 in order to mainta9n the vacuuin within the electrostatic nxiotor.
The present invention uses an electrostatic motor that operates in the vacuuin.
The present invention, needless to say, function.s as an electrostatic motor even in insulation gas sucli as SF6 gas.
In the description above, the first and second electrodes 34A and 34b respectively on the stator S side are arranged in two rows, whereas the first and secoz-d electrodes 44A, and 44b respectively ou the rotor R side are arranged in one row. However, as described below, the number of rows is not limited to only one, as two or more ravvs may also be set.
Additionally, in the first embodiment, stainless steel or the lilze that produce less residual gas may be used as metallic coniponents that are placed in the vacuum container 11 (e.g., the tirst and second electrodes 34A, 34B, electrode supports 31, 32, first and second electro(les 44A, 448, and electrode supports 4I., 42). Also, aninorganic insulator such as porcelain ot= glass, which produces less residual gas, may be used as an insulating components. The usability of the electrostatic motor in the clean vacuum can thereby be ensured. It is also effective to deposit a gas absorbing material (i.e., gettering substance), such as titanium, vanadiuni, tantalum, or zirconium, on components used in the vaetYum container 11.
In the first embodiment, using a nonxnagnetic material as the metallic coMponcnts used in tlle vacttttnrt container 11 enables a nonznagnetic motor that can be tt5ed in a strong magnetic field, Additionally, no heavy tnagttetic inaterial is used as the metallic components, thus contributing to weight reduction as well.
The principles of operationof the electrostatic motor according to the first embodiment, which has the foregoing cotthguratiott, will now be explained. As shown in FIG 5(A), by applying a high voltage (approxinnately 1 to 1001tV) between the electrode sul,ports 31, 32 on the stator S side, a high electric field (1 to 104kVlmm or so) is generated between the first and second electrodes 34A, 34B.
Since the electrostatic motor is configured so that the first and second electrodes 44A, 44B on the rotor R side freely xnove along the circumference between the first and second electrodes 34A, 3413 on the stator S side, the first and second electrodes 44B, 44A
are positively and negatively charged respectively by applying a high positive voltage (1 to 100kV o,r so) to the electrode supports 42. In terms of charge timing, the direction of thrttst (i.e., rotating force) is, for example, detei-mined by where the electrodes 44B on the rotor R side are located relative to the second electrodes 34B on the stator S
side.
Therefore, the inagnitude and time of the voltage greatly affect the inagnitttde ofthe thrust (rotating force).
x XCx 6 illustrates the principle of the action of the electrostatic motor by sltowing only the first and second electrodes 34A, 34B on the stator S side and the first and second electrodes 44A, 44B on the rotor R side. For instance, when each of the second electrodes 44B on the rotor R side has reached a location (i.e., location ILX) that is slightly to the right of the location XO of the second electrode 34I3 on the stator S side, a positive potential is applied to the second electrode 44B. Thereby, repulsion force occurs between the second electrodes 34B and the second electrode 44B, whereas attractive force occurs between the first electrodes 34A and the second electrode 44B. Consequently, the rotor 1t connected to the first and second electrodes 44A, 44B is sul~ject to a driving force toward the right and moves accordingly.
1`he voltage of each of the second electrodes 44I3 switches to a location (i.e., location X2) tlxat is imxnediately before first electrodes 34A. Second electrode 44I3 repeats this switching operation each time tlie positional titning of the second electrode 44Ii is detected by the signal of the encoder sensor S.
FIG, 7 shows the voltage waveforms of the first and second elcctrodes 44A, 44B
on the rotor R side (iw'herei-o TO represents the time at location XO, and Tl and T2 represent times at locations Xl and X2 respectively).
Ne.'tt; an electrostatic motor aacording to the second enibodiinent of the present invention will be described, F'ICx 8 sbi4ws a vertical section of an electrostatic motor according to the second embodiment. In FIG 8, elebaents identical to those in the illustrations of the first enxbodinient are labeled with the same symboLs and duplicate explanation of these elements is avoxded, In the second cmbodiment, three rows of first electrodes 34A and tltree rows of second electrodes 341ft are disposed along the circumferences of electrode supports 31, 32 respectively, on the stator S side. Similarly, two rows of lirst elcctrodes 44A and two rows of second electrodes 4413 are disposed along the circumferences of electrode supports 41, 42 respecti'vely. In the second embodiment, an electrostatic motor with a high output is produced by increasing the number of electrodes.
Next, an electrosttttic motor according to the third embodiment of the present inveaition will be described.
FzG 9 shows a verticai section of the electrostatic motor according to the third embodinaeait. In b'YG 9, elements identical to those in the illustrations of the first embodiment are labeled witb the same spmbols and duplicate explanntion of these elenients is avoidecL The encoder, the slip rings, and tlie brushes are not shown.
In the first and second einbodiments, limitations resulting froin a cantilever structitre impede any unnecessary increase in electrode length. In the third embodhnent, first electrodes 44A are extended from both sides of each of electrode supports 41 on the rotor R side, and second electrodes 4413 are also extended from both sides of each of electrode supports 42 on the rotor R side. This allows an output that is twice as high as that of Fm electrostatic motor with cantilever structured electrodes in the first embodiment.
In addition, the first and second electrodes 34A, 34I3 may be extended from both sides of the electrode supports 31 and 32, respectively, on tlie stator S side, acnd the rotors !t and stators S may be stacked in more than one stage in an axial direction.
Next, an electrostatic motor according to the fourth embodiment of the present invention will be described.
FIG 10 shows a vertical section of the electrostatic motor according to the fourth embodiment, fn which first aud second electrodes on the stator side and first and second electrodes on the rotor side are radially arranged with respect to the center of the rotating sbaft. FIGS.17, 12 show vertical section of'tbe stator azxcl rotor, respectively, according to the fourth embodinient, Also in FIGS.10 to 12, elements identical to those in illustrations of the first etbtbodiment are labeled with the same svnibols and dupllcate explanation of these elennents is avoided. The encoder, the slip rings, and the bruslies are not shown.
However, in the fourth embodiment, the positional relations between the electrode supports 31, 32, insulator 33, first and second electrodes 34A, 34B
on the stator S
side, and the electrode sapports 41, 42, insulator 43, and first and second electrodes 44A, 44B on the rotor R side, differ from those in the first to third embodiments, In the fourth embodiment, first electrodes 44A are passed through the comparativeJy large hales of a pipe-like electrode sapport 41, then firmly in.serted, toward the axis, into the pips-lilke electrode support 42 with many holes, and thus fixed in position.
Second electrodes 448 are fixed to the electrode support 41. Similarly, rxrst and second electrodes 34A. 34B are fixed to the electrode supports 31, 32, respectively, along the axis.
The electrode supports 31, 32 are fixed to a motor base 10 or the body of a vacuum coutainer 11 via the insulator 33. The electrode supports 41,42 are connected to a rotating body 12 and a rotating shaft 1'via att insulator 43.
The configuration in the fonrth embodiment ensures effects as excellent as those in the first to third embodiments,
ELECTROSTATIC MOTOR
Technical Field The present invention relates to an clectrostatic motor that rotationally drives using electrostatic force, and in particular to an electrostatic nlotor that rotationally drives by generating a higii electric field in a vacuum.
Background Art Most conventional electric motors use electromagnetic force generated by a coil and magnet. Electrostatic motors that rotationail}= drive using electrostatic force are also known (e.g., Japanese Patent Application Laid-Open No. 8-88454, and Study of Servo System using Electrostatic Motors written by Akao'Yamamoto et al., www.intellect.pe.u-tokyo.ac. j p/j apanese(dissertation,j/yamarn oto.html) However, conventional electric motors using electromagnetic force generated by a coil and magnet produce gas in a vacuum, breaking up the vacuuin. In addition, since conventional electric motors use magnetic materials, they camiot be operated in strong magnetic fxelds.
Conventional electrostatic motors, as described above, also prodrYce gas in a vacuum, breaking up the vacuum. In conventional electrostatic motors, the e)ectric field is increased by placing a large number of pairs of electrodes on an insulator so that the electrodes are closely spaced. )rTo'wever, this inethod is prone to dielectric breakdown, creeping discharge, spark discharge, and other concern,s, Accordingly, a strong electric field cannot be generated, and sufficient driving force cannot be produced.
Therefore, practical electrostatic motors have not yet been realized.
Disclosure of the Xnvention The present invention has been made in view of the foregoing drawbacks.
A,ccordingly, axi object of this invention is to prov'ide an electrostatic inotor that geuerates a strong electric field in a vacuum so that it can rotationallv drive with sufficient driving force.
Another object of the present invention is to provide an electrostatic motor designed so as to prevent dielectric breakdown, creeping discbarge, spark discharge, and the like to operate in a stiong electric field, and also to be ligtttweight.
In order to solve the foregoing problems, an electrostatic motor according the present inventioxx has the characteristics described bclow.
A first aspect of the invention is an electrostatic motor characterized in that a disc-shaped stator and a disc-shaped rotor are disposed opposite each other in a vacuum container such tlaat the stator is fixed to the main body of the vacuum container and the rotor is pivota(ly supported on the main body of the vacunni container so as to freely rotate via a rotating shaft; the stator has first electrodes and second electrodes electricall;v insulated by an insulator and attached to electrode supports so as to alternate along the circumferences of the eJectrode supports; the rotor has first electrodes and second electrodes electricall.y insulated by an insulator and attached to electrode supports so as to alternate along the cyrcuznferences of the electrode supports; the first aud second electrodes on the stator sid;e are each arranged at a spacing of two or more rows at a predetermined distance from the center of the rotating shaft; the first and second elcctrodes on the rotor side are each arranged at a predetermined distance from the center of the rotating shaft, and intermediate between the rows of the first and second electrodes on the stator side; predetermined electric fields are applied to the first and second electrodes on the stator side; and voltages of different polarities are applied to the first and second electrodes on the rotor side so as to be switched according to pxedetermined timing.
A second aspect of the invention is the eleetrostatic motor of the first aspect described above, characterized in that the tirst and second electrodes on the stator side and the first and second electrodes on the rotor side are each pin-shaped and szre each arranged parallel to the axial direction of the rotating shaft.
A third aspect of tlie invention is the electrostatic motor of the first or second aspect described above, characterized in that the electrode supports of the first and second electrodes on the stator side, and the electrode supports of the first and second electrodes on the rotor side are insulatively supported by the iinsulators respectively so as to allow sufficient creepage distance.
A fourth aspect of the invention is the electrostatic motor of any one of the fn=st to third aspects described above, characterized in that the insulators on the stator side and the rotor side each have one or a plurality of grooves formed thereon.
A fifth aspect of the invention is the electrostatic motor of any one of the first to fourth aspects described above, characterized in that the ends o-P the i:ii-st and second electrodes on the stator side and the ends of the first and second electrodes on the rotor side are round in shape.
A sixth aspect of the invention is the electrostatic motor of any one of the first to fifth aspects described above, characterized in that stainless steel is used for metallic components disposed in the vacuum container and inorganic insulator is used as insulating componeuts.
A seventh aspect of the xazvention is the electrostatic motor of any one of the fixst to sixth aspects described above, characterized in that a nonmaguetic material is used as the metallic components disposed in ttie vacuum container.
An eighth aspect of the invention is the electrostatic motor of any one of the first to seventh aspects described above, comprising an encoder includinry a slit plate and a sensor that detect the relative position between the first and second electrodes on the stator side and the first and second electrodes on the rotoir side.
A ninth aspect of the invention is the electrostatic motor of any one of the first to eighth aspects described above, chflracterized in that a gas-absorbin.g material is deposited on coznponents disposed in the vacuonl container.
. The present invention adopts the foregoing configuration in wliich the first and second electrodes attached to the eleclrode supports of the stator and the rotor are located within the vacuwn. Accordingly, unlilt.e a conventional electrostatic motor in whicll groups of electrodes are supported by an insulator or insulators, the present invention prevents dielectric breakdown even if there is a strong electric field between the electrodes.
This results in otxtput as lugh as or higher than that obtained by an electromagnetic motor.
Accordingly, an electrostatic niotor that generates a strong electric field in the vacuum such that it can rotationally drive witlt suf'ticient driving force ca.n be provided. An electrostatic motor that can dz7ive in a high, clean vacuum is applicable, for example, in semiconductor manufacturing apparattzses. In addition, the electrostatic inotor is free from windage loss, thus offering improved effciency. Moreover, an electrostatic motor that drives in a strong electric field generated between the electrodes aIlowvs practical applications including small or large motors, and achieves higlx output and weight reduct'loxi.
Tn the present invention, the electrode supports are insulatively supported and grooves are formed in the insulator, allowing sufficient distance for creepage.
Accordingly, an electrostatic motor effectively prevents dielectric breakdown, creeping discharge, spark discharge, and otlxer concerns, and generates a strong electric f=ield.
Additionallp, in the electrostatic motor according to the present invention, a stainless steel ete. or an inorganic insulatoz that produce less residual gas, sue.lt as porcelain or glass, are used as components. Therefore, the electrostatic motor can be used in the clean vacuum. b'urther, using a nonmagnetic material as a znetallic:
components restilts in a nonmagnetic motor, which can be used in a strong magnetic field.
Purthermore, the electrostatic motor according to the present invention uses no heavy tnagnetic materials as metaIlic corttponents and is therefore lighter in weight than cotxvezttional ones.
Brief Description of Drawings FIG. 1 shows a'vertical section of an electrostAtrc xnotor according to the first embodiment of the present invention;
FI.GL 2 is a plan view of a stator in the first embodiment;
FIG 3 is a plan view of a rotor in the first embodiment;
Fltx 4 is a partially-detailed schematic view of fzrst and second electrodes of lhe stator in the first embodiment;
FIG S(A) is a development vertical partial view of electrode supports and first and secoxad electrodes on the stator side in the brst embod'ruaeatt;
F'YGL 5(B) is a developnient vertical partial view of the electrode supports and first and second electrodes on the rotor side in the first embodiznent;
FIG. 6 illustrates the principle of action of tbe r"u=st and second electrodes on the stator side and the first and second electrodes on the rotor side in the first embodiment;
FTC,~ 7 shows the voltage waveforms of the firs-t and second electrodes on the i-otor side in the tust embodiment;
FIG S shows a vertical section of an electrostatic motor according to the second cinbodfinen~;t;
FIG. 9 shows a vertical section of an electrostatic niotor according to the third embodiment;
FIG 10 shows a verticul section of an electrostatic znotor according to the fourth ernbodaxnent, in which fiu-st and second electrodes on the stator side and first and second electrodes on the rotor side are radially arranged with respect to the center of a rotating shaft;
FIG 11 is a sectionol view of the stator in the fouxtli enibodiment; anxd FIG 12 is a sectional view of the rotor in the fourth embodiment.
Best Modes for Caiz=ying Out the Invention rmbodiments of an electrostatic motor according to the present inventio n will be described in detail hereiuxafter.
FIG. 1 shows a vertical section of an electrostatic motor according to the first cmbodiment of the present invention. FICY. 2 is a plan view of a stator in the first embodiment, and FTtx 3 is a plan view of a rotor in the first eanbodimelot.
FIG 4 is a partially-detailed schematic view of the first at-d second electrodes of the .5tator in the first embodiment.
In azi electrostatic motor according to the first embodiment, disc-slaaped stator S
and disc-shaped rotor R are disposed opposite to each other in vacuum container ll, and stator S is fixed to the main body of the vacuum container U. The electrostatic znotor in the first embodinient is operable in the vacuum of 3Pa or less.
In the electrostatic motor in this embodiment, first electrodes 34A are fixed to electrode supports 31 on the stator S side. The first electrodes 34rl, are arranged in two rows at a predetermined distance from the center of rotating shaft 1(i.e., the center of motor ba.se 10). S'rmilarly, second electrodes 34Ii are fixed to other electrode supports 32 ou tlae stator S side. As sbown in FIGS. 2 and 4, the first electrodes 34A and the second electrodes 34B are arranged so as to alternate. The first and second electrodes 34A, 34B
are disposed along the circumferences of the electrode substrates 31, 32 respectively at regular intervals parallel to the rotating sbaft 1 such that the farst and second electrodes 34A, 34B are radially f1?eed in two rows. The electrode supports 31, 32 with the first and second electrodes 34A, 34I# respectively are fixed on an insulator 33, which is moimted on the motor base 10 (i.e., the main body of the vacuum container 11). The ia isulatar 33 provides sufficient insulating thickness and ereepage distance, and has a plurality of grooves formed to prevent creeping discharge. Here, sufficient insulating thickness should be equfil to or greater than the brealtdown voltage of the insulator, and sufficfent creepage distance is several times or more larger than this thiclcness. Tbe number of e oove.s, groove shape, groove depth, and other cliaracteristics, may be set as needed according to the size and application of tlae electrostatic motox.
On the other hand, a first electrode 44A is fixed to each electrode stipports 41 on the rotoi- it side. These :lzrst electrodes 44A are arranged in one row at a predetermined distance from the center of the rotating shaft 1, Also, disposed on each of the other electrode supports 42, on the rotor R side is a second electrode 44B. As shown in p'rG. 3, the first electrodes 44A and the second electrodes 44B are arranged so as to alternate like those on the stator S side. The fwst and second electrodes 44A, 44B are disposed along the eircumferences of the electrode supports 41, 42 respectively at regtxlaz-intervals parallel to the rotating shaft 1 sucli that the first and second electrodes 44A, 44B are radially fixed in one row. The electrode supports 41, 42 with the first and second electrodes 44A, 44B respectively are fixed on an insulator 43, which is mounted on the rotating shaft 1. As on the stator S side, the insulator 43 provides snfficient insulating thicltness and creepage distance, and has a plurality of grooves formed to prevent creeping discliarge. The nuxnber of grooves, groove sbape, groove depth, and other characteristics u;Aay be set as needed according to the size and application of the electrostatic motor.
As described above, the first and second electrodes 44A, 44B on the rotor R
side :tre fixed on the supports 41, 42 respectively at regular intervals parallel to the rotating shaft 1, like the first and second electrodes 34A, 34B on the stator S side.
However, as sbown in FICx 1, the positions of the first and second electi=odes 44A, 44B on the rotor R
side ti-om the center of the rotating shaft 1 are in the middle of the rows of the first and secoud electrodes 34A and 34B on the stator S side so that the rotor R is rotationally drivable. The first electrode 34A, second electrode 34B, first electrode 44A
and second electrode 44B are pin-shaped. It is preferable that the ends of the electrodes are round in order to prevent discharge between them. The shape of these electrodes, however, is zxot limited to pin-slxape.
Power is supplied to the electrode.s 44A, 44B on the rotor ].t side tlirough slip rings 51, 52 and brttshes 61, 62.
An etacoder is composed by adopting an optical system (i.e., a slit plate 7 and a sensor 8) or a magnetic system (Le., a magnetic disc and a sensor). In this embodiment, the former is tlsed. The tiniing oi'the supply oC power to the first and second electrode.s 44A, 44B on the rotor R side is detected by the sensor 8, and the detected result is subjected to signal processing by a drive circuit (not shown). A high vottage (approximately X to 100kV) is outputted and supplied to the first and second electrodes 44A,44B.
When the electrostatic motor is used in air or gas, a vacuum seal 9 is attached to the motor base 10 in order to mainta9n the vacuuin within the electrostatic nxiotor.
The present invention uses an electrostatic motor that operates in the vacuuin.
The present invention, needless to say, function.s as an electrostatic motor even in insulation gas sucli as SF6 gas.
In the description above, the first and second electrodes 34A and 34b respectively on the stator S side are arranged in two rows, whereas the first and secoz-d electrodes 44A, and 44b respectively ou the rotor R side are arranged in one row. However, as described below, the number of rows is not limited to only one, as two or more ravvs may also be set.
Additionally, in the first embodiment, stainless steel or the lilze that produce less residual gas may be used as metallic coniponents that are placed in the vacuum container 11 (e.g., the tirst and second electrodes 34A, 34B, electrode supports 31, 32, first and second electro(les 44A, 448, and electrode supports 4I., 42). Also, aninorganic insulator such as porcelain ot= glass, which produces less residual gas, may be used as an insulating components. The usability of the electrostatic motor in the clean vacuum can thereby be ensured. It is also effective to deposit a gas absorbing material (i.e., gettering substance), such as titanium, vanadiuni, tantalum, or zirconium, on components used in the vaetYum container 11.
In the first embodiment, using a nonxnagnetic material as the metallic coMponcnts used in tlle vacttttnrt container 11 enables a nonznagnetic motor that can be tt5ed in a strong magnetic field, Additionally, no heavy tnagttetic inaterial is used as the metallic components, thus contributing to weight reduction as well.
The principles of operationof the electrostatic motor according to the first embodiment, which has the foregoing cotthguratiott, will now be explained. As shown in FIG 5(A), by applying a high voltage (approxinnately 1 to 1001tV) between the electrode sul,ports 31, 32 on the stator S side, a high electric field (1 to 104kVlmm or so) is generated between the first and second electrodes 34A, 34B.
Since the electrostatic motor is configured so that the first and second electrodes 44A, 44B on the rotor R side freely xnove along the circumference between the first and second electrodes 34A, 3413 on the stator S side, the first and second electrodes 44B, 44A
are positively and negatively charged respectively by applying a high positive voltage (1 to 100kV o,r so) to the electrode supports 42. In terms of charge timing, the direction of thrttst (i.e., rotating force) is, for example, detei-mined by where the electrodes 44B on the rotor R side are located relative to the second electrodes 34B on the stator S
side.
Therefore, the inagnitude and time of the voltage greatly affect the inagnitttde ofthe thrust (rotating force).
x XCx 6 illustrates the principle of the action of the electrostatic motor by sltowing only the first and second electrodes 34A, 34B on the stator S side and the first and second electrodes 44A, 44B on the rotor R side. For instance, when each of the second electrodes 44B on the rotor R side has reached a location (i.e., location ILX) that is slightly to the right of the location XO of the second electrode 34I3 on the stator S side, a positive potential is applied to the second electrode 44B. Thereby, repulsion force occurs between the second electrodes 34B and the second electrode 44B, whereas attractive force occurs between the first electrodes 34A and the second electrode 44B. Consequently, the rotor 1t connected to the first and second electrodes 44A, 44B is sul~ject to a driving force toward the right and moves accordingly.
1`he voltage of each of the second electrodes 44I3 switches to a location (i.e., location X2) tlxat is imxnediately before first electrodes 34A. Second electrode 44I3 repeats this switching operation each time tlie positional titning of the second electrode 44Ii is detected by the signal of the encoder sensor S.
FIG, 7 shows the voltage waveforms of the first and second elcctrodes 44A, 44B
on the rotor R side (iw'herei-o TO represents the time at location XO, and Tl and T2 represent times at locations Xl and X2 respectively).
Ne.'tt; an electrostatic motor aacording to the second enibodiinent of the present invention will be described, F'ICx 8 sbi4ws a vertical section of an electrostatic motor according to the second embodiment. In FIG 8, elebaents identical to those in the illustrations of the first enxbodinient are labeled with the same symboLs and duplicate explanation of these elements is avoxded, In the second cmbodiment, three rows of first electrodes 34A and tltree rows of second electrodes 341ft are disposed along the circumferences of electrode supports 31, 32 respectively, on the stator S side. Similarly, two rows of lirst elcctrodes 44A and two rows of second electrodes 4413 are disposed along the circumferences of electrode supports 41, 42 respecti'vely. In the second embodiment, an electrostatic motor with a high output is produced by increasing the number of electrodes.
Next, an electrosttttic motor according to the third embodiment of the present inveaition will be described.
FzG 9 shows a verticai section of the electrostatic motor according to the third embodinaeait. In b'YG 9, elements identical to those in the illustrations of the first embodiment are labeled witb the same spmbols and duplicate explanntion of these elenients is avoidecL The encoder, the slip rings, and tlie brushes are not shown.
In the first and second einbodiments, limitations resulting froin a cantilever structitre impede any unnecessary increase in electrode length. In the third embodhnent, first electrodes 44A are extended from both sides of each of electrode supports 41 on the rotor R side, and second electrodes 4413 are also extended from both sides of each of electrode supports 42 on the rotor R side. This allows an output that is twice as high as that of Fm electrostatic motor with cantilever structured electrodes in the first embodiment.
In addition, the first and second electrodes 34A, 34I3 may be extended from both sides of the electrode supports 31 and 32, respectively, on tlie stator S side, acnd the rotors !t and stators S may be stacked in more than one stage in an axial direction.
Next, an electrostatic motor according to the fourth embodiment of the present invention will be described.
FIG 10 shows a vertical section of the electrostatic motor according to the fourth embodiment, fn which first aud second electrodes on the stator side and first and second electrodes on the rotor side are radially arranged with respect to the center of the rotating sbaft. FIGS.17, 12 show vertical section of'tbe stator azxcl rotor, respectively, according to the fourth embodinient, Also in FIGS.10 to 12, elements identical to those in illustrations of the first etbtbodiment are labeled with the same svnibols and dupllcate explanation of these elennents is avoided. The encoder, the slip rings, and the bruslies are not shown.
However, in the fourth embodiment, the positional relations between the electrode supports 31, 32, insulator 33, first and second electrodes 34A, 34B
on the stator S
side, and the electrode sapports 41, 42, insulator 43, and first and second electrodes 44A, 44B on the rotor R side, differ from those in the first to third embodiments, In the fourth embodiment, first electrodes 44A are passed through the comparativeJy large hales of a pipe-like electrode sapport 41, then firmly in.serted, toward the axis, into the pips-lilke electrode support 42 with many holes, and thus fixed in position.
Second electrodes 448 are fixed to the electrode support 41. Similarly, rxrst and second electrodes 34A. 34B are fixed to the electrode supports 31, 32, respectively, along the axis.
The electrode supports 31, 32 are fixed to a motor base 10 or the body of a vacuum coutainer 11 via the insulator 33. The electrode supports 41,42 are connected to a rotating body 12 and a rotating shaft 1'via att insulator 43.
The configuration in the fonrth embodiment ensures effects as excellent as those in the first to third embodiments,
Claims (9)
1. An electrostatic motor wherein:
a disc-shaped stator and a disc-shaped rotor are disposed opposite to each other in a vacuum container such that the stator is fixed to the main body of the vacuum container and the rotor is pivotally supported on the main body of the vacuum container so as to freely rotate via a rotating shaft;
the stator has first electrodes and the second electrodes electrically insulated by an insulator and attached to electrode supports so as to alternate along the circumferences of the electrode supports;
the rotor has first electrodes and second electrodes electrically insulated by an insulator and attached to electrode supports so as to alternate along the circumferences of the electrode supports;
the first and second electrodes on the stator side are each arranged at a spacing of two or more rows at a predetermined distance from the center of the rotating shaft;
the first and second electrodes on the rotor side are each arranged at a predetermined distance from the center of the rotating shaft, and intermediate between the rows of the first and second electrodes on the stator side;
predetermined electric fields are applied to the first and second electrodes on the stator side; and voltages of different polarities are applied to the first and second electrodes on the rotor side so as to switched at a predetermined timing.
a disc-shaped stator and a disc-shaped rotor are disposed opposite to each other in a vacuum container such that the stator is fixed to the main body of the vacuum container and the rotor is pivotally supported on the main body of the vacuum container so as to freely rotate via a rotating shaft;
the stator has first electrodes and the second electrodes electrically insulated by an insulator and attached to electrode supports so as to alternate along the circumferences of the electrode supports;
the rotor has first electrodes and second electrodes electrically insulated by an insulator and attached to electrode supports so as to alternate along the circumferences of the electrode supports;
the first and second electrodes on the stator side are each arranged at a spacing of two or more rows at a predetermined distance from the center of the rotating shaft;
the first and second electrodes on the rotor side are each arranged at a predetermined distance from the center of the rotating shaft, and intermediate between the rows of the first and second electrodes on the stator side;
predetermined electric fields are applied to the first and second electrodes on the stator side; and voltages of different polarities are applied to the first and second electrodes on the rotor side so as to switched at a predetermined timing.
2. The electrostatic motor according to claim 1, wherein the first and second electrodes on the stator side and the first and second electrodes on the rotor side are each rod-shaped and arranged parallel to the axial direction of the rotating shaft.
3. The electrostatic motor according to claim 1 or 2, wherein the electrode supports of the first and second electrodes on the stator side, and the electrode supports of the first and second electrodes on the rotor side are insulatively supported by the insulators respectively, so as to allow sufficient distance for creepage.
4. The electrostatic motor according to any one of claims 1 to 3, wherein the insulutors on the stator side and the rotor side each have one or a plurality of grooves formed thereon.
5. The electrostatic motor according to any one of claims 1 to 4, wherein the ends of the first and second electrodes on the stator side and the ends of the first and second electrodes on the rotor side are round in shape.
6. The electrostatic motor according to any one of claims 1 to 5, wherein stainless steel is used for metallic components disposed in the vacuum container and inorganic insulator is used as insulating components.
7. The electrostatic motor according to any one of claims 1 to 6, wherein a nonmagnetic material is used as the metallic components disposed in the vacuum container.
8. The electrostatic motor according to any one of claims 1 to 7, comprising an encoder including a slit plate and a sensor that detect the relative position between the first and second electrodes on the stator side and the first and second electrodes on the rotor side.
9. The electrostatic motor according to any one of claims 1 to 8, wherein a gas absorbing material is deposited on components disposed in the vacuum container.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006167247A JP4837449B2 (en) | 2006-06-16 | 2006-06-16 | Electrostatic motor |
| JP2006-167247 | 2006-06-16 | ||
| PCT/JP2007/061546 WO2007145131A1 (en) | 2006-06-16 | 2007-06-07 | Electrostatic motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2656897A1 true CA2656897A1 (en) | 2007-12-21 |
| CA2656897C CA2656897C (en) | 2016-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2656897A Active CA2656897C (en) | 2006-06-16 | 2007-06-07 | Electrostatic motor |
Country Status (6)
| Country | Link |
|---|---|
| US (2) | US8278797B2 (en) |
| EP (1) | EP2040366B1 (en) |
| JP (1) | JP4837449B2 (en) |
| CA (1) | CA2656897C (en) |
| RU (1) | RU2430269C2 (en) |
| WO (1) | WO2007145131A1 (en) |
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| JP5661321B2 (en) * | 2010-04-09 | 2015-01-28 | 株式会社新生工業 | Electrostatic motor |
| JP2011223745A (en) * | 2010-04-09 | 2011-11-04 | Shinsei Kogyo:Kk | Electrostatic motor |
| JP5505365B2 (en) * | 2011-04-28 | 2014-05-28 | 信越半導体株式会社 | Insulating member for preventing discharge in induction heating coil, single crystal manufacturing apparatus and single crystal manufacturing method using the same |
| JP5945102B2 (en) * | 2011-09-01 | 2016-07-05 | 学校法人 関西大学 | Power generator |
| WO2013153913A1 (en) * | 2012-04-13 | 2013-10-17 | 株式会社根本杏林堂 | Drug-solution injection device |
| WO2013166476A2 (en) * | 2012-05-04 | 2013-11-07 | Weston Johnson | Electrostatic machine |
| MD650Z (en) * | 2012-10-29 | 2014-01-31 | Институт Прикладной Физики Академии Наук Молдовы | Electrostatic engine |
| JP5611311B2 (en) * | 2012-12-04 | 2014-10-22 | 株式会社新生工業 | Electrostatic motor drive circuit, electrostatic motor, and drive method |
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| US9866148B2 (en) | 2014-10-05 | 2018-01-09 | C-Motive Technologies Inc. | Electrostatic machine system and method of operation |
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| US10504656B2 (en) | 2015-04-29 | 2019-12-10 | General Electric Company | Electrodes for linear switched capacitive devices |
| US10243485B2 (en) * | 2015-05-18 | 2019-03-26 | Wisconsin Alumni Research Foundation | Peg-style electrostatic rotating machine employing dielectric sleeves |
| US20170033712A1 (en) * | 2015-07-31 | 2017-02-02 | Nathanial Henry Lewis | Motor powered by electrostatic forces |
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2007
- 2007-06-07 RU RU2008152022/06A patent/RU2430269C2/en active
- 2007-06-07 CA CA2656897A patent/CA2656897C/en active Active
- 2007-06-07 WO PCT/JP2007/061546 patent/WO2007145131A1/en active Application Filing
- 2007-06-07 US US12/308,366 patent/US8278797B2/en active Active
- 2007-06-07 EP EP07744875.1A patent/EP2040366B1/en active Active
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| EP2040366A1 (en) | 2009-03-25 |
| RU2430269C2 (en) | 2011-09-27 |
| EP2040366B1 (en) | 2017-11-08 |
| US8278797B2 (en) | 2012-10-02 |
| JP4837449B2 (en) | 2011-12-14 |
| US8779647B2 (en) | 2014-07-15 |
| WO2007145131A1 (en) | 2007-12-21 |
| US20100164322A1 (en) | 2010-07-01 |
| CA2656897C (en) | 2016-06-21 |
| RU2008152022A (en) | 2010-08-10 |
| JP2007336735A (en) | 2007-12-27 |
| US20120274177A1 (en) | 2012-11-01 |
| EP2040366A4 (en) | 2012-07-04 |
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