CN109104059A - A kind of bimorph transducer Lundell axial flux permanent magnet vernier motor - Google Patents

A kind of bimorph transducer Lundell axial flux permanent magnet vernier motor Download PDF

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Publication number
CN109104059A
CN109104059A CN201810391727.5A CN201810391727A CN109104059A CN 109104059 A CN109104059 A CN 109104059A CN 201810391727 A CN201810391727 A CN 201810391727A CN 109104059 A CN109104059 A CN 109104059A
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China
Prior art keywords
rotor
permanent magnet
pole
motor
stator
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Pending
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CN201810391727.5A
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Chinese (zh)
Inventor
李建贵
罗瑞仁
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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Priority to CN201810391727.5A priority Critical patent/CN109104059A/en
Publication of CN109104059A publication Critical patent/CN109104059A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H02K16/04—Machines with one rotor and two stators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/14—Stator cores with salient poles
    • H02K1/145—Stator cores with salient poles having an annular coil, e.g. of the claw-pole type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2706—Inner rotors
    • H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
    • H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
    • H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
    • H02K1/2766—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM] having a flux concentration effect
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/32—Rotating parts of the magnetic circuit with channels or ducts for flow of cooling medium
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/03—Machines characterised by aspects of the air-gap between rotor and stator

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

本发明公开了一种双定子爪极式轴向磁通永磁游标电机，包括依次呈轴向设置的外定子、转子、外定子，其特征在于：两外定子的结构相同，在两外定子上均设有爪极式调制齿，在定子槽上绕有三相绕组，两外定子上的爪极式调制齿相对设置，所述转子的两侧与两外定子之间均设有气隙，在转子上设有转子永磁体，两个所述外定子调制齿之间交错有一定的角度β。本发明输出转矩大，齿槽转矩小，转矩脉动低，定子齿聚磁，永磁体利用率高。与传统的轴向磁通电机相比，功率密度大，气隙磁密增大，效率提高。

The invention discloses a double-stator claw-pole axial flux permanent magnet vernier motor, which comprises an outer stator, a rotor, and an outer stator arranged axially in sequence, and is characterized in that the two outer stators have the same structure, and the two outer stators have the same structure. There are claw-pole modulating teeth on both sides, and three-phase windings are wound on the stator slots. The claw-pole modulating teeth on the two outer stators are set opposite to each other. There is an air gap between both sides of the rotor and the two outer stators. A rotor permanent magnet is arranged on the rotor, and a certain angle β exists between the two modulation teeth of the outer stator. The invention has large output torque, small cogging torque, low torque pulsation, stator tooth magnetization concentration, and high utilization rate of permanent magnets. Compared with the traditional axial flux motor, the power density is high, the air gap flux density is increased, and the efficiency is improved.

Description

A kind of bimorph transducer Lundell axial flux permanent magnet vernier motor
Technical field
The present invention relates to a kind of axial flux permanent magnet vernier motor more particularly to a kind of bimorph transducer Lundell axial magnetic fluxes forever Magnetic vernier motor, in the drive system applied to related fieldss such as electric car, robot, centrifuges.
Background technique
With the appearance of high performance permanent magnetic materials, axial flux permanent magnet motor is also being rapidly developed, axial-flux electric machine knot Permanent magnetism vernier motor is closed, dimensional parameters requirement had not only been able to satisfy, but also can reach and directly drive big torque output, in the wheel of such as electric car In the application environments such as hub motor, there is biggish research potential and development prospect.
Traditional axial-flux electric machine air gap flux density is small, and efficiency is lower.Presently, there are Double-stator axial magnetic flow permanent magnetism trip Marking motor has biggish torque density and power density, and motor stator is parallel teeth rectangular channel.In recent years, there is scholar respectively Propose single stator and double-rotor axial flux permanent magnet vernier motor and Lundell list stator and double-rotor axial flux permanent magnet vernier electricity Machine, both motors are all single stator double-rotor motor, and for the latter compared with the former, motor stator is Lundell, and Lundell is fixed Sub- tooth can achieve the effect that poly- magnetic, compared with non-claw-pole type stator tooth motor, stator be Lundell motor magnetic energy utilization rate more It is high.In addition, there are also scholars to propose bimorph transducer Lundell radial flux permanent magnetism vernier motor, this motor stator is also Lundell Stator can substantially reduce leakage field, improve permanent magnet utilization rate, but this motor magnetic flux direction is radial, is a kind of radial flux Motor, compared to axial-flux electric machine, axial dimension is inflexible.At present both at home and abroad for stator using the double fixed of Lundell The research of sub- axial flux permanent magnet vernier motor is deep not enough.For this point, it is fixed with Lundell that the invention proposes one kind The bimorph transducer Lundell axial flux permanent magnet vernier motor of sub- tooth, flat-bottom slot.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of tooth socket turn in view of the deficiency of the prior art Square is small, torque pulsation is low, can provide the bimorph transducer Lundell axial flux permanent magnet vernier motor of big torque.
The technical scheme adopted by the invention is as follows: a kind of bimorph transducer Lundell axial flux permanent magnet vernier motor, including according to It is secondary in the external stator, rotor, external stator that are axially arranged, it is characterised in that: the structure of two external stators is identical, on two external stators Tooth is modulated equipped with Lundell, three-phase windings are wound on stator slot, the Lundell modulation tooth on two external stators is oppositely arranged, described It is equipped with air gap between the two sides of rotor and two external stators, rotor permanent magnet, two external stator modulation are equipped on rotor Certain angle beta is interleaved between tooth.
According to the above technical scheme,
Wherein, θmThe stagger angle between motor d axis and motor q axis；
θ is angle shared by the modulation tooth facewidthWith angle shared by modulation tooth tooth socketThe sum of.
According to the above technical scheme, angle shared by the tooth facewidth is modulatedWith angle, θ ratio in 0.4-0.6.
According to the above technical scheme, θpmFor every pole rotor permanent magnet and adjacent iron cores shared angle jointly；Turn for every pole Angle shared by sub- permanent magnet, angleWith angle, θpmRatio is in 0.2-0.4.
According to the above technical scheme, the modulation tooth number, rotor permanent magnet number of pole-pairs, three-phase windings number of pole-pairs only need to meet " cursor effect ", i.e. NS=Pr1+Pr2, wherein NSTo modulate tooth number, Pr1For rotor permanent magnet number of pole-pairs, Pr2For three-phase windings Number of pole-pairs.
According to the above technical scheme, the rotor includes rotor permanent magnet and rotor core, and rotor permanent magnet is divided into the pole N and S Pole is uniformly staggeredly embedded on the rotor core, and is connected with it.
According to the above technical scheme, the rotor further includes rotor outer end cap, Rotor carriage, rotor supports ring, and described turn Sub- iron core sleeve on the Rotor carriage, the rotor supports ring set on the rotor core, the Rotor carriage with Transmission shaft is connected.
According to the above technical scheme, multiple ventilation holes are equipped on Rotor carriage.
It according to the above technical scheme, further include transmission shaft, electric machine casing, after the electric machine casing includes front motor cover and motor Lid, front motor cover and motor rear cover pass through bearing and transmission shaft phase configuration respectively, and two stators are respectively and after front motor cover and motor Lid is fixedly connected.
It is obtained by the present invention to have the beneficial effect that
1, output torque of the present invention is big, and cogging torque is small, and torque pulsation is low, the poly- magnetic of stator tooth, and permanent magnet utilization rate is high.With Traditional axial-flux electric machine is compared, and power density is big, and air gap flux density increases, and efficiency improves.
2, it introduces Lundell and modulates tooth, have the characteristics that poly- magnetic, improve the air gap flux density of motor, improve permanent magnet utilization rate, Magnetic energy utilization rate increases, and solves the problems, such as that axial-flux electric machine air gap flux density is low, electric efficiency is improved.
3, stagger angle between double external stators, permanent magnet utilization rate improve, and power of motor density greatly improves.
4, compared with conventional axial magnetic flow permanent magnet vernier motor, output torque of the present invention is big, and power density is high, magnetic energy utilization Rate is high, has outstanding engineering property.
5, compared with traditional bimorph transducer Lundell radial flux permanent magnetism vernier motor, the present invention is axial-flux electric machine, axis Short to length, size is flexible, adapts to various to the demanding occasion of motor size, such as electric automobile hub etc..
Detailed description of the invention
Fig. 1 is schematic three dimensional views of the invention.
Fig. 2 is motor assembly relation schematic diagram of the present invention.
Fig. 3 is the B-B cross-sectional view of Fig. 2.
Fig. 4 is rotor assembly relation schematic diagram of the present invention
Fig. 5 is the A-A cross-sectional view of Fig. 4.
Fig. 6 is critical size parameter schematic diagram of the present invention.
Fig. 7 is output torque of the present invention and cogging torque simulation result diagram.
In figure: 1 three-phase windings, 2 external stators, 3 rotor permanent magnets, 4 modulation teeth, 5 rotor cores, 6 transmission shafts, 7 angular contacts Ball bearing, 8 motor front end covers, 9 rotors, 10 washers, 11 nuts, 12 studs, 13 back end cover for motor, 14 angular contact ball axis It holds, 15 small sleeves, 16 big sleeves, 17 rotor outer end caps, 18 cruciform slot screws, 19 fluting the major circle of a sphere chapiter screws, 20 rotors Support frame, 21 rotor supports rings.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As shown in Figs. 1-5, a kind of bimorph transducer Lundell axial flux permanent magnet vernier motor is present embodiments provided, including is passed Moving axis 6, electric machine casing, external stator 2, rotor 9, external stator 2, external stator 2, rotor 9, external stator 2 are set gradually in axial, outside two The structure of stator 2 is identical, and Lundell modulation tooth 4 is equipped on two external stators, three-phase windings 1 are wound on stator slot, outside two Lundell modulation tooth on stator is oppositely arranged, and air gap, rotor 9 and two are equipped between the two sides of the rotor and two external stators Air gap between external stator 2 is between 1mm-2mm, preferably 1.5mm.Rotor permanent magnet, the modulation of two external stators are equipped on rotor Certain angle beta is interleaved between tooth.
In the present embodiment, the electric machine casing includes motor front end cover 8 and back end cover for motor 13, motor front end cover 8 and electricity For machine rear end cap 13 respectively by angular contact ball bearing 7 and 6 phase configuration of transmission shaft, angular contact ball bearing 7 passes through the shaft shoulder and the electricity Machine drive end bearing bracket 8 positions, and angular contact ball bearing 14 is positioned by back end cover for motor 13 with small sleeve 15, small sleeve 15 passes through institute Angular contact ball bearing 14 and big sleeve 16 are stated to position.Two stators are solid with motor front end cover 8 and the welding of back end cover for motor 13 respectively It is fixed.Motor front end cover 8 is fixedly connected with back end cover for motor 13 by washer 10, nut 11, studs 12.The washer 10, spiral shell Mother 11, studs 12 are respectively 18 pairs, 18 pairs, 18.
The rotor includes rotor permanent magnet 3, rotor core 5, Rotor carriage 20, rotor supports ring 21, rotor outer end Lid 17.Rotor permanent magnet 3 divides for the pole N and the pole S, is uniformly staggeredly embedded on the rotor core 5, and is connected with it.Rotor iron 5 sets of core on Rotor carriage 20, Rotor carriage is connected with transmission shaft, 21 sets of rotor supports ring on rotor core 5, rotor Outer end cap 17 is connected by cruciform slot screw 18 and the rotor core 5, and rotor outer end cap 17 passes through fluting the major circle of a sphere column cap Screw 19 and Rotor carriage 20 are connected.Wherein, cruciform slot screw 18 is 14, and the fluting the major circle of a sphere chapiter screw 19 is 6.6 ventilation holes are uniformly provided on the Rotor carriage 20.The rotor 9 is determined by the shaft shoulder with the big sleeve 16 Position.The big sleeve 16 is positioned by the small sleeve 15 and the rotor 9.
In the present embodiment, external stator is equipped with 9 stator slots, and stator slot is flat-bottom slot, and modulation tooth 4 is 18 pieces, the three-phase Winding 1 is coiled into 8 poles.It passes to three-phase current on the three-phase windings 1, adjusts the frequency of three-phase current, i.e., adjustable motor output Revolving speed.Rotor permanent magnet 3 divides for the pole N and the pole S, is uniformly staggeredly embedded on the rotor core 5.3 pole of rotor permanent magnet Logarithm is 14 pairs of poles.Wherein, modulating 4 numbers of tooth, 3 number of pole-pairs of rotor permanent magnet, 1 number of pole-pairs of three-phase windings only needs to meet " vernier Effect ", i.e. NS=Pr1+Pr2, NSTo modulate tooth number, Pr1For rotor permanent magnet number of pole-pairs, Pr2For three-phase windings number of pole-pairs.
Preferably, as shown in fig. 6, parameter hmFor 3 length of rotor permanent magnet, parameterWith parameterRespectively Angle shared by 4 facewidth of modulation tooth, parameter on two external stators 2WithThe modulation tooth 4 on respectively two external stators 2 Angle shared by tooth socket, parameter d and q are respectively the d axis and q axis of motor, parameter θmThe stagger angle between motor d axis and q axis, ginseng Number θ is angle shared by 4 facewidth of modulation toothWith angle shared by 4 tooth socket of modulation toothThe sum of, Parameter θpmFor every pole rotor permanent magnet 3 and the common shared width of adjacent rotor iron core 5, parameterFor every pole rotor permanent magnet 3 Shared width.
WhenWherein, θmThe stagger angle between motor d axis and motor q axis；θ is angle shared by the modulation tooth facewidth DegreeWith angle shared by modulation tooth tooth socketThe sum of.Change angle beta, motor output torque significantlys change.When β value etc.Left and right When, motor output torque is big, and cogging torque is small, and torque pulsation is low, and power density is high.
Change simultaneously angle shared by 4 facewidth of modulation toothWithMotor performance can change correspondingly.When the angle DegreeWhen with the angle, θ ratio between 0.45, motor is able to maintain high output torque, low torque ripple.
Work as angleWith angle, θpmFor ratio at 0.35 or so, motor gas-gap flux density is higher, and yoke portion flux density is reasonable, insatiable hunger With.
Fig. 7 is output torque of the present invention and cogging torque simulation result diagram.As shown in Figure 7, the present invention is keeping larger defeated Out while torque, moreover it is possible to keep lesser cogging torque, torque pulsation is small, and job stability is high, and noise is small, has outstanding Engineering property.

Claims (10)

1.一种双定子爪极式轴向磁通永磁游标电机，包括依次呈轴向设置的外定子、转子、外定子，其特征在于：两外定子的结构相同在两外定子上均设有爪极式调制齿，在定子槽上绕有三相绕组，两外定子上的爪极式调制齿相对设置，所述转子的两侧与两外定子之间均设有气隙，在转子上设有转子永磁体，两个所述外定子调制齿之间交错有一定的角度β。1. A double-stator claw pole type axial flux permanent magnet vernier motor, comprising an outer stator, a rotor, and an outer stator that are axially arranged successively, is characterized in that: the structures of the two outer stators are identical and both outer stators are arranged on the two outer stators. There are claw-pole modulating teeth, and three-phase windings are wound on the stator slots. The claw-pole modulating teeth on the two outer stators are arranged opposite to each other. There is an air gap between the two sides of the rotor and the two outer stators. On the rotor A rotor permanent magnet is provided, and the two outer stator modulation teeth are staggered with a certain angle β. 2.根据权利要求1所述的双定子爪极式轴向磁通永磁游标电机，其特征在于： 2. The dual-stator claw-pole axial flux permanent magnet vernier motor according to claim 1, characterized in that: 其中，θm为电机d轴与电机q轴之间交错角度；Among them, θ m is the staggered angle between the d-axis of the motor and the q-axis of the motor; θ为调制齿齿宽所占角度与调制齿齿槽所占角度之和。θ is the angle occupied by the modulation tooth width The angle occupied by the modulation tooth slot Sum. 3.根据权利要求2所述的双定子爪极式轴向磁通永磁游标电机，其特征在于：调制齿齿宽所占角度与角度θ比值在0.4-0.6。3. The dual-stator claw-pole axial flux permanent magnet vernier motor according to claim 2, characterized in that: the angle occupied by the modulation tooth width The ratio to the angle θ is 0.4-0.6. 4.根据权利要求2所述的双定子爪极式轴向磁通永磁游标电机，其特征在于：θpm为每极转子永磁体与相邻铁芯共同所占角度；为每极转子永磁体所占角度，角度与角度θpm比值在0.2-0.4。4. The double-stator claw-pole axial flux permanent magnet vernier motor according to claim 2, characterized in that: θ pm is the common angle occupied by each pole rotor permanent magnet and the adjacent iron core; is the angle occupied by the permanent magnets of each pole of the rotor, the angle The ratio to the angle θ pm is 0.2-0.4. 5.根据权利要求1或2所述的双定子爪极式轴向磁通永磁游标电机，其特征在于：所述调制齿个数、转子永磁体极对数、三相绕组极对数只需满足“游标效应”，即NS＝Pr1+Pr2，其中，NS为调制齿个数，Pr1为转子永磁体极对数，Pr2为三相绕组极对数。5. The double-stator claw-pole axial flux permanent magnet vernier motor according to claim 1 or 2, characterized in that: the number of modulation teeth, the number of pole pairs of the rotor permanent magnet, and the number of pole pairs of the three-phase winding are only The "vernier effect" needs to be satisfied, that is, N S =P r1 +P r2 , where N S is the number of modulation teeth, P r1 is the number of pole pairs of the rotor permanent magnet, and P r2 is the number of pole pairs of the three-phase winding. 6.根据权利要求1或2所述的双定子爪极式轴向磁通永磁游标电机，其特征在于：所述转子包括转子永磁体和转子铁芯，转子永磁体分为N极和S极，均匀交错内嵌于所述转子铁芯上，并与其固连。6. The dual-stator claw-pole axial flux permanent magnet vernier motor according to claim 1 or 2, wherein the rotor includes a rotor permanent magnet and a rotor core, and the rotor permanent magnet is divided into N poles and S poles. The poles are uniformly staggered and embedded on the rotor core, and are fixedly connected with it. 7.根据权利要求6所述的双定子爪极式轴向磁通永磁游标电机，其特征在于：所述转子还包括转子外端盖，转子支撑架，转子支撑环，所述转子铁芯套在所述转子支撑架上，所述转子支撑环套在所述转子铁芯上，所述转子支撑架与传动轴相连。7. The double-stator claw-pole axial flux permanent magnet vernier motor according to claim 6, characterized in that: the rotor also includes a rotor outer end cover, a rotor support frame, a rotor support ring, and the rotor core The rotor supporting frame is sleeved on the rotor supporting frame, the rotor supporting ring is sleeved on the rotor iron core, and the rotor supporting frame is connected with the transmission shaft. 8.根据权利要求7所述的双定子爪极式轴向磁通永磁游标电机，其特征在于：在转子支撑架上设有多个通风孔。8. The dual-stator claw-pole axial flux permanent magnet vernier motor according to claim 7, wherein a plurality of ventilation holes are provided on the rotor support frame. 9.根据权利要求1或2所述的双定子爪极式轴向磁通永磁游标电机，其特征在于：还包括传动轴，电机壳体，所述电机壳体包括电机前盖和电机后盖，电机前盖和电机后盖分别通过轴承与传动轴相配置，两定子分别与电机前盖和电机后盖固定连接。9. The double-stator claw pole axial flux permanent magnet vernier motor according to claim 1 or 2, characterized in that: it also includes a transmission shaft, a motor housing, and the motor housing includes a motor front cover and The back cover of the motor, the front cover of the motor and the back cover of the motor are respectively configured with the transmission shaft through bearings, and the two stators are fixedly connected with the front cover of the motor and the back cover of the motor respectively. 10.根据权利要求1或2所述的双定子爪极式轴向磁通永磁游标电机，其特征在于：转子与两外定子之间的气隙在1mm-2mm之间。10. The dual-stator claw-pole axial flux permanent magnet vernier motor according to claim 1 or 2, characterized in that the air gap between the rotor and the two outer stators is between 1 mm and 2 mm.
CN201810391727.5A 2018-04-27 2018-04-27 A kind of bimorph transducer Lundell axial flux permanent magnet vernier motor Pending CN109104059A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021239305A1 (en) * 2020-05-27 2021-12-02 Marantec Antriebs- Und Steuerungstechnik Gmbh & Co. Kg Magnetic-gear device
CN115347752A (en) * 2022-08-16 2022-11-15 南京航空航天大学 Stator multi-tooth axial flux permanent magnet motor with magnetic field modulation effect
EP4142125A1 (en) 2021-08-26 2023-03-01 Universidad de Alcalá (UAH) Miniaturized electromagnetic rotary actuator

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CN106602823A (en) * 2017-02-23 2017-04-26 武汉理工大学 Double-claw-pole-stator magnetic gathering type vernier motor
CN206353748U (en) * 2016-12-16 2017-07-25 中工科安科技有限公司 A kind of disk type switch magnetoresistance electrical machinery for improving torque
CN107147274A (en) * 2017-06-30 2017-09-08 武汉理工大学 A kind of adjustable memory permanent magnetic coupling of torque

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Publication number Priority date Publication date Assignee Title
CN103178667A (en) * 2013-03-06 2013-06-26 华中科技大学 Axial-magnetic-field double-stator vernier motor
US20150069875A1 (en) * 2013-09-09 2015-03-12 Wisconsin Alumni Research Foundation Double air gap, spoke type vernier machine
CN206353748U (en) * 2016-12-16 2017-07-25 中工科安科技有限公司 A kind of disk type switch magnetoresistance electrical machinery for improving torque
CN106602823A (en) * 2017-02-23 2017-04-26 武汉理工大学 Double-claw-pole-stator magnetic gathering type vernier motor
CN107147274A (en) * 2017-06-30 2017-09-08 武汉理工大学 A kind of adjustable memory permanent magnetic coupling of torque

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021239305A1 (en) * 2020-05-27 2021-12-02 Marantec Antriebs- Und Steuerungstechnik Gmbh & Co. Kg Magnetic-gear device
EP4142125A1 (en) 2021-08-26 2023-03-01 Universidad de Alcalá (UAH) Miniaturized electromagnetic rotary actuator
WO2023025939A1 (en) 2021-08-26 2023-03-02 Universidad De Alcala (Uah) Miniaturized wirelessly powered electromagnetic rotary actuator
CN115347752A (en) * 2022-08-16 2022-11-15 南京航空航天大学 Stator multi-tooth axial flux permanent magnet motor with magnetic field modulation effect

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Application publication date: 20181228

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