CN109565188B

CN109565188B - Axial gap motor with permanent magnets arranged between the columns

Info

Publication number: CN109565188B
Application number: CN201780049743.XA
Authority: CN
Inventors: 詹姆斯·B·克拉森
Original assignee: Janis Robotics Mobile Canada
Current assignee: 1478021 British Columbia Co.
Priority date: 2016-07-15
Filing date: 2017-07-14
Publication date: 2022-12-06
Anticipated expiration: 2037-07-14
Also published as: EP3485556A4; JP6823174B2; CA3030311A1; JP2019525720A; WO2018010030A1; CN109565188A; EP3485556A1; WO2018010031A1; KR20190029668A; KR102208324B1

Abstract

An electric machine has a stator with an array of electromagnetic elements. The rotor is mounted on a bearing and has an array of rotor posts. The rotor posts each have a length defining opposing ends and the array of rotor posts extends along the rotor in a direction perpendicular to the length of each of the rotor posts. The rotor has electromagnetic elements defining magnetic poles placed between a plurality of rotor posts. When the stator and rotor are in the operating position, an air gap is formed between the rotor and stator. A plurality of rotor flux limiters are formed on the rotor, and each rotor flux limiter is positioned adjacent one of the opposite ends of the rotor post.

Description

Axial gap motor with permanent magnets arranged between the columns

Technical Field

An electric motor.

Background

In the design of electric machines, it is known to select structural parameters, such as the number of slots, depending on the intended application and the desired performance characteristics of the machine. However, not all values of the structural parameters are used in practice. The performance of the motor remains an increased space, in particular in the field of robotics.

Electrical machines typically use conductive wire turns wound around soft magnetic stator posts (teeth) to generate flux. The manufacturing process for this type of motor configuration can be time consuming and expensive. Also, such motors typically have a torque to mass ratio, which makes them relatively heavy in moving actuator applications, such as in robotics, where an upstream actuator must support and accelerate the weight of a downstream actuator.

Common permanent magnet direct drive motors can be difficult to assemble due to the high permanent magnet forces between the rotor and the stator. These high magnetic forces often require complex fixtures for assembly to avoid damage to parts and injury to personnel when bringing the rotor and stator together.

Large diameter, low profile bearings used in many motion control devices, such as robotic arm joints, must typically be physically held in a housing to prevent separation of the bearing assemblies. Many low profile bearings tend to have relatively low tolerances compared to larger diameter, smaller diameter bearings. In addition, bearings typically require an adjustable preload, which is typically provided by a thread form or other type of member. This is difficult to fit in low profile components and is particularly challenging for thin wall bearings.

In a common axial flux actuator, the bearing is located at the inner diameter of the magnetically active section of the rotor. This arrangement is common practice because placing the bearing at the outer diameter of the rotor causes a greater pulling effect and the overall bearing profile increases as the bearing diameter increases. Bearings on the rotor OD will also tend to limit the rotational speed of the device.

In order for a single inner bearing to work with a single rotor/single stator, the rotor and stator structure must be thickened to provide a stiffer structure to reduce deflection, or the air gap distance must be increased to accommodate rotor and stator deflection. The first approach results in a heavier device and larger package, which reduces actuator acceleration and torque density. The latter method results in a reduction in torque due to the greater air gap distance.

Disclosure of Invention

The inventors have proposed an electric machine with a new range of structural parameters particularly suitable for robotics, together with additional new features of the electric machine.

In one embodiment, an electric motor is provided having a stator with an array of electromagnetic elements and a rotor, the stator being mounted on bearings. The rotor has an array of rotor posts, each of the rotor posts having a length defining opposing ends, and the array of rotor posts extends along the rotor in a direction perpendicular to the length of each of the rotor posts. The rotor has electromagnetic elements defining magnetic poles placed between a plurality of rotor posts. When the stator and rotor are in the operating position, an air gap is formed between the rotor and stator. A plurality of rotor flux limiters are formed on the rotor. Each of the plurality of rotor flux limiters is each placed adjacent one of the opposite ends of the rotor post.

In various embodiments, one or more of the following or other features may be included. The bearing may further include: a first bearing connecting the rotor and the stator, and a second bearing connecting the rotor and the stator. The first and second bearings are arranged to allow relative rotational movement of the rotor and stator. The array of rotor posts and the plurality of rotor flux limiters may be placed on the rotor between the first bearing and the second bearing. The plurality of rotor flux limiters may further comprise a plurality of holes in the rotor. The plurality of rotor flux limiters may further comprise a plurality of blind holes. The plurality of rotor flux limiters may further comprise a plurality of through holes. The electric motor may be an axial electric motor. The first bearing may further comprise an inner thrust bearing. The second bearing may further comprise an outer thrust bearing. The electromagnetic elements of the stator and the electromagnetic elements of the rotor may be disposed radially inward from the outer thrust bearing and radially outward from the inner thrust bearing. The inner and outer thrust bearings may be arranged to maintain an air gap against magnetic attraction forces of the electromagnetic elements of the rotor and the stator. The plurality of rotor flux limiters may further include a plurality of outer flux limiters positioned radially outward from the rotor post and radially inward from the outer thrust bearing. The plurality of rotor flux limiters may further include a plurality of inner flux limiters positioned radially inward from the rotor post and radially outward from the inner thrust bearing. The plurality of rotor flux limiters may further include a plurality of inner flux limiters positioned radially inward from the rotor post and radially outward from the inner thrust bearing. Each of the inner and outer flux limiters may be radially aligned in an alternating pattern with respect to the rotor post such that the inner and outer flux limiters are adjacent to each second rotor post. The inner and outer flux limiters may be adjacent to alternating rotor posts such that each rotor post is adjacent to only one of the inner flux limiters or one of the outer flux limiters. Each of the inner and outer flux limiters may be radially aligned with the rotor post, and the inner and outer flux limiters may be adjacent to each rotor post. For each rotor post, the rotor post may be adjacent to two inner flux limiters and two outer flux limiters. The plurality of inner flux limiters and the plurality of outer flux limiters may each further comprise a plurality of apertures having the same geometry. The plurality of holes having the same geometry may further include a plurality of holes having a circular cross-section. The circular cross-section of each of the plurality of holes is of equal size. The stator may further comprise stator posts forming the electromagnetic elements of the stator, the stator posts having slots therebetween, one or more electrical conductors in each slot, each of the stator posts having a length defining opposing ends and the array of stator posts extending around the stator in a direction perpendicular to the length of each post. The stator may further include a plurality of stator flux limiters formed on the stator, each of the plurality of stator flux limiters being positioned adjacent one of the opposite ends of the stator post. The electric motor may further comprise a linear electric motor. The first bearing may further comprise a first linear bearing. The second bearing may further comprise a second linear bearing. The electromagnetic element of the stator and the electromagnetic element of the rotor may be arranged axially between the first linear bearing and the second linear bearing. The first linear bearing and the second radial bearing may be arranged to maintain an air gap against a magnetic attraction force of the electromagnetic elements of the rotor and the electromagnetic elements of the stator. The plurality of flux limiters may further comprise a plurality of first flux limiters placed between the rotor post and the first linear bearing. The plurality of flux limiters may further include a second plurality of flux limiters disposed between the rotor post and the second linear bearing. Each of the first and second flux limiters may be aligned with a length of a corresponding one of the rotor posts in an alternating pattern relative to the rotor posts such that the inner and outer flux limiters are adjacent to each second rotor post. Each of the first and second flux limiters may be aligned with a length of a corresponding one of the rotor posts, and an inner and outer flux limiter is adjacent to each rotor post. The plurality of first flux limiters and the plurality of second flux limiters may further comprise a plurality of apertures having the same geometry.

The invention also discloses an electrical machine in which a first carrier (rotor or stator) is supported by a bearing for rotation relative to a second carrier (stator or rotor) and the bearing comprises a bearing race which is a homogeneous extension of the homogeneous plates forming the first and second carriers. That is, the bearing races of the bearings are integrated with respective carriers supported by the bearings. In axial flux or radial flux machines, integrated bearing races may be used for the inner bearing or the outer bearing or both.

These and other aspects of the apparatus and method are set out in the claims.

Drawings

Reference will now be made, by way of example only, to the following drawings in which:

FIG. 1 is an isometric view of an exemplary actuator;

FIG. 2 is an exploded view of the example actuator of FIG. 1;

FIG. 3 is an isometric view of a rotor of the exemplary actuator of FIG. 1;

FIG. 4 is an isometric view of a stator of the example actuator of FIG. 1;

FIG. 5 is an isometric view of a section of the example actuator of FIG. 1;

FIG. 6 isbase:Sub>A view of the body of the example actuator along section A-A in FIG. 1;

FIG. 7 is an enlarged detail view of the outer bearing and thermal interference fit showing detail C1 in FIG. 6;

FIG. 8 is an enlarged detail view of the inner bearing and the safety ring, showing detail E1 in FIG. 6;

FIG. 9 is an isometric view of a section of an exemplary actuator with an alternative thermal interference fit;

FIG. 10 is a cross-sectional view of the example actuator of FIG. 9;

FIG. 11 is an enlarged detail view of the outer bearing and thermal interference fit showing detail C2 of FIG. 10;

FIG. 12 is an enlarged detail view of the inner bearing and safety ring showing detail E2 in FIG. 10;

FIG. 13 is an isometric view of a section of an exemplary stator plate with an integrated bearing race;

FIG. 14 is an isometric view of a section of an exemplary rotor plate with an integrated bearing race;

FIG. 15 is an isometric view of a section of an exemplary actuator with integrated bearing races;

FIG. 16 is a cross-sectional view of the rotor and stator taken along section B-B in FIG. 6, including representations of magnetic flux and force;

FIG. 17 is a view of a body of an exemplary actuator with a safety ring;

FIG. 18 is a detail view of a safety ring with a sliding bearing;

FIG. 19 is a detail view of the safety ring with the thrust bearing;

FIG. 20 is a close-up view of the rotor during installation and removal of the magnets;

FIG. 21 is a partial cross-sectional view of a rotor plate segment;

FIG. 22A is a partial view of a rotor plate segment with flux limiting holes;

FIG. 22B is a partial view of a rotor plate segment with another arrangement of flux limiting holes;

fig. 23 is a FEMM simulation result on a rotor plate without flux limiting holes;

fig. 24 is a FEMM simulation result on a rotor plate with flux limiting holes;

FIG. 25 is a cross-sectional view of a stator plate segment with an unbroken path between an ID bearing and an OD bearing;

FIG. 26 is an exploded view of an exemplary actuator;

FIG. 27 is a cross-sectional view showing an embodiment of an exemplary actuator coupled to an upper housing and a lower housing;

FIG. 28 is an exploded isometric view of the example actuator of FIG. 27;

FIG. 29 is an isometric cross-sectional view of the example actuator of FIG. 27;

fig. 30 is a cross-sectional view through a segment of an axial flux-concentrating flux rotor with tapered magnets and flux path restrictions;

fig. 31 is a close-up cross-sectional view of a portion of an axial flux concentrating flux rotor with extended length magnets;

fig. 32 is a simplified exploded cross-sectional view of an embodiment of an axial flux stator-rotor-stator configuration of a concentrated flux rotor with end irons;

fig. 33 is a simplified exploded cross-sectional view of an embodiment of an axial flux stator-rotor-stator configuration with back iron, end iron, and a concentrated flux rotor with flux path restrictions;

fig. 34 is a simplified exploded cross-sectional view of an embodiment of an axial flux rotor-stator-rotor configuration with end irons and a concentrated flux rotor with flux path restrictions;

fig. 35 is a simplified exploded cross-sectional view of an embodiment of an axial flux rotor-stator-rotor configuration of a concentrated flux rotor having end irons, flux path limits, and back irons;

fig. 36 is a simplified perspective view of a linear flux machine with back iron and flux limiters;

fig. 37 is a simplified perspective view of a linear flux machine without back iron and with a flux limiter;

fig. 38 is a simplified perspective view of a linear flux machine with an alternating pattern of flux limiters;

FIG. 39A shows a graph of torque as a function of slot pitch and column height for a simulated series of motors at constant current density;

FIG. 39B shows the highest possible current density of the stator as a function of slot pitch and column height for a simulated series of motors at a given temperature;

FIG. 39C shows constant temperature torque as a function of slot spacing and post height for a series of motors;

FIG. 39D shows the value of the weighting function of the highest possible current density of the stator as a function of slot spacing and column height for a simulated series of motors at a given temperature;

FIG. 39E shows Km' as a function of slot spacing and column height at a fixed current density for a simulated series of motors;

FIG. 39F shows K at fixed current density for a simulated series of motors _R "as a function of slot spacing and column height;

FIG. 40 shows the benefit K for a 200mm sized machine relative to the rest of the domain _R "and K _R ″>1.3 boundary line;

FIG. 41 shows the benefit K for a 200mm sized machine relative to the rest of the geometry in the domain _R "and K _R ″>A boundary line of 1.5;

FIG. 42 shows the benefit K for a 200mm sized machine relative to the rest of the domain _R "and K _R ″>A boundary line of 1.8;

FIG. 43 shows the K benefits for a 100mm sized machine relative to the rest of the domain _R "and K _R ″>A boundary line of 1.5;

FIG. 44 shows the K benefits for a 100mm sized machine relative to the rest of the domain geometry _R "and K _R ″>A boundary line of 1.7;

FIG. 45 shows the K benefits for a 100mm sized machine relative to the rest of the domain geometry _R "and K _R ″>A boundary line of 1.9;

FIG. 46 shows the K benefit for a 50mm sized machine relative to the rest of the domain _R "ofAnd K _R ″>2.2 boundary line;

FIG. 47 shows the K benefit for a 50mm sized machine relative to the rest of the domain _R "and K _R ″>2.5 boundary line;

FIG. 48 shows the K benefits for a 50mm sized machine relative to the rest of the domain _R "and K _R ″>2.9 boundary line;

FIG. 49 shows the benefit K for a 25mm sized machine relative to the rest of the geometry in the domain _R "and K _R ″>3.3 boundary line;

FIG. 50 shows the K benefit for a 25mm sized machine relative to the rest of the domain _R "and K _R ″>3.4 boundary line;

FIG. 51 shows that K is beneficial for a 25mm sized machine relative to the rest of the geometry in the domain _R "and K _R ″>3.6 boundary line;

FIG. 52 illustrates a joint of a robotic arm using a frameless motor/actuator;

FIG. 53 shows a cross-sectional view of a frameless motor/actuator and robotic arm;

figure 54 shows a close-up of a cross-sectional view of the frameless motor/actuator stator, rotor and housing assembly;

FIG. 55 shows an exploded view of a frameless motor/actuator robotic arm assembly;

FIG. 56 shows a cross-sectional view through the housing to view tab features on the stator and rotor;

FIG. 57 shows a representation of the upward, over and downward component movement for use with the tab feature in FIG. 56 to secure the rotor;

FIG. 58 shows a close-up showing a cross-sectional view of a tab feature for securing a rotor; and is provided with

Fig. 59 illustrates a cross-sectional view through the housing to show tab features used on the stator to secure the stator.

Detailed Description

First, several terms used throughout the text will be defined.

A carrier as used herein in the context of an electrical machine may include a stator or a rotor when referring to a rotating machine.

A rotor as used herein may be circular. The rotor may also refer to the armature or reaction rail of a linear motor. The stator may be circular. It may also refer to the armature or reaction rail of a linear motor.

The teeth may be referred to as posts.

In an electric machine, either the stator or the rotor may have an array of commutating electromagnets defined by coils wound around posts, while the other of the stator or the rotor may have poles defined by permanent magnets or coils or both coils and permanent magnets. The electric machine may be configured as a motor or as a generator.

Permanent magnets may be used in conjunction with electromagnets on the rotor and/or stator to add flux to the system.

PM means a permanent magnet. EM refers to an electromagnet. ID refers to the inner diameter. OD refers to the outer diameter.

The electromagnetic element may include a permanent magnet, a post, a slot defined by the magnetic post (which may be a soft magnetic post), and an electrical conductor. In any embodiment where one carrier has slots and posts, the other may have permanent magnets for the electromagnetic elements, and for any such embodiment, the term electromagnetic elements may be replaced by the term permanent magnets. In some cases, such as in concentrated flux rotor embodiments, the magnetic poles may be defined by permanent magnets in combination with adjacent columns, wherein a magnetic field is established by the permanent magnets.

Flux refers to magnetic flux unless otherwise specified. Soft magnetic materials are magnetically susceptible and temporarily magnetizable materials such as, but not limited to, iron or steel or cobalt or nickel alloys.

A fractional slot motor is a motor with a fractional number of slots per pole per phase. If the number of slots is divided by the number of magnets and then divided by the number of phases, the result is not an integer, then the motor is a fractional slot motor.

Thrust bearings include any bearing arranged to support substantial axial thrust, including angular contact bearings and four point contact bearings as well as pure thrust bearings. A radially positioned bearing is a bearing that, in use, prevents relative displacement of the axes of the elements connected by the bearing.

The bearing may be radial and thrust-oriented (such as a crossed roller bearing), or it may be only radial or only thrust-oriented.

The carrier may be supported for movement relative to the other carrier by a frame or bearings, and the bearings may be sliding, roller, fluid, air or magnetic bearings.

An axial electric machine is one in which flux linkage occurs across an axial air gap and the carrier is in the form of disks mounted coaxially in a side-by-side fashion. A first carrier may be arranged to move relative to another carrier by the carrier being supported by a frame, housing or other element, while the other carrier moves relative to the first carrier.

A radial electric machine is an electric machine in which the air gap is oriented such that the magnetic flux is oriented radially and the carriers are mounted concentrically, one outside the other.

Linear actuators are comparable in construction to sections of axial flux or radial flux rotary motors, where the direction of motion is a straight line rather than a curved path.

A trapezoidal motor is a motor that is a combination of an axial flux machine and a radial flux machine, where the plane of the air gap is located at an angular half-way between the planes formed by the air gaps in the axial and radial configurations.

The air gap diameter of a rotating machine is defined as the diameter of the rotating shaft perpendicular to the center of the air gap surface. In a radial flux motor, all air gaps reside at the same diameter. If the air gap surface is a disk shaped piece as in an axial flux motor, the average air gap diameter is the average of the inner and outer diameters. For other air gap surfaces, such as diagonal or curved surfaces, the average air gap diameter may be established in terms of the average air gap diameter of the cross-sectional air gap view.

For a radial flux motor, the air gap diameter refers to the average of the rotor inner diameter and the stator outer diameter of an outer rotor radial flux motor, or the average of the rotor air gap outer diameter and the stator air gap inner diameter of an inner rotor radial flux motor. The analogy of the air gap diameter of a radial flux motor can be used for other types of rotary motors. For an axial flux machine, the air gap diameter is defined as the average of the PM inner and outer diameters and the EM inner and outer diameters.

The back surface of the stator is defined as the surface on the opposite side of the stator from the surface at the magnetically active air gap. In a radial flux motor, this would correspond to the inner surface of the stator for an outer rotor configuration or the outer diameter surface of the stator for an inner rotor configuration. In an axial flux motor, the rear surface of the stator is the axially outer surface of the stator.

For distributed windings, the number of slots will be N times the number of poles, where N is a multiple of the number of phases. Thus, for a three-phase machine, N may be 3, 6, 9, 12, etc. For concentrated windings, the number of slots may vary, but must be a multiple of the number of phases. It is not dependent on the number of poles, except that some combination of slots and poles will produce higher torque and better noise reduction or cogging reduction characteristics. The minimum number of slots for a given number of poles should not be less than 50% to obtain sufficient torque.

Conductor volume may be used to refer to the slot area per unit length of an individual stator. The groove area is the cross-sectional area of the groove in a plane normal to the teeth but not parallel to the plane of relative movement of the carrier. In an axial motor, this plane will be perpendicular to the radius through the slot. The slot area effectively defines the maximum conductor volume that can be incorporated into the stator design, and making the fill factor as high as possible to utilize all of the available space for the conductors is often a goal of motor designers.

Since the maximum conductor volume in a stator is defined in terms of slot area, any stator referred to as having the maximum conductor volume or slot area must have slots and teeth to define the slots. For a rotary motor, the parameters are defined as:

groove area per length

Wherein A is _S Is a single groove cross-sectional area, or has variationsStator design that resolves slot area average area of a single slot.

As a relatively accurate approximation, A _S Can be calculated as the height h of the tooth _t Multiplied by the average width w of the slot _s So that the above equation becomes:

groove area per length

Groove depth or column height may also be used as a substitute for conductor volume. The post height (also referred to as tooth height or slot depth) is an alternative to the amount of cross-sectional area that the conductor can occupy in the slot. Although the slots may have various shapes, such as curved or tapered profiles, the slot height is based on the closest rectangular approximation that best represents the total area of the slot that may be occupied by the conductor. This dimension does not include features that add tooth height without substantially adding to the groove area, such as pole shoes. For a transverse flux motor, the column height is defined as the portion of the column directly adjacent to the conductor coil, perpendicular to the direction of the coil windings.

Concentrated windings include individually wound limbs or any winding configuration that when energized causes adjacent limbs to produce alternating polarity. It should be understood that not all pillars are opposite in polarity to two adjacent pillars at any one time. However, when the motor is energized, the concentrated winding configuration may result in most of the legs being of opposite polarity for one or two adjacent legs most of the time. The concentrated winding is in the form of a fractional slot winding in which the proportion of slots per pole per phase is less than one.

Herein, the terms unitary, monolithic, homogeneous, solid, isotropic, and monolithic are used interchangeably when referring to a stator or rotor. Each term excludes laminates and powder materials comprising substantially electrically insulating material. However, there may be small insulating particles that do not significantly interfere with the conductive properties of the material, for example where the volume isotropic resistivity of the material does not exceed 0.002 ohm-meters. Monolithic, homogeneous, solid, isotropic or monolithic materials may include iron, including ductile iron, metal alloys including steel, and may include metal alloys (single or multiphase) formed from conductive atoms in solid solution or alloys formed from mixtures of metals and other materials that improve the strength or conductivity of the material, for example, where the volume isotropic resistivity of the material does not exceed 0.002 ohm-meters.

Embodiments of the inventive apparatus use integrated bearing races that are preferably machined into the stator and/or rotor, wherein the bearing races and at least the axial surfaces of the stator and rotor posts can be machined in the same device. This may provide for very high tolerance manufacturing of the bearing races relative to the critical geometric relationship between axial and radial positions of the stator and rotor post. The consistency of these geometric relationships is important for consistent cogging and other performance characteristics of the device.

Embodiments of the inventive apparatus may allow for streamlined manufacturing with a rotor configuration that allows permanent magnets to be individually installed into the rotor after the stator and rotor have been assembled.

Embodiments of the present apparatus can provide high torque density, ease of manufacture, ease of assembly, and maintainability due to a very simple assembly with a minimum number of parts, and also provide excellent operational safety due to a high torque inertia ratio that allows for very rapid emergency stops.

As shown in fig. 1, a non-limiting exemplary embodiment of an axial flux motor 110 is housed in the upper and

lower arm members

100, 200. The upper arm member 100 and the lower arm member 200 rotate about the rotation axis 300.

A non-limiting exemplary embodiment of the apparatus in a robot arm assembly is shown in fig. 2. The upper arm member 100 includes a support housing 101. The lower arm member 200 includes an arm housing 201. The support housing 101 and the arm housing 201 are preferably made of a lightweight material such as, but not limited to, aluminum, magnesium, or carbon fiber composite.

As shown in fig. 2-5, the stator 102 is attached to the upper arm 100, such as with bolts and/or adhesive and/or heat fit or by being integrally formed with the arm. In fig. 2, the stator 102 is connected to the upper arm 100 using a press fit with the ring 101A. The outer bearing 302 and the inner bearing 301 allow for relative rotation of the stator 102 and the rotor 202 and provide precise relative axial positions of the stator 102 and the rotor 202 to maintain an air gap between the stator post 105 (fig. 4) and the rotor post 205 (fig. 3). As shown in fig. 3, the rotor may have flux limiting holes 206 and permanent magnets 204. The permanent magnets are positioned in the slots 208.

Placing the inner bearing 301 within the ID of the air gap and the outer bearing 302 outside the OD of the air gap distributes the attractive forces between the stator 102 and the rotor 202 between the two

bearings

301, 302 to extend the service life and/or reduce the bearing weight. The use of ID and OD bearings also reduces mechanical stresses on the stator 102 and rotor 202, allowing for thinner cross sections and lighter weight, such as might be achieved with a high pole count of an embodiment of the apparatus.

As shown in fig. 3 and 4, the rotor 202 includes a rotor plate 203 (fig. 3), and the stator 102 includes a stator plate 103 (fig. 4). The stator plate 103 shown in fig. 4 and the rotor plate 203 shown in fig. 3 may be made of ductile iron. The permanent magnet 204 may be neodymium-N52H. Many other materials may be used for the various components. These materials are given by way of example only.

The rotor 202 is received in the lower arm 200 and attached, such as with bolts and/or adhesive and/or heat fit or by being integrally formed with the arm. As shown in fig. 2, the rotor 202 is connected to the lower arm 200 using a press fit with the ring 201A. The axial magnetic attraction between the stator 102 and the rotor 202 caused by the permanent magnet flux in the rotor 202 provides an axial preload on the bearing 301 and the bearing 302. It has been shown by analysis and experimentation that for high strength magnets, such as but not limited to neodymium N52 magnets, the axial force is sufficient to keep the

bearings

301, 302 preloaded in the stator 102 and rotor 202, and to provide sufficient axial force to allow the lower arm 200 to support useful loads in all directions. The load may be a combination of arm weight and acceleration forces as well as a payload in any direction.

The use of magnetic forces to provide bearing seating forces and axial preload on the bearings allows the use of thrust loads and/or angular contact bearings that may be preloaded by magnetic attraction of the stator and rotor to eliminate bearing play in the axial direction. By using a combination of radially and axially positioned bearings, it is possible to preload the bearings with magnetic forces in the radial and axial directions and eliminate the need for additional mechanical retention of the bearing races to prevent movement of the races in the opposite direction of the magnetic forces. This preload can significantly reduce bearing clearance and increase bearing stiffness so that the assembly becomes very precise in its movement. This may be advantageous for precision applications such as robotics. It may also have the advantage of reducing non-uniform cogging that may be caused by radial displacement of the rotor. This may be particularly important when the device has a large number of very small gullet steps, such as for embodiments of the present device.

Non-limiting examples of axially preloading races without the need for mechanical retention of both races on both bearings are shown in fig. 5-8. The stator comprises stator plates 103. The stator plate 103 includes an inner bearing race 111 defining an inner bearing groove and an outer bearing race 112 defining an outer bearing groove. The rotor includes a rotor plate 203. The rotor plate 203 includes an inner bearing race 211 defining an inner bearing groove and an outer bearing race 212 defining an outer bearing groove. The rotor plate 203 may be connected to the rotor housing 201 using a press fit between the cooperating member 231 and the cooperating member 232. Similarly, the stator plate 103 may be connected to the stator housing 101 using a press fit between the cooperating member 131 and the cooperating member 132. An outer bearing element 322 (in this non-limiting example a crossed roller bearing) is sandwiched between the two

outer bearing grooves

112, 212 such that the axial magnetic attraction force between the stator 102 and the rotor 202 eliminates axial and radial play in the bearing 301. An inner bearing element 321 (fig. 6) is sandwiched between the two

inner bearing grooves

111, 211. In this non-limiting exemplary embodiment, bearing 301 is a cross roller bearing having axial and radial positioning stiffness. Thus, the axial preload of the rotor and stator provided by the magnets 204 in the rotor 202 results in precise relative positions of the stator 102 and the rotor 202 in the axial and radial directions. Such precise positioning is achieved without the need for mechanical or adhesive bearing race retention in the axial direction opposite to the magnetic attraction between the stator and rotor.

Referring to fig. 6, the axial flux motor 110 may have the design shown. The outer bearing 302 and inner bearing 301 allow for relative rotation of the stator and rotor and provide precise relative axial positions of the stator and rotor to maintain a desired air gap between the stator posts 105 and the rotor posts that hold the magnets 204 and provide a flux path for the magnetic field provided by the magnets. The rotor may have a flux limiting aperture 206 and a magnet 204. The use of a bearing within the ID of the air gap and a second bearing outside the OD of the air gap distributes the attractive forces between the stator and rotor between the two bearings for extended service life and/or mitigation of the bearings. The use of ID and OD bearings may reduce mechanical stresses on the stator and rotor, allowing for thinner cross sections and lighter weight, such as may be achieved with high pole counts of embodiments of the apparatus.

The outer bearing 302 may also be a bushing where, for example, one of the rotor or the stator comprises bronze or another bushing material and the other of the rotor or the stator is steel or another suitable material. With bronze, some of the metal in the material may migrate to the other bushing portion and lubricate it. Other materials such as nickel or copper may also be used in place of bronze. The bushing surface may also be another suitable material, such as Teflon ^TM Or other low friction material.

In the non-limiting exemplary embodiment shown in fig. 3 and 4, there are 96 stator posts (corresponding to 96 slots) and 92 rotor posts, with three phase routing and each phase on the stator divided into 4 equally-arranged segments of eight posts each. In this example, the number of rotor posts is 92, resulting in four equally aligned angular positions, where the rotor posts and stator posts are aligned. This in turn results in peak axial attraction forces between the stator and rotor in four positions.

It is noted that many other combinations of stator post numbers and rotor post numbers may be used. Other numbers of phases may also be used. These examples have been established to provide beneficial performance, but do not limit the various construction principles to these exemplary geometries. For example, features of embodiments of the apparatus (such as, but not limited to, magnetically preloaded bearings or wiring configurations) may be used with rotors and stators having lower or higher numbers of poles.

It has been shown through simulations and experiments that for an embodiment of the apparatus, the total axial preload between the stator and rotor remains relatively constant, such as within 10% in a multi-phase wiring configuration (such as but not limited to a three-phase configuration), regardless of the current supplied to the windings and the torque produced by the motor. This is because the electromagnetic forces are reasonably equal in repulsion and attraction. However, while the total axial force on the stator and rotor remains reasonably constant, the axial attractive forces on the various posts on the stator or rotor will vary considerably (such as 14% or more). For this reason, in some embodiments, it is beneficial to distribute the number of phase segments to more than two segments per phase, so the peak axial load from the permanent magnet occurs at more than one angular position (e.g., at four equally aligned angular positions). This may be beneficial to provide a more consistent axial preload on the bearings around the circumference of, in particular, the OD bearing, so any cantilevered external load that would pull the stator from the rotor (such as a cantilevered load on the SCARA arm that is pulling the stator and rotor apart primarily at one angular position) is resisted by one or more peak axial force regions at any time, regardless of the angular position of the arm. In some aspects, the greater the number of segments per phase, the greater the manufacturing complexity, and thus the four peak axial force locations (the result of four segments per phase) are considered a good balance of manufacturability and peak axial force consistency. The four peak axial force locations can be achieved with many different numbers of stator and rotor posts, with the important characteristic being that there are four post differences between the number of posts on the rotor and the number of posts on the stator.

Further, it is beneficial for embodiments of the apparatus that use the embodiments of the wiring configuration shown that the number of posts on the stator is a multiple of three sections, such as 3, 6, 9, 12, 14, 16, etc., where each section has an even number of posts on the stator, such as 2, 4, 6, 8, 10, 12, etc.

Another consideration when deciding how many peak axial force locations to select in the design of an embodiment of the apparatus is the number of cogging steps that will result. A large number of cogging steps is beneficial for reducing cogging (since a larger number of steps generally results in less force variation between maximum and minimum torque per cogging step), so the two-column difference between stator and rotor (corresponding to two segments per phase) appears to be preferable for reducing cogging, since in the non-limiting exemplary embodiment of 96 stator columns and 94 rotor columns, the number of cogging steps is 4512, which is very high, resulting in a very low theoretical cogging torque. However, the two magnet differences between the stator and rotor only result in two peak axial attraction force positions at any given time, resulting in less stable support of the cantilevered load on the output of the actuator when lifting the payload, such as in a SCARA arm configuration. For this reason, the four differences of rotor/stator columns are considered to be a good choice in terms of payload lifting stability, even though they have a lower number of cogging steps and theoretically higher cogging forces. The 96 stator post to 92 rotor post configuration results in 2208 slot steps only, which is expected to result in approximately twice as large slot force variation. Thus, four differences in post would not seem beneficial in terms of gullet reduction, as the gullet steps would be fewer, and therefore larger in magnitude. However, there may be another benefit of fewer cogging steps (due to a larger difference in the number of columns between the stator and rotor — for example, four column differences (as opposed to one or two column differences) of four as shown in fig. 3 and 4). This advantage is related to the correlation between the size of the cogging steps and the accuracy required to align the stator and rotor axes during manufacturing/assembly and in operation under various loads. In particular, if the cogging step (measured circumferentially at the average air gap diameter) is less than the radial displacement of the rotor axis relative to the stator axis (due to lack of manufacturing accuracy), the stator and rotor will not be sufficiently aligned to achieve a consistent cogging step. This will result in non-uniform cogging forces during rotation. Any radial displacement of the rotor relative to the stator will have a misalignment effect on diametrically opposed posts in the same radial direction, resulting in less than ideal cogging cancellation. Some combinations of rotor/stator shaft misalignment and embodiments with very high cogging step relative angular position of the stator (such as having two column differences between stator and rotor) may even result in cogging force variations under some conditions that are greater than if a larger rotor/stator column difference were used (assuming similar radial misalignment in each exemplary case).

The effect of bearing stiffness in the radial direction can be an important consideration because cogging or payload forces can sometimes displace the rotor more radially relative to the stator with less stiff bearings in the radial direction. If this radial displacement is a significant percentage of the slot step size (measured tangentially at the average air gap diameter and 90 degrees to the radial displacement direction), the slot step and slot force will not be consistent, and in some cases and angular positions the possible magnitude of the slot force (where "magnitude" refers to the difference between the maximum and minimum torque in the slot step) will be greater than if the stator/rotor column difference is smaller and the number of slot steps is higher (resulting in a theoretically lower slot torque in the case of stator and rotor). It is believed possible that if there is a radial displacement of the rotor relative to the stator of.001 "to.002" (due to manufacturing inaccuracies or radial displacement due to loading the actuator in use), a very high cogging step on the 10"od actuator will result in an inconsistent cogging. This is considered a high tolerance for mass production of stators, rotors and bearings. Achieving these high tolerances during manufacturing is time consuming and expensive, so it has been determined that more consistent cogging torque (and possibly even lower peak cogging torque) can be achieved if more than one or two post differences are used. The four (4) column difference between the rotor and stator has the advantage of providing at least two peak axial attraction force locations on the load side of the actuator at any time in a robotics application, such as when supporting a cantilever load. The allowable radial displacement of the rotor relative to the stator may be higher because the tooth slot step is larger. This is expected to allow consistent cogging torque to be achieved with lower manufacturing tolerances and bearing stiffness than if a higher number of cogging steps were used. In the case where there are N columns on the stator and M poles on the rotor, the number of each of N and M may be selected such that N and M have a property that the greatest common divisor of N and M is four or more.

It is common for many typical three-phase motors to have wires from two or three phases in a single slot. Embodiments of the inventive apparatus use a wiring configuration in which two or more adjacent slots in a row contain conductors from only one phase. Many different winding methods may be used with this apparatus, but the advantages of the winding arrangement 104 as shown in fig. 4 and 5 include the ability to use axially aligned (circumferentially layered in each slot) non-overlapping flat wire (for which overlapping the wire (as is typically done in a three phase distributed winding machine) is problematic). To take advantage of the simplicity of assembly and method of this winding configuration, it may be beneficial to have as few sections per phase as possible (such as one section per phase, e.g., 32 slots per phase for a 96 slot stator, or two sections per phase, e.g., 16 slots per phase for a 96 slot stator). The number of rotor posts for such a winding configuration is preferably equal to the number of stator slots plus or minus the number of segments per phase, e.g. 94 or 98 for 96 stator slots with two equally arranged segments per phase.

Fig. 5 to 8 show an exemplary actuator with a safety ring 121 attached to the stator housing 101, and fig. 9 to 12 show an alternative exemplary actuator with a safety ring 121 attached to the stator plate 103.

A safety ring 121 is mounted on the stator 102 to prevent separation of the stator and rotor if a force greater than the axial attraction force from the magnetic attraction of PM across the air gap is applied to the end of the arm attached to the rotor along the axis of rotation of the actuator. The cross section of the actuator in fig. 8 shows the safety ring 121 at the inner diameter of the stator. The cross-sectional view in fig. 8 shows the lip (first shoulder) 122A of the safety ring overlapping the lip (second shoulder) 122B of the arm casing. Between the lip 122A and the arm casing 200, a thin sliding bearing ring 124 is in place to provide a low resistance sliding contact in the event of rotor and stator separation. The first shoulder 122A projects in a first radial direction, the second shoulder 122B projects in a second radial direction opposite the first radial direction, and the first shoulder 122A is configured to cooperate with the second shoulder 122B to prevent the rotor and stator from separating beyond a predetermined distance. The safety ring 121 is attached to the stator housing 101 using a press fit between the cooperating member 123A and the cooperating member 123B.

In both example actuators, as shown in fig. 8 and 12, the overlapping feature forming the first shoulder 122A (which in this example has a larger OD than the ID of the rotor housing) is located around the ID of the stator and rotor. The safety ring and first shoulder 122A need not contact the rotor during normal operation and serve to prevent the rotor and stator from fully separating in the axial direction if the separation load on the rotor 202 and stator 102 exceeds the axial preload provided by the permanent magnets on the bearings. As shown in fig. 8, after assembly of the stator and rotor, an inverted bearing or bushing 124 is attached to the stator or rotor or other component. In the event of an axial overload resulting in a separating force and displacement on the bearing, there will be contact between the first shoulder 122A and the bushing 124 and the rotor, and therefore the material combination of the first shoulder 122A and the bushing 124 and the rotor is preferably suitable for sliding contact.

As shown in fig. 18, a sliding bushing material 124 may also be used between these two surfaces. In fig. 19, if the magnetic preload is exceeded during actuator rotation, a thin section thrust bearing 124 is used to allow rotation without damage. The first shoulder may also be used on the OD of the actuator with a similar effect. If rolling element bearings are used as the counter bearings, and if it is desired to have a small amount of stator and rotor separation in an emergency to reduce the force of the robotic arm on an unintended object, it may be desirable to use a preload spring to keep the counter bearings slightly preloaded to prevent the bearing balls from rotating. As a non-limiting example, a wave washer may be used for this purpose.

As shown in fig. 11, the rotor case 201 and the rotor plate 203 (fig. 10) are connected by press-fitting using the cooperating member 231B and the cooperating member 232B. The stator housing 101 and the stator plate 103 (fig. 10) are connected by press-fitting using the cooperating member 131B and the cooperating member 132B.

Monolithic material from post to post on the stator and/or rotor may be used to provide the housing structure. The rotor and/or stator are structurally rigid to eliminate the need for additional housings on one or both components. Integrating the stator and rotor into a homogenous plate may reduce weight, as well as manufacturing cost and complexity. The integrated bearing race formed as part of each homogenous plate may allow the structural load path from the stator post to the bearing race in contact with the rolling elements to be formed from a single piece of magnetic metal, such as shown in fig. 13-15. ID and OD bearings are used to reduce rotor and stator material stresses and maintain a small air gap with axially thin components. Uninterrupted soft magnetic homogeneous materials (such as, but not limited to, iron or steel alloys) may be used between two or more of the following: a stator or rotor column and bearing, a stator or rotor column and adjacent column, a stator or rotor column and OD bearing or housing, a stator or rotor column and ID bearing or housing, and a stator or rotor column and structural member in the load path between the column and bearing.

For example, the homogeneous material for the stator and/or rotor may include ductile iron or other types of iron constructions. The homogeneous material for the stator and/or rotor may further comprise one of iron, ductile iron, and steel alloys, and may further comprise a conductivity inhibitor, such as silicon.

Referring to fig. 13 to 15, the stator plate 103 has a bearing groove 111B at the inner diameter and a bearing groove 112B at the outer diameter. The stator may be formed as a uniform plate having inner and

outer bearing grooves

111B and 112B that extend uniformly as a uniform plate. Referring to fig. 14, the rotor plate 203 also has a groove 211B at the inner diameter and a groove 212B at the outer diameter. The rotor may be formed of a uniform plate having inner and

outer bearing grooves

211B and 212B that extend uniformly as a uniform plate.

As shown in fig. 15, these grooves are used for the steel balls 304 and the steel roller 303. The material of the rotor and stator plates may be any number of materials, such as, but not limited to, high strength metallic materials having soft magnetic properties to provide electromagnetic functionality and sufficiently high structural strength to provide strength for maintaining a small and consistent air gap between the stator and rotor posts and sufficiently high mechanical stiffness to provide a bearing race function. Ductile iron has been found to have these and other qualities for certain applications, especially when combined with the claimed scope. The bearing

grooves

111B, 112B, 211B, and 212B may also be hardened to increase load capacity and service life. The combined cost of purchasing the steel balls and rollers and machining and hardening the grooves is expected to be lower than the cost of purchasing a separate modular bearing with races and installing it into an actuator. In mass production, such an integrated bearing design may have advantages over the use of pre-manufactured bearings, including lower cost and potentially higher accuracy, due to reduced tolerance stack-up due to the reduced number of parts.

It is practical to integrate bearing races into stator 102 and/or rotor 202 as shown, for example, using bearing

races

111B, 211B, 112B, and 212B in fig. 15, by using solid stator and/or rotor materials such as, but not limited to, steel or cast iron. If desired, ductile iron such as, but not limited to, 60-45-15 or 100-70-03 may be hardened, such as by nitriding or other methods, to provide sufficient bearing race hardness for the higher load configuration of the inventive apparatus. For lower load configurations or lower service life configurations, it is believed that in some embodiments it may be possible to use unhardened ductile iron. To extend the useful life, two or more rows of bearings may be used on the ID and/or OD bearings to reduce hertzian stress between the balls or rollers and the races, thereby making the bearing races softer than typical bearing races (typically made of hardened steel). Ductile iron or other cast iron products are not typically used for bearing races, but iron is used in railway wheels and rails, so it is expected that such integrated bearings can be configured with sufficient life for robotics and other motion control applications if made of ductile iron or other suitable material preferably having high magnetic saturation density, so the bearing race on the stator can be the same monolithic material as the stator post (on the stator) and the rotor bearing race can be the same monolithic material as the rotor post (on the rotor). Advantages of integrated bearing races may include lower cost and potentially improved accuracy due to elimination of tolerance stack-ups of bearing races and bearing race seats in the rotor and/or stator. The use of integrated bearing races also reduces the volume and mass of the stator and rotor because the bearing races are integral parts of the load bearing structure, thus eliminating the need for additional material to support the separate component bearing races.

The use of ductile iron for the stator and/or rotor allows for a combination of properties that can be uniquely adapted to the unusual requirements of the embodiments of the present apparatus. Some of the features of ductile iron that may be beneficial in some embodiments include poor electrical conductivity due to high carbon content (which results in reduced eddy current losses), excellent machinability for low cost manufacturing, excellent castability for net or near net shape casting of stators and/or rotors, high fatigue strength for extended service life, self-lubricating properties that may allow integrated bearings to operate with minimal or no additional lubricant, excellent wear resistance between certain seal materials under dry conditions (to provide bearing and actuator seals without lubricant in some applications), and good damping properties (to reduce noise and vibration from cogging and other high frequency effects).

As described above, embodiments of the present apparatus include a set of bearing elements at or near the Inner Diameter (ID) and a set of bearing elements at or near the Outer Diameter (OD). Such a bearing combination provides axial and radial support between the rotor and stator, which when combined with the claimed range of geometries, allows the rotor and stator to be lightweight. The ID and OD bearings also maintain a fixed air gap distance.

It has been shown that even if torque is detrimental, the placement of the bearings on the rotor OD in an axial flux machine enables more precise control between the rotor and stator and therefore a smaller air gap distance, while benefiting the generation of more torque with the apparatus, due to the dragging effect of the bearings on the rotor OD. Due to Permanent Magnet (PM) attraction, the air gap distance between the rotor and stator may be limited by machining tolerances and rotor deflection during operation. The rotor in an axial machine will deflect due to the magnetic flux in the air gap, which therefore needs to be larger than the operational deflection of the rotor to avoid contact between the stator and the rotor. Comparing deflection between an actuator with ID only bearings and an actuator with ID and OD bearings, the rotor and stator in the ID only actuator deflect significantly more than the rotor in the ID/OD bearing actuator. The reduction in deflection in the ID/OD actuator may allow for the maintenance of a smaller air gap distance, which results in greater torque for a given input power. It has been shown by analysis and experimentation that in some embodiments, the torque obtained by reducing the air gap distance may be greater than the pulling effect caused by the OD bearing. It has also been shown that the increase in torque to weight ratio due to the use of OD bearings (due to the reduction in structural material required to maintain the air gap) can be more significant than the weight of the additional bearings and the material required to support the additional bearings.

In a non-limiting exemplary embodiment of the present apparatus, the outer diameter of the stator is 200mm and the axial air gap is about 0.254mm.

The non-limiting exemplary embodiment of the apparatus has a stator and a rotor as shown in fig. 7-9. The single stator/single rotor arrangement enables the rotor to preload the ID and OD bearings by constantly attracting the stator in the axial direction. As shown in fig. 16, the permanent magnet 204 generates a magnetic flux represented by an arrow 401. At the same time, adjacent magnets also generate magnetic flux 402 of the same polarity into pole 205. Both

magnetic fluxes

401 and 402 travel through rotor poles 205, through air gap 400, into stator post 105, and generate magnetic attraction forces 403 on both stator 102 and rotor 202. The magnetic forces 403 are so strong that they are able to hold the stator and rotor together during passive and active operation under the operating conditions available for many applications. The column is connected to back iron 106.

Fig. 17 to 19 show an example of the operation of the safety ring 121. When there is a misalignment force 404 exerted on the rotor and this force is higher than the magnetic attraction force 403 (fig. 16), the rotor comprising the rotor plate 203 will start to separate from the stator comprising the stator plate 103. When the rotor begins to disengage the stator, the lip of the safety ring will contact the arm housing 201 of the rotor and prevent the arm assembly 200 from separating. During normal operation, bearing ring 124 (fig. 18) will rotate freely in the gap between lip 122A and arm housing 201 and will not pull and rub. When the coils are switched on or energized, the coils generate very similar attractive and repulsive forces, resulting in a predominantly tangential force along the plane of rotation. Thus, any axial repulsive force under electrical power is very small relative to the permanent magnet attractive force, and therefore the permanent magnet attractive force can be used at any time to prevent the stator and rotor from separating and to maintain sufficient preload on the bearing under predetermined maximum load conditions. In some embodiments, the bearing 124 may form the shoulder by being or having some portion of the bearing fixed to or integrated with the rotor plate 203.

This design provides space for the rotor joint to provide a limited disengagement effect for small displacements before the safety ring contacts. This detachment effect would be beneficial, for example, if the robotic arm makes harmful contact with a human, pinning it between the arm and an immovable object. In this case, the arm may have a very short stop time, but there may still be a small amount of movement before the actuator comes to a complete stop. Partial separation of the rotor from the stator of the one or more actuators in the arm before the safety ring contacts may be used to provide the maximum axial load on the one or more actuators in the arm loaded by the impact in such a way that the rotor and stator of these actuators are partially separated. With little separation and very fast action and fast deceleration actuators, such as embodiments of the apparatus of the present invention, such partial separation is believed to provide an increased level of safety by reducing the impact or pinning force of the robotic arms.

For a 10' OD actuator of the apparatus of the invention, an attractive force in the range of 907kg has been demonstrated. This force is high enough to make assembly and disassembly of the device extremely difficult for small devices and excessively difficult and unsafe for larger versions of the device.

Embodiments using the apparatus may reduce assembly and disassembly safety issues, and may reduce the cost and complexity of assembling the fixation device.

The rotor plate shown in fig. 3 does not have back iron immediately axially outward from the permanent magnets (corresponding to radially outward from the permanent magnets in a radial flux embodiment of the apparatus, etc.). Thus, the magnet slots 208 open on the back of the rotor so that the magnets can be assembled into the slots after the stator and rotor are assembled. Fig. 20 shows that the magnets 204 are accessible from the back of the rotor, which allows each of these magnets to be removed or installed individually without removing the rotor from the stator.

The magnet 204 may be mounted in the slot as follows. The magnets are aligned with the slots so that magnetic flux of the same polarity contacts the rotor post and adjacent magnets contact the same post. Each of the second magnets will be in the same circumferential polar alignment. Each first magnet will be opposite each second magnet so that the posts are of alternating polarity. The magnet is slid into the slot until it is secured against the tab (if the sides are parallel) or if a tapered magnet is used, until the tapered magnet seats in the tapered slot. And repeating the steps until all the magnets are installed. The gap is filled with an adhesive (e.g., wax, epoxy, glue). This step may not be required in all cases, such as where a precision tapered magnet is used in the precision tapered slot.

To remove the rotor and access the stator coils and ball bearings, the rotor can be easily demagnetized by removing the magnets separately.

As shown in fig. 16, each of the permanent magnets 204 in the rotor generates the same polar flux as its immediately adjacent permanent magnet, which means that each magnet will repel the adjacent magnets on both sides thereof. This will cause the magnets to repel each other except that certain geometries have been shown to prevent these repelling forces from causing the magnets to dislodge themselves from the slots. For example, the smaller the air gap, the greater the force, which in many cases will cause the magnet to drive itself into the slot rather than out of the slot. In this sense, the use of tapered magnets is also beneficial because tapered magnets, which have a large size taper towards the back of the rotor, generally tend to pull themselves axially towards the rotor post and hence towards the air gap.

As shown in fig. 21, a physical stop is used to stop the magnet from moving into the air gap. In this embodiment, the stops are tabs 210 on each side of the slot that generate an attractive force as the magnet slides into the slot. Their resultant force pulls the magnet into the slot. The resultant force from the poles and tabs becomes a resultant force on the magnet as the repulsive forces partially or completely cancel. A magnet is located on the tab and magnetic attraction secures the magnet to the pole. When properly configured, the net force on the magnet can be adjusted to magnetically hold the magnet in the slot using magnetic force, as described in the previous disclosure. In which case no adhesive or mechanical mechanism is required other than to prevent lateral movement of the magnet in the slot.

A non-limiting exemplary embodiment of an actuator is shown in fig. 22A, in which flux limiting holes 206 are placed between magnet slots 208 and along the outside and inside radii of the magnet slots 208 on the rotor to reduce flux leakage between the opposite polarity faces of the magnets and between adjacent rotor poles. Magnetic simulations were conducted to verify whether these holes reduced flux leakage, and have shown that flux leakage between rotor poles can be greatly reduced while still maintaining the necessary structural strength and stiffness to achieve a small and consistent air gap.

The flux limiting holes may alternatively be located between each second post on the OD and between each second post on the ID, as shown in fig. 22B. As shown in fig. 22B, the inner and outer flux limiting apertures are staggered such that each column is adjacent to only one of the inner and outer flux limiting apertures. This provides an unrestricted magnetic linkage between only N columns around the OD and only S columns around the ID, and provides higher structural integrity for each first column around the OD and each second column around the ID. These holes may be through holes or blind holes, as long as they provide the necessary structural strength and rigidity and the desired flux path reluctance.

Fig. 23 shows a magnetically simulated flux path without a flux limiting aperture, and fig. 24 shows a magnetically simulated flux path with a flux limiting aperture. As can be seen from the figure, the flux limiting holes reduce flux leakage between adjacent rotor poles. For example, when flux limiting apertures are used, the flux density increases at the air gap surface of the rotor poles so that more flux is directed through the stator. Therefore, the electromagnetic force increases when the coil is turned on, and the torque generated by the stator and the rotor increases.

The same conclusions were also drawn by MagNet simulations on rotor plates with and without flux limiting holes. More flux is directed from the posts into the air gap.

In the embodiment shown in fig. 25, the stator is formed of a unitary material (rather than a conventional laminated structure) and includes stator posts 105, stator back iron 106, inner bearing race 111B, and outer bearing race 112B. Looking at the cross section of the stator in fig. 25, there is no interruption along the stator material path 500 between the tip of the stator post and the inner bearing race, between the tip of the stator post and the outer bearing race.

The stator plate is held within the unitary housing and is machined from a solid piece of material. A typical stator is typically made using laminated steel layers. In an exemplary embodiment, as shown in fig. 25, the material path between the inner bearing race 111B, the stator post 105, and the outer bearing race 112B is uninterrupted and comprises a homogeneous material, such as, but not limited to, ductile iron or magnetic steel, such as M19. The stator core may be cast or machined from solid steel pieces. Benefits of such a construction may include reduced cost and complexity due to assembly of a single part rather than many small laminated parts, as well as higher strength, stiffness, and creep resistance because there is no adhesive present in the load path in typical laminated stator structures. This allows the use of thinner stator cross sections, which is beneficial for weight savings.

The uninterrupted radial flux path corresponds to an uninterrupted axial path in the radial flux device. The flux path 500 in fig. 25 terminates at the ID and OD at the integrated bearing race. If a separate bearing race is used, the uninterrupted path may also terminate at the bearing race. The uninterrupted path may also terminate at an intermediate member or layer between the stator and the bearing race. The uninterrupted radial path need not extend completely radially but rather connects the inner and outer diameters of the carrier, here the stator. That is, the path follows an uninterrupted three-dimensional path from the ID to the OD. Thus, it is possible to drill a hole in the cross-section shown in FIG. 25, but there is still an uninterrupted overall material path from the ID to the OD.

Referring to fig. 26, an exploded view of an exemplary rotor and stator coupled to a pair of robotic arms using bolts is shown. The first arm 700 is attached to the rotor housing 702 using bolts 718. The rotor housing 702 is attached to the rotor 708 using bolts 720. First bearing element 706 is coupled between rotor 708 and stator 712, and is coupled via press-fit ring 704. The second bearing element 710 is also connected between the rotor 708 and the stator 712 using bolts 722. Stator 712 is coupled to stator housing 714 using bolts 724. The second arm 716 is attached to the stator housing 714 using bolts 726.

Referring to fig. 27 to 29, the rotor 606 is made of a ferrous material such as ductile iron, and holds an equally spaced magnet array 605 polarized in the circumferential direction. The polarity of the magnets 605 is alternated so as to create alternating north and south poles in the radial web of the rotor 606. Stator 609 is made of a ferrous material such as ductile iron and includes an array of equally spaced axial posts about which a set of stator windings 610 are wound. Applying commutation power to stator windings 610 polarizes the columns of stator 609 such that a circumferential attractive and repulsive force is generated between the columns of stator 609 and the radial webs of rotor 606, thereby generating torque. Stator winding 610 is encapsulated by stator encapsulation compound 611, which acts to prevent the wires from moving and helps to transfer heat from the wires to stator 609. As shown in fig. 28, a stator cap 612 may be placed over the stator 609 and hold the wires 610 in place.

The magnet 605 also causes an attraction between the stator 609 and the rotor 606. The

bearings

603 and 604 cancel the attractive force between the stator 609 and the rotor 606 via the

housings

601, 602, 607, and 608, and function to accurately control the gap therebetween. In most applications, the axial attractive force between the stator 609 and the rotor 606 is sufficient to prevent the upper housing 601 from separating from the lower housing 602, thereby eliminating the need for additional retention therebetween. The diametric fit at the interface between the

housings

601, 602, 607, and 608 and the rotor 606 and stator 609 carry the radial loads between the two components via the internal 4-point contact bearing 604. The external torque applied to the assembly is carried primarily by the outer thrust bearing 603.

The flow of current through stator windings 610 tends to increase the temperature of stator 609 relative to other components. Conducting the generated heat to the adjacent housing helps to reduce the increase in its temperature. The illustrated example includes a light alloy housing having a higher coefficient of thermal expansion than the stator 609. To maintain the interference fit at the interface between the outer diameter of the stator 609 and the inner diameter of the lower housing 602 as temperature increases, the major diameter location occurs at the inner diameter of the locating hooks of the stator 609.

In fig. 29,

removable caps

614 and 616 are located in the arms, which allow insertion of the stator and rotor, and finally the magnets.

It is also possible to use a combination of mechanical and magnetic forces to provide the force to hold the magnetic pieces in the rotor slots. The tapered magnets can provide a structure in which a significant percentage of the flux passes through the air gap when the magnets are retained in the rotor slots.

Magnets that are tangentially tapered such that they are thinned towards the air gap can provide high performance in a concentrated flux rotor configuration. Referring to fig. 30-35, the rotor 3300 is shown in an axial flux configuration with the magnets 3302 having tapered ends 3316 and the rotor post 3304 having tapered ends 3318. The magnets and rotor posts are tapered in opposite directions to form an interlocking arrangement. The permanent magnets are tapered in the direction of the stator 3330, while the rotor post 3304 is tapered away from the stator. In this embodiment, two substantially mirror image rotors 3300 may be assembled between a pair of stators, with the tapered posts of each rotor in back-to-back contact and the tapered magnets of each rotor in back-to-back contact. Tapering the magnets 3302 in this manner allows for greater rotor post width at the air gap. This also allows for a greater magnet width at the wide end of the magnet taper to provide more flux to the rotor post 3304 away from the air gap, where the post 3304 would tend to be less saturated if the sides were parallel. In this way, the active permanent magnets 3302 and soft magnetic material are more effectively used to provide more flux at the air gap. The two rotor parts may be secured together, for example by adhesive, but in some preferred variations mechanical features such as bolts (not shown) or retaining rings (not shown) may be used.

The interlocking arrangement of the tapered post 3304 and the magnets 3302 acts as a stop to prevent the permanent magnets from dislodging, which reduces the need for magnetic forces to retain the magnets in the rotor, thus reducing the need for magnetic flux to leak through the end iron 3314.

In some embodiments, the array of flux path limits 3328 may be formed in the end iron 3314, for example, as holes in the end iron 3314 at the base of each rotor post 3304 where the rotor post connects with the end iron 3314. These flux path restrictions 3328 reduce the available flux path between the rotor post 3304 and the end iron 3314.

Fig. 30 shows an axial flux configuration for a tapered slot rotor, but a tapered slot rotor may be equivalently constructed in a radial flux configuration. The conical magnet may narrow towards or away from the opposing carrier.

A second effect of tapering the magnets in this manner is to bias a high percentage of flux from the permanent magnets towards the air gap. This is beneficial in at least two respects. First is that the tapered permanent magnets will be pulled towards the air gap to the extent that they will close the air gap between the permanent magnets and the rotor slot walls to achieve a lower reluctance flux linkage and to the extent that they will be mechanically prevented from further movement and thus fixedly held by the tapered rotor post. Second, the narrower rotor post at the rear surface results in a greater distance between the post and the center Ping Mianzhu along the rotor. This reduces the amount of leakage through the air between the column and the rotor center Ping Mianzhu. By assembling two substantially mirror image rotor halves back-to-back with a tapered post and tapered magnets, a large percentage of flux from the permanent magnets can be forced to link across the air gap.

In this way, a very high magnetic flux density can be achieved in the air gap while the magnet is held magnetically and mechanically. A cost effective way to manufacture a tapered rotor post rotor is to use two symmetrical rotors 3300 that are back-to-back. This configuration does not allow the use of back iron to strengthen the rotor and therefore soft end iron 3314 is used instead. The end iron 3314 has as thick a section as is necessary, preferably for creating a high reluctance flux path between the rotor posts through the end iron as thin as possible and providing mechanical strength and rigidity to maintain a small and consistent air gap.

To compensate for flux loss from the pole to the adjacent pole through the end iron connection, one embodiment uses a permanent magnet 3302 that is longer than the soft magnetic stator pole 3332 at the air gap. This is shown in fig. 31, where the permanent magnets 3302 are longer than the rotor post 3304, which will have the same or nearly the same length as the stator post 3332. As shown in fig. 32, winding arrangement 3334 extends around stator post 3332. By increasing the permanent magnet depth compared to the stator radial length, the permanent magnets 3302 will be sufficient to saturate the end iron 3314 while still maintaining a high flux density in the rotor post at the air gap. As shown in fig. 31, there are two flux limiters 3328 adjacent each end of each rotor post 3304. The rotor post 3304 has a larger width at the axially outer end of the rotor. The flux limiter 3328 is larger adjacent the outer end of the rotor post and smaller at the inner end of the rotor post.

Flux limiting aperture designs such as those described in the embodiments disclosed in fig. 3, 14, 22A, 22B, and 34-38 are designed to meet acceptable tradeoffs between power and structural strength. The cross-sectional area on the magnets provides strength to maintain the air gap, and the flux limiter prevents flux from extending excessively between the magnets. A flux limiter may be placed with the hole adjacent each second post rather than adjacent each post, which would provide a stronger structure but would not have a significant effect on flux. The flux limiter may be a blind or through hole as long as there is a reduction in cross-sectional area in the flux path and the structural load path. In a preferred embodiment, the flux limiters will be located on either end of the column, between the column array and each set of bearings. The flux limiters are preferably parallel to the length of each column. The flux limiter may be designed such that the cross-sectional area in the structural load path is greater than the cross-sectional area in the magnetic flux path. The flux limiter can also be used in radial flux machines in a manner equivalent to that described herein for axial and linear flux machines. Embodiments of the machines with flux limiters described herein may have a solid material made of, for example, ductile iron that is strong enough to support the magnetic forces but thin enough to be light in weight. The flux limiter may be placed adjacent to each post on the rotor or stator or adjacent to each second post on the rotor or stator. Flux limiters are typically placed on both ends of each column or each second column. The flux limiter may be positioned adjacent each column on one end of each column and adjacent each second column on the other end of each column. The flux limiters may be placed in an alternating pattern such that each column is adjacent to only one flux limiter and for each adjacent column the corresponding flux limiter is adjacent to the opposite end of the adjacent column. The flux limiters may have different dimensions while maintaining the same geometry. The cross-sectional flux path may be uniform between each second column, but the cross-sectional flux path may be selected such that it alternates between adjacent columns, such that each column has a different cross-sectional flux path than the column immediately adjacent thereto. Where the flux limiters are placed in an alternating pattern such that each second column is adjacent to a flux limiter, the cross-section of each column adjacent to a flux limiter may be smaller than the cross-section of each column not adjacent to a flux limiter. In such embodiments, each second post will have a larger cross-section than each adjacent post adjacent to the flux limiter. Although flux limiters are generally more effective at reducing cogging when placed on the rotor rather than the stator, flux limiters may be placed on both the rotor and the stator, or only the rotor. As shown in fig. 31, there may be multiple flux limiters adjacent each end of the column.

Manufacturing methods for rotors may include casting or forming or powdered metal construction, additive manufacturing, machining, and the like. The manufacture of the magnet may be accomplished by shaping or additive or subtractive manufacturing. The magnet may also be magnetized after insertion into the slot. It is possible to press powdered hard magnetic material into the rotor slots with existing or future processes and then magnetize the PM material after pressing, or to fill the slots with a slurry of PM magnet material in epoxy or other polymer and then magnetize after hardening. Magnetization of the hard magnetic material can be accomplished by applying a very high flux density to two or more pillars at a time.

The back iron, side irons and end irons serve as holding elements and are rigidly connected to the rotor shaft. Features from one embodiment may be combined with features of other embodiments.

Referring to fig. 32, a stator-rotor-stator configuration is shown with end iron 3314. The end iron 3314 and rotor post 3304 may be formed from a single piece of equidistant soft metal material with a single array of permanent magnets 3302 fitted between the rotor posts 3304. End irons 3314 are formed at both ends of the rotor 3300. In this embodiment, a flux path limit 3328 may be included, as shown in fig. 33.

Fig. 33 shows an embodiment of a stator-rotor-stator configuration with back iron 3310, end iron 3314, and flux path limit 3328. In this embodiment, two permanent magnet arrays 3302 are separated by back iron 3310. The flux path restrictions 3328 are formed as holes at the ends of the permanent magnets 3302 to reduce flux leakage in the end iron 3314.

Fig. 34 shows an embodiment of a rotor-stator-rotor configuration. Two concentrated flux rotors 3300 engage a central stator 3330. The rotors 3300 each include end irons 3314 and flux path limits 3328. In many applications, only the end iron or only the back iron is sufficient to provide sufficient rigidity to the concentrated flux rotor 3300.

Fig. 35 shows an embodiment of a rotor-stator-rotor configuration. This embodiment is substantially the same as the embodiment shown in fig. 34, with the addition of a thick back iron 3310 on each rotor 3300.

Fig. 36 shows an embodiment of a rotor-stator-rotor configuration of a linear flux machine. Stator 3330 has an array of posts 3332. The rotor surrounds the stator and is made of one or more pieces of material, for example, soft magnetic isotropic material. The receiving slots for the permanent magnets 3302 on the inner structure of the rotor 3300 serve as the rotor post 3304, the rotor back iron 3310, and the rotor end iron 3314. Many configurations of linear motors are contemplated herein. For example, the side sections of the rotor may be of a different material than the upper rotor section and the lower rotor section. Fig. 37 shows an embodiment of a rotor-stator-rotor configuration of a linear flux machine without back iron 3310 on the rotor 3300 and with a plurality of flux limiters 3306 adjacent each of the permanent magnets 3302 on either side of the slot. Fig. 38 shows a rotor-stator-rotor configuration with an alternating pattern of flux limiters 3306 adjacent to each second permanent magnet.

An embodiment of an electrical machine will now be described, the configuration of which may utilize the design elements disclosed in this patent document, such as the inner and outer bearing configurations.

Any of the disclosed structures may be used with an electric machine having an electromagnetic element including posts and slots between the posts, wherein the posts are wound to produce poles on at least either the stator or the rotor, wherein the pole density is within a pole density range defined by the equation specified in the patent document and the post height is within a post height range defined by the equation specified in the patent document. Each of these equations defines a bounded region. The bounded area depends on the size of the motor, which is defined by the radius of the machine. Together, these bounded regions define a bounded surface in a space defined by pole density, pillar height, and machine dimensions. This bounded region is disclosed in co-pending WO2017024409, published on day 16, 2/2017, and is repeated here.

Based on modeling studies and FEMM analysis, the following conclusions are believed to be drawn: for a given diameter motor, at least beyond a certain pole density and for a given conductor volume or column height: 1) For a given torque or force, an otherwise equivalent machine with a lower pole density and/or higher conductor volume but with a correspondingly effective heat dissipation, as compared to a machine with a lower pole density and conductor volume or column height as disclosed, has increased heat generation (and thus lower efficiency); and 2) an otherwise equivalent machine with increased pole density and lower conductor volume or column height has an overall increased torque to mass ratio (torque density) as compared to a machine with lower pole density and/or higher conductor volume.

Motors with increased torque to mass ratios are particularly useful when several motors are spaced along an arm, such as a robotic arm, because efficiency is less important than requiring one motor to lift or accelerate one or more other motors. It is believed that the improved performance of an electrical machine having a pole density and conductor volume or column height as disclosed results at least in part from: 1) A narrower slot with a shorter heat flow path from the hottest conductor to the post and 2) a shorter heat flow path from the top of the post to the heat dissipation surface.

For example, each disclosedThe motor embodiments are all shown with the provision of K _R Pole density and column height within the definition of pole density and column height of the aspect benefit.

For example, in the range of pole densities of 0.5 and higher, and considering that typically the slots are about as wide as the teeth, for a 25mm wide machine, the tooth width may be on the order of 1 mm. Narrower teeth may be used. An advantage of thinner teeth is that solid materials (such as, but not limited to, steel or iron or magnetic metal alloys) may be able to have minimal eddy currents when in use, as the teeth are closer to the thickness of a normal motor lamination. A common motor lamination for motors of this size may be in the range of 0.381mm to 0.635 mm. The proposed pole density and tooth geometry (many stubs) also help to avoid eddy currents in the first carrier (stator). For example, for a motor with 144 slots, the eddy current losses were found to be only 200rpm and 70A/mm ² 7% of the total resistive losses in the lower winding. The use of solid (non-laminated) materials may provide advantages in strength, stiffness and reliability.

Embodiments of the disclosed machine may use fractional windings. Some embodiments may use distributed windings; other embodiments may use concentrated windings. The distributed winding is heavier due to more copper in the end turns and lower power (requiring a larger motor). They also require thicker back iron because the flux must travel through at least three legs rather than to the next leg as in segmented windings. Distributed windings generate more heat because the conductor is longer (due to the longer distance that must be connected between the end turns).

Embodiments of the motor having the proposed pole density may have any suitable number of posts. The minimum number of pillars may be 100 pillars. The large number of legs allows for fewer windings per leg. In a non-limiting exemplary embodiment, the windings on each post are only one layer thick (measured circumferentially outward from the post). This reduces the number of air gaps and/or potting compound gaps and/or wire insulation through which heat from the conductor is conducted to dissipate the heat conductively to the stator post. This benefits thermal capacity (for transient high current events) and continuous run cooling. When the coil is cooled directly by a gas or liquid coolant in direct contact with the conductor, a small number of circumferential layers combined with a high pole density (e.g., a single circumferential wire layer on a post) results in a very high surface area (relative to the volume of the conductor) of the conductor being exposed to the cooling fluid. This is beneficial for cooling the conductor and is one of many exemplary ways to utilize the low conductor volume disclosed. The single row (or low row) of coils per column also reduces manufacturing complexity, allowing for lower cost production. In another embodiment, the winding of each post is two layers thick.

The number of slots may be 60 or greater for an average air gap motor of 175mm or greater, or 100 or greater for an axial flux motor, such as 108 slots in an exemplary 175mm diameter embodiment. Additionally, for such motors, the average radial length-circumferential width of the post may be higher than 4:1, such as about 8:1, but may be up to 10. For the exemplary 108 slot embodiment, this ratio is about 8:1. With such a configuration, heat dissipation is improved. For very small torques, a lower aspect ratio will be a large amount of material, so the aspect ratio helps to achieve high K _R And torque useful for robotics while utilizing heat dissipation.

In some embodiments, the stiffness requirements are reduced by coating the air gap with a low friction surface that maintains the air gap. In one embodiment of the linear motor, a low friction surface is applied in the air gap, which maintains an air gap of 0.2032 mm. A coating such as DLC (diamond like carbon coating) can be deposited at 0.0635mm on both the rotor and stator and will maintain the gap.

The range of the pole pitch (or density) and conductor volume has been established, which is in K _R Significant benefits remain in terms of or in terms of a weighting function that combines torque, torque to weight ratio, and Km (as further described). The amount of benefit in the weighting function depends on the amount of cooling and other factors, but the equation defines a new configuration of the motor that provides the indicated benefit. Giving a bounded region defined by the range of pole densities and conductor volumes that yield these benefitsThe equation of (c).

In one embodiment, advantages are obtained by operating within a region of the phase space defined by machine size, column density, and column height. 39A-39F illustrate a series of graphs showing torque density (z-axis) v, groove density (x-axis) and column height (y-axis) for an exemplary series of linear motor cross-sectional geometries using a method at OCTAVE ^TM (a program for solving numerical calculations) is created and analyzed using FEMM software. The slot density is used in this example because it is the same as the pole density.

The following rules and assumptions apply to all motors in this series. Each segment is provided with 144 electromagnets and 146 permanent magnets. The rotor comprised NdFeB 52 magnets and sections of M-19 silicon steel. Each permanent magnet is placed tangentially to the rotor and oriented such that its magnetic field direction is aligned tangentially to the rotor and opposite to its neighboring permanent magnets. The sections of M-19 silicon steel are placed between permanent magnets. The stator is made of M-19 silicon steel. The electromagnet uses concentrated winding coils in a 3-phase configuration. Assuming the coil has a 75% fill factor, with a 75% slot area. Two variables that are investigated are pillar height and trench density. The remaining geometry variables are scaled according to the following relationship: with all simulated 1.25 inch constant model thicknesses, the rotor permanent magnet width was set to 50% of the permanent magnet spacing, the rotor permanent magnet height was set to 2.3 times the permanent magnet width, the stator slot width was 50% of the stator electromagnet spacing (equal to the post and slot widths), the stator back iron height was set to 50% of the stator post width, and the air gap axial height was 0.005 inch.

The bounded regions representing the unique geometries disclosed are modeled in the preferred embodiment that will yield the highest torque to weight ratio and K _R An embodiment of (1). Certain design choices have been made in this embodiment, such as choosing to use N52 grade NdFeB magnets in the rotor, choosing a rotor pole to stator pole ratio of 146. It is believed that this configuration can provide the highest practical torque weight for the size of the actuator in the disclosed diameterOne of the ratios while still maintaining reasonable levels of manufacturability and structural stability. Many other configurations are possible, such as different rotor types (surface permanent magnets, embedded permanent magnets, etc.), different magnet materials and grades (including but not limited to ceramic, samarium cobalt, and high temperature NdFeB), different rotor pole to stator pole ratios, different stator winding configurations, different stator materials, and so forth. In many cases, different design choices for these parameters will not have as much K as compared to the preferred embodiment by causing a torque reduction or weight increase for the same pole pitch and column height as the preferred embodiment does _R And (4) benefits. However, for most of the designs, the pair K is given by using the pole pitch and column height within the disclosed region relative to the geometry outside the disclosed region while all other design variables and geometric relationships remain constant _R The benefits of (1). This principle is true for both concentrated and distributed winding designs, for linear motors, axial flux rotary motors, radial flux rotary motors, trapezoidal/toroidal rotary motors, and transverse flux linear and rotary motors.

For each of those motor cross-sectional geometries, magnetic and thermal simulations are performed. For each magnetic simulation, the program produced values for mass, horizontal force, and energy consumption. Geometric extrapolation of the coil cross-section is used to find the mass and energy consumption of the end windings to more accurately predict the mass and energy consumption of the entire system. For calculating stall torque and torque at low speed, the square root of the impedance loss is the dominant part of the energy consumption, with multipliers that account for the impedance loss of the end windings based on the slot geometry. These values were used to calculate the mass force density (force per unit mass) and the area normalization force (force per unit air gap area) for each simulation. For each thermal simulation, the program generates values for the coil temperature, the rotor temperature, and the stator temperature. Using water as coolant and at 700W/m ² The convection factor of K imposes a set cooling rate on the stator inner surface. The temperature of the water is set at 15 ℃ and its flow rate is between 6 and 20 mm/s. The steady state condition is assumed.

For constant current density simulations, a fixed current density was applied to the conductor and the resulting force, mass, energy consumption and maximum stator temperature were calculated programmatically.

For a constant temperature, force per area or force density simulation, the current density is adjusted at each geometric point until the relevant parameter reaches a target value, and the other parameters at that point are recorded. The target error difference for the constant temperature, force per unit area and force density simulations was 1 degree, 0.002N/mm, respectively ² And 1N/kg. This data can be applied directly to various sizes of rotary motors by multiplying the area-normalizing force by the circumferential area of the air gap in the rotary motor and multiplying the force by the diameter to produce the resulting torque. Due to the radius of curvature of the motor, there will be some small deviations and errors associated with approximating a curved structure with a linear structure, however our simulations have shown that the simulated torque of rotation is typically within 10% of the torque predicted by the linear model.

High torque-to-weight ratios are beneficial in some applications, but a minimum level of torque is necessary for applications such as robotics, where the arm must have sufficient torque to lift and move the payload, no matter how light the arm is, perhaps due to the high torque-to-weight ratio actuator. Motors with pole densities and conductor volumes within the ranges disclosed in this patent document provide high torque and torque-to-weight ratios at acceptable energy consumption levels.

The force per unit area at a constant current density 2320 is plotted as a function of groove spacing and pillar height in fig. 39A. The same current applied to all motors in the virtual series results in a significant reduction in force per area within the disclosed range 2322 (shown schematically by the dashed line). The dashed lines correspond to the middle boundaries of each dimension (25 mm, 50mm, 100mm, and 200mm, as discussed with respect to the equations below) projected on the 3D surface. The middle boundaries correspond to equations A2, B2, C2, and D2. In this graph, the script is used in OCTAVE to find the highest torque rotational position for a given 3-phase input power supply for a series of forces per unit area at constant current density 2320 for the motor analyzed in FEMM. These motors are identical in all other respects except for the varying conductor volumes and slot densities as shown.

The highest possible current density at a given temperature 2324 is plotted in FIG. 39B as a function of trench spacing and pillar height. The exponentially higher heat dissipation characteristics within the disclosed range 2322 allow for higher current densities at a given temperature. Low conductor volume tends to reduce actuator weight, but low conductor volume also tends to reduce actuator torque. However, when the conductor volume and slot density are within the disclosed ranges, there can be a dramatic reduction in the thermal flow resistance from the conductor to the stator back or to any other surface where cooling can be applied, thus allowing very high current densities to be applied to the conductor without overheating the actuator.

In fig. 39B, the same series of motors as in fig. 39A were used, but instead of a constant current density applied to each motor, the current density was varied until the steady state temperature of the conductor was about 70 ℃. At 700W/m ² The convection factor of K imposes a reasonable representation of the typical water cooling effect on the outer axial surface of the stator. The temperature of the water was set at 15 ℃. The ambient temperature was set at 15 ℃. Since the water cooling surfaces are highly dominant in terms of cooling and since the rotor itself does not generate heat, for the sake of simplicity, no convective cooling of the air is applied to the rotor. The steady state condition is assumed. For each point on the 3D graph, the current density of the motor increases from zero until the temperature of the coil reaches about 70 ℃.

FIG. 39C is the same as FIG. 39D except with 6A/mm ² Rather than a constant temperature of 70 degrees celsius. Thus, showing how the heat dissipation benefit of the stub gives an unexpected benefit disclosure range, the following weighted convention is used to generate fig. 39C: the weight of torque is 1, the weight of torque to weight ratio is 3, and the weight of energy consumption is 2. The torque to weight ratio is the highest weight because the weight of the arm is determined by the weight of the actuator and because the weight of the arm is typically significantly higher than the weight of the payload. The torque weight is 1 to include it as an important consideration, but it is intended thatIt is appreciated that the payload may be much lower in weight than the arm. Energy consumption is given moderate weight because it is a very important consideration, but it is known that energy consumption benefits from lower arm weight (which is achieved by higher weight on torque to weight ratio), so higher weight on energy consumption is considered to be potentially counterproductive.

By applying a constant current density to the motor series, and combining the results with the above weights, surface 2328 in fig. 39D shows a trend toward lower overall performance and continuing through the disclosed range 2322 of slot (or pole) density and conductor volume. Fig. 39D illustrates the benefit within the disclosed ranges when a constant temperature current density is applied from fig. 39B.

The industry standard measure for motor capacity is KM, which is essentially the torque to energy consumption ratio. KM assumes adequate cooling for a given power. It only considers the amount of energy required to produce a particular torque level. K ″) _m Surface 2330 is plotted in fig. 39E as a function of groove spacing and post height.

From FIG. 39F, K ″, which is the groove spacing and column height _R The graph of surface 2332 shows that torque versus weight versus energy consumption shows the most unexpected and enormous benefit within the disclosed range 2322. High K _R There may not be a great benefit in stationary applications, but in applications such as robotics, K _R The benefits of indicating energy consumption can be obtained by reducing the weight of the overall system.

One generation shows K ″) _R A method of how the pattern varies with the pole density and the pillar height is as follows. Consider a motor cross-section with geometry a having a low conductor volume (low column height) and low pole density. A motor cross section with geometry a was simulated; using water as coolant and at 700W/m ² The convection factor of K imposes a set cooling rate on the stator inner surface. The temperature of the water is set at 15 ℃ and its flow rate is between 6 and 20 mm/s. The steady state condition is assumed. The current through the conductor of geometry a is then increased until the maximum temperature of the conductor reaches 70 ℃. The torque density of geometry A at this pointThe degrees are then recorded and plotted in a graph for the corresponding values of pillar height and pole density. This process is repeated for other geometries, for example, obtained by varying the pillar height and pole density and scaling the remaining parameters as described above. For example, geometry B may be obtained from geometry a by increasing the pillar height and scaling all other parameters as described above. Geometry C may have the same column height as geometry a, but with a greater pole density. Geometry D may have an increased column height and an increased pole density compared to geometry a. Plotting the torque density yields a surface in the graph.

It was found that the torque density increased with increasing pole density and decreasing column height. Such an increase in torque density is not shown to occur in geometries with low column height or high pole density; the benefit of torque density is only observed in geometries combining these two factors. However, in this region, the efficiency is decreasing. While the graphs were generated based on the assumptions of the indications, based on the disclosed cooling effect and reduction in flux loss to increase pole density and reduce conductor volume or column height, it is believed that the same geometry will have benefits in terms of other parameter values used in the simulations. Changes in motor design elements that do not affect column height or pole density are not expected to result in a loss of benefit. For example, a motor comprising a rotor with tangentially oriented permanent magnets and a similar motor comprising a rotor with surface mounted permanent magnets may possess a small number of different K ″ _R A surface; nevertheless, the above principles still apply and the benefits within the previously described geometry regions of low pillar height and high pole density can still be predicted. As is currently understood, this principle is only applicable to electrical machines having a pole, such as axial flux machines and radial flux machines.

In the equations and figures disclosed, the parameter K ″) _R Is size independent and has been derived from conventional K _R Converted to use force instead of torque and independent of both circumferential and axial lengths. Thus, from K ″) _R Value finding conventional K for motors of any size _R . And for both dimensions (in the air gap and axis)Diameter in length) but different geometries (i.e., pole density and/or column height), the multiplication factors are the same, so there is a high K ″ _R Will have a higher conventional K _R 。

K″ _R Showing conventional K as a function of pole density and column height _R The surface of the pattern of (a) is very similar. However, when different temperatures are used as constraints in the analysis, this particular surface corresponding to the torque density can vary considerably. K ″) _R In contrast, there is essentially no change (as long as the current does not become high enough that the motors in the series begin to saturate; the 3D curve shape will change). Thus, for defining the particular ranges of pole density and column height that result in the benefits previously discussed, it is K ″ _R 。

The range of benefits disclosed depends on the resulting motor diameter at the air gap. Smaller motors are more limited because the physical size of the motor prevents the use of lower slot densities. There are defined 4 discrete motor diameter ranges, corresponding to 200mm and above, 100mm and above, 50mm and above, and 25mm and above, respectively. For each diameter range, three grades of K ″' are depicted _R . For this particular diameter range, the first corresponds to K ″) _R Small benefit at the beginning, the second corresponds to a medium K ″) _R Benefit, the third corresponds to a high K ″) _R And (4) benefits. Higher K ″) _R The values generally correspond to lower total torque values for this range of motor sizes.

These motor sizes disclosed (25 mm and diameters up to 200mm and above) represent small to large motors. The 0.005 inch air gap used in the simulation is believed to be the smallest reasonable air gap size for this motor range. A smaller air gap is not practical for this motor range due to manufacturing tolerances, bearing accuracy, component deflection, and thermal expansion.

The factors in the above equations are chosen in a way that demarcates the relevant area and makes the resulting relationship almost continuous.

For these simulations, a column to slot width ratio of 50It is shown that the highest benefit is obtained when the ratio is between 40. The ratio of 50; at a fixed post height, the use of a 10. Analysis showed that at constant column height, embodiments exhibited maximum values of torque and torque density at 50% slot width, and Km and K at 40% slot width _R Is measured. However, km and K _R Is within 5% of the value given under 50; therefore a 50. Other post to slot width ratios will give some of the benefits disclosed.

Equations and graphs showing ranges of pole density and conductor volume for different embodiments, the ranges being at K are discussed below _R Significant benefits remain in terms of or in the weighting functions combining torque, torque to weight ratio, and Km. As with the previously described equations, the area of benefit in the weighting function depends on the amount of cooling.

The dimensions of the electrical machine refer to the air gap diameter of an axial flux machine or a radial flux machine or the length in the translation direction of the carrier of a linear machine as defined herein.

The first bounded region and K found significant with respect to the rest of the geometry in the domain _R The areas of benefit correspond. For a given device size, K _R Having higher values within the disclosed geometry range than anywhere outside of the range indicates a potential benefit in overall system efficiency for certain applications of devices using these geometries. K ″) _R Is used to pass through at a specified K ″) _R A horizontal plane is placed at the value to define the boundary. K _R The four values of (a) are used to define areas of benefit for four different actuator size ranges corresponding to sizes of 200mm and greater, 100mm and greater, 50mm and greater, and 25mm and greater.

In the table below, the pole pitch is represented by the variable S in mm. The column height is also expressed in millimeters.

In a machine having a size of 25mm,for K ″) _R >The boundary line of 3.3 is defined by the values shown in table 1, and the corresponding graph is fig. 49.

TABLE 1 group A1

In a machine with a dimension of 25mm, for K ″) _R >The boundary line of 3.4 is defined by the values shown in table 2, and the corresponding graph is fig. 50.

TABLE 2 group A2

In a machine with a dimension of 25mm, for K ″) _R >The boundary line of 3.6 is defined by the values shown in table 3, and the corresponding graph is fig. 51.

TABLE 3 group A3

In a machine with a dimension of 50mm, for K ″) _R >The 2.2 borderline is defined by the values in table 4 and the corresponding graph is fig. 46.

TABLE 4 group B1

In a machine with a dimension of 50mm, for K ″) _R >The 2.5 boundary line is defined by the values in table 5, and the corresponding graph is fig. 47.

TABLE 5 group B2

In a machine with a dimension of 50mm, for K ″) _R >The boundary line of 2.9 is defined by the values in table 6, and the corresponding graph is fig. 48.

TABLE 6 group B3

In a machine with a dimension of 100mm, for K ″) _R >The boundary line of 1.5 is defined by the values in table 7, and the corresponding graph is fig. 43.

TABLE 7 group C1

In a machine with a dimension of 100mm, for K ″) _R >The boundary line of 1.7 is defined by the values in table 8, and the corresponding graph is fig. 44.

TABLE 8 group C2

In a machine with a dimension of 100mm, for K ″) _R >The boundary line of 1.9 is defined by the values in table 9, and the corresponding graph is fig. 45.

TABLE 9 group C3

In a size of 200mmIn the machine, for K ″) _R >The boundary line of 1.3 is defined by the values in table 10, and the corresponding graph is fig. 40.

TABLE 10 group D1

In a machine with a dimension of 200mm, for K ″) _R >The boundary line of 1.5 is defined by the values in table 11, and the corresponding graph is fig. 41.

TABLE 11 set D2

In a machine with a dimension of 200mm, for K ″) _R >The boundary line of 1.8 is defined by the values in table 12, and the corresponding graph is fig. 42.

TABLE 12 set of D3

For each machine size, for a given K ″) _R The values define each boundary line such that for each machine dimension, there is a set of K ″ _R Values and a corresponding set of boundary lines. Pairs of boundary lines may be selected, one of which is selected from each of two successive sizes of equipment, namely 25mm and 50mm, 50mm and 100mm or 100mm and 200mm. The boundary line occupies a space or volume defined by size, pole pitch, and column height. The boundary surface may be defined as a two-dimensional uninterrupted surface in space, the surface being all lines connecting any point in the first boundary line and any point in the second boundary lineThe outer surface of the union. The boundary surface encloses the beneficial space. For each pair of boundary lines, the boundary surfaces define a useful space. Motors having dimensions, pole pitch and post height within a given useful space are considered to fall within embodiments defined by corresponding boundary lines for the machine dimensions.

For machine sizes larger than the maximum calculated size, the boundary line calculated for the maximum calculated size is used. The useful space beyond the maximum calculated size is thus simply the volume of the surface defined by the calculated boundary line of that size and the points corresponding to the larger size but having a polar spacing equal to the points on the surface and the pillar height.

The main components of the electrical machine comprise a first carrier (part of a rotor, stator or linear machine) with an array of electromagnetic elements and a second carrier with electromagnetic elements defining magnetic poles, which is arranged to move relative to the first carrier, for example by means of bearings, which may be magnetic bearings. This movement may be caused by the interaction of the electromagnetic elements of the first and second carriers (motor embodiment) or by magnetic flux generated by an external source, in which case the movement causes the generation of electromotive force in the windings of the electric machine (generator embodiment). An air gap is provided between the first carrier and the second carrier. The electromagnetic elements of the first carrier comprise columns with slots between them, each slot having one or more electrical conductors therein, the columns of the first carrier having a column height in mm. The first carrier and the second carrier together define the dimensions of the motor. The poles have a pole pitch in mm. The size, pole spacing and column height of the motor are selected to fall within a region in the space defined by the size, pole spacing and column height. The region is defined by: 1) A combination of: a) A first surface defined by a first set of inequalities of a first size of motor, b) a second surface defined by a second set of inequalities of a second size of motor; and c) defined as a set containing all points lying on a line segment having a first end point on the first surface and a second end point on the second surface, or 2) a surface defined by a set of inequalities and all points corresponding to larger dimensions but with a pole pitch and a column height corresponding to points on the surface.

The first and second sets of inequalities are a and B, or B and C, or C and D, respectively, where a is selected from the group of inequalities consisting of the equations set forth in tables 1, 2 and 3 (equations set A1, A2 and A3, respectively), B is selected from the group of inequalities set consisting of the equations set forth in tables 4, 5 and 6 (equations set B1, B2 and B3, respectively), C is selected from the group of inequalities set consisting of the equations set forth in tables 7, 8 and 9 (inequalities set C1, C2 and C3, respectively), and D is selected from the group of inequalities set consisting of the equations set forth in tables 10, 11 and 12 (inequalities set D1, D2 and D3, respectively).

The characteristic space of the electric machine may be formed by any pair of inequalities defined for a set of inequalities of adjacent dimensions, for example: a1 B1, A1B 2, A1B 3, A2B 1, A2B 2, A2B 3, A3B 1, A3B 2, A3B 3, B1C 1, B1C 2, B1C 3, B2C 1, B2C 2, B2C3, B3C 1, B3C 2, B3C 3, C1D 1, C1D 2, C1D 3, C2D 1, C2D 2, C2D 3, C3D 1, C3D 2, C3D 3. It may also be formed by any set of inequalities, and all points correspond to larger dimensions, but with column height and pole spacing within the area defined by the set of inequalities.

All of the devices described in this application may have dimensions, pole spacing, and column height that fall within the area and space defined by these equations.

The geometric range may provide an exceptionally high torque-to-weight ratio for a given electrical power input. The efficiency is independent of temperature. For example, at a given torque to weight ratio, an actuator within the disclosed range may run cooler than a similar actuator outside the disclosed range for a given cooling method, as a device within the disclosed range will use less power.

In this case, the low conductor volume has the benefit of lower thermal resistance due to the shorter conductor. Within the scope of the disclosure, the need to power these conductors at higher current densities is not only compensated by the heat dissipation benefits of the device to achieve a given torque to weight ratio. At the disclosed K ″) _R Insofar, the weight reduction (caused in part by the low conductor volume) may exceed the additional power required (which results from the low conductor volume)Higher current density) so that at K _R The aspect may yield a net benefit. The range of geometries described in a machine of a given diameter provides a heat dissipation effect that is geometrically related to the features known for small machines, but is used in a large diameter machine in accordance with the principles of the present apparatus.

For clarity, cooling is still required to achieve K _R Benefit, but assume K _R Sufficient cooling was calculated to be used. For some motors and applications, radiant cooling is sufficient. For other motors and applications, fans and heat sinks are required. For other motors and applications at full power, water cooling is required.

For the disclosed machine, K _R Same at low to high power output (until the stator saturates, at which time K _R Will decrease) so depending on the power output, different levels of cooling will be required but the torque remains reasonably constant for weight versus energy consumption. The disclosed ranges of pole density and conductor volume can provide an exceptionally high torque-to-weight ratio for a given heat dissipation rate through a given cooling method. The disclosed ranges of pole density and conductor volume may result in a higher torque to weight ratio for a given cooling method applied to the back surface of the stator and a given conductor temperature. The primary form of electrical conductor cooling for the disclosed range of pole densities and electrical conductor volumes is the conductive heat transfer from the electrical conductor to the back surface of the stator.

For example, heat may be extracted from the back surface of the stator by direct contact with a cooling fluid or by conduction to another component such as a housing, or by radiation. Other surfaces of the stator or conductor may also be cooled in various ways. For many motor types, cooling the rear surface of the stator has proven to be a cost effective and simple option. Sample analysis (not shown here) indicates that geometries in the disclosed range that exhibit better heat dissipation from the rear surface of the stator (as compared to motors outside the disclosed range) will also generally exhibit better heat dissipation than motors outside the disclosed range when the stator or other surface of the conductor is cooled. Thus, the rear surface of the stator is considered a useful cooling surface, as well as an indication of the effectiveness of each motor in the series for cooling applications to other surfaces of the stator and conductors. The rear surface of the stator has been selected for the primary cooling surface for motor family analysis that identifies the disclosed ranges.

Other cooling methods may be applied to electric machines having the disclosed pole density and conductor volume ranges, but the heat flow path from the conductor to the back of the stator is preferably always used to cool the motor, regardless of what other type of cooling (e.g., direct coil cooling) is used.

The axial depth of the stator back iron may be 50% of the width (circumferential or tangential width) of the post. Each post may have a tangential width, and the stator may include a back iron portion having a thickness equal to or less than half the tangential width of the post, or may be less than the tangential width of the post. Thicker back iron adds weight with minimal benefit. Thinner back iron aids cooling, but the effect of back iron thickness on cooling is not significant. The back iron surface may be in physical contact with the housing to physically conduct heat from the stator to the housing, and/or the back surface of the stator may be exposed to actively circulating cooling fluid and/or the back surface of the stator may be configured to radiate heat to the atmosphere or the housing or other components, and/or the back surface of the stator may be configured to be convectively or passively cooled by movement of air or liquid over the stator and/or housing surfaces. And may or may not contain a gas or liquid that moves past the rear surface of the stator. The rear surface of the stator may be sealed from contact with or exposure to the atmosphere. The atmosphere may be air or water or other fluid surrounding the actuator. The environment may also be a vacuum, such as may be necessary for some manufacturing processes or space vacuums. The rear surface of the stator may be provided with cooling fins which increase the surface area. These fins may be exposed to a cooling fluid and/or in contact with a heat sink such as a housing or other solid component. The height of the fins on the stator may be greater than 50% of the column width in the circumferential direction.

In addition to dissipating heat from the back surface of the stator, other heat dissipating surfaces may include the surfaces of the posts, which may be exposed to a cooling fluid, such as air or liquid, that circulates through the slots, such as between the conductors and the posts.

Other methods of cooling the stator and/or conductors may include cooling channels above or below the surface of the stator and/or above or below the surface of the conductors. These and other forms of cooling are considered to be complementary to the primary conductive cooling from the conductors to the rear surface of the stator. In some cases, the supplemental cooling method may draw even more heat from the stator than the primary conductive cooling effect, but the active cooling method requires energy and additional cost and complexity, so a conductive cooling path from the conductor to the stator back surface is disclosed herein as the primary cooling mode.

For a single actuator producing a fixed torque, the energy consumption rises within the disclosed range and increases exponentially toward the minimum post height and slot spacing within the disclosed range. By simulating the energy consumption required to produce 100Nm of torque using a single 200mm average air gap diameter actuator with 32mm radial tooth length and rotor and windings, it can be seen that the lowest energy consumption occurs outside the disclosed range and that the energy consumption increases significantly within the disclosed range. To minimize energy consumption, designers will be directed to larger slot spacing and larger conductor volume devices. For this type of application, any actuator using the geometry of the inventive device will have higher energy consumption than those oriented towards larger slot pitch and conductor volume values outside the disclosed range.

With the disclosed structure, the pole carrier of the machine in the structure comprises slots and columns, the slots having a slot or pole spacing s, and the columns having a height h, wherein an electrical excitation can be applied to the conductors in the slots according to the disclosed equation s in relation to h, with a current density of at least 70A/mm2. Generally considered to exceed 70A/mm ² Is suitable for operation of the disclosed device. The cooling effect with the disclosed slot and conductor structure provides cooling to offset some or all of the heat generated by the current in the conductor. Any residual heat generated may be dissipated using one or more of the disclosed cooling structures or channels. Motors within the disclosed ranges show that for a given electrical input power,a reduction in the average flux density in the flux path. This is due in part to the reduced flux path length of the shorter column and the reduced distance from the column to the adjacent column through the back iron, and reduced flux leakage from column to column. The result is that higher current densities can be run in the motor within the disclosed ranges without reaching saturation. The combination of increased cooling capacity and lower flux density at a given current density, as compared to a motor outside the disclosed range, results in a combination of conditions in which a higher continuous torque to weight ratio can be achieved for a given temperature at a given cooling rate, and in which the peak instantaneous torque to weight ratio of the motor within the disclosed range can be significantly higher due to operation at a lower flux density for a given torque to weight ratio within the disclosed range.

To achieve the performance and energy consumption benefits of the disclosed geometry, one of the most important challenges that must be overcome is to provide a structure that can withstand the large magnetic forces present between the rotor and stator. Embodiments of the disclosed rotor can achieve exceptionally high flux densities in the air gap, resulting in high attractive forces on the stator posts. At the same time, achieving the high torque to weight ratio of embodiments of the disclosed electric machine requires the use of back iron having an axial thickness that is, in one embodiment, less than the circumferential thickness of the post (and, in one embodiment, approximately half the thickness of the post). Furthermore, the disclosed axial flux motor configuration and the relatively short stator posts of the disclosed range result in an inherently thin stator structure. With a radial flux motor, a circular laminate with integrated posts can be used. This is inherently rigid and naturally provides an ideal flux path along the circumferential and radial orientation of the laminate. In contrast, the axial flux function of embodiments of the present apparatus requires the assembly of individual laminate parts. The result is the need to manufacture up to hundreds of post members for each actuator, which increases manufacturing complexity, time and cost. In addition, the relatively thin back iron does not provide sufficient surface area for many potting compounds or adhesives to reliably secure the post to the back iron, especially at the high frequency force variations and high temperatures common to motors. For example, a typical aerospace adhesive that may be used to secure the stator posts into receiving slots in the stator may have a heat distortion temperature of less than 80 degrees celsius, such that the stress on the epoxy is less than 300psi.

The back iron plate of embodiments may be made of laminates, powdered metals, or solid metals. The use of laminates has certain advantages, including the possibility of stamping material constructions; however; if laminates are used, they must be attached by means capable of withstanding the forces and temperatures at which the device operates. Common methods, such as glue, may not be sufficient for certain operating scenarios where the force and/or temperature is high. However, laminations may be a good choice for other solutions and are expected to be suitable for many high speed applications.

Using a powdered metal with an electrical insulator coating on each particle as the back iron of an embodiment has the advantage of reducing eddy currents. However, such a coating typically reduces magnetic force because it acts as a plurality of tiny air gaps in the flux path. Such materials are also generally less robust than solid steel or iron, and have significantly higher creep rates, particularly at high temperatures.

Stators made of solid steel typically have high eddy current losses. However, the geometry of the motor within the disclosed scope has eddy current and hysteresis reduction effects, and in some operating regimes of embodiments of the apparatus of the present invention, for example when operating at speeds suitable for robotics, the eddy current losses may be sufficiently low to enable the use of a solid stator. The use of solid state materials is beneficial for strength, rigidity, heat resistance and fatigue strength. Since embodiments of the apparatus of the present invention may in certain applications typically generate sufficient torque to be used without a gearbox, the resulting operating speed may be low enough that eddy current losses are acceptable even with solid steel stators. Solid cast iron has been found to have sufficiently low eddy current losses to be practical in certain configurations and operating scenarios.

The stator may be constructed from a laminate stack or sintered powder metal. The purpose of these configurations is to reduce the cross-sectional area of the electrically insulating soft magnetic material perpendicular to the flux path, and thus reduce the generation of eddy currents, compared to using solid state materials. Eddy currents have reduced efficiency due to the need for additional input power; the eddy currents generate additional heat that must be dissipated by the system; and the eddy current lowers the output torque by generating a damping effect. A one-piece stator made of a solid conductive material may be used with embodiments of the disclosed apparatus, particularly within the disclosed pole density and column height ranges. To avoid the generation of eddy currents, the speed of application should be low enough, for example, 50% (60%, 70%, 80%, 90%) of the duty cycle making up the operation is 200rpm or less for a 175mm average air gap diameter motor with the disclosed range of geometries. By combining this relatively low velocity range with the relatively small cross-sectional geometry of the stator teeth within the disclosed range, each stator tooth acts somewhat like a lamination and reduces the generation of eddy currents. Speeds of less than 200rpm are generally considered suitable for operation of the apparatus. Speeds of less than 100rpm, less than 50rpm and less than 25rpm are also considered suitable for operation of the apparatus.

In addition, within the scope of the disclosure, the generation of eddy currents is reduced by a relatively short tooth height. Eddy current and hysteresis losses are volume dependent, so for a given flux density and switching frequency, the low volume of the device helps to reduce the total core loss.

The continuous flux path may for example be provided by a stator made of isotropic material such as ductile iron, steel alloys such as cobalt or silicon steel, pressed or sintered powder metal. The metal may be isotropic from post to adjacent post and anisotropic from post to bearing race or post to the member or component connected to the bearing (including variable material alloys from back iron to heat sink and/or to bearing). This may be done by explosive welding or fused deposition additive manufacturing, or stir welding or other forms of combining different materials.

The stator may be a single piece or unitary from the post to the adjacent post and from the post to the bearing race (or bushing seat or contact). The stator may be integral from post to post and from one of the posts to a compressed component or assembly to facilitate preloading of the bearing or bushing. The stator may be integral from post to post and from one of the posts to a compressed member or assembly so as to preload the bearing or bushing, and all or part of the compression load is a result of the magnetic attraction between the stator and rotor. In the case of preloading the bearing, the housing assembly may be sufficiently flexible to displace the bearing race in the direction of the bearing preload, beyond the bearing seat position if the bearing is present, and beyond.002 "if the bearing is not present. In the case of preloading the bearing, the housing assembly may be sufficiently flexible to displace the bearing race in the direction of the bearing preload, beyond the bearing seat position if the bearing is present, or beyond.002 "if the bearing is not present, and to provide at least in part a force exerted on the stator to cause deformation of the housing by magnetic attraction of the stator to the rotor.

An embodiment of an electric machine having an inner bearing and an outer bearing supporting a rotor will now be described.

Fig. 52-59 show an overview and simplified cross-sectional view of an exemplary stator 3802 and rotor 3801 of an apparatus that is inserted into the robotic arm 3800 as a frameless motor/actuator within the disclosed pole density and column height ranges. Note that conductors and wiring are not shown in these figures for simplicity. The outer bearing 3804 for the arm pivot support also serves to define an air gap 3809. This allows the use of frameless actuators in the system without the mass and complexity of a separate actuator housing. An additional bearing 3808 may be used in conjunction with the spacer ring 3803 on the ID of the frameless actuator assembly to maintain a desired air gap dimension with a longer radial post length. The interlock feature 3812 (fig. 59) allows the stators 3802 to be attached to the lower arm housing 3806 and the lower arm housing 3807 by sliding the stator tabs 3812 between the housing tabs 3816 and locking them in place according to the circuitous path 3815 in fig. 57. Similar tabs 3814 on the rotor secure the rotor 3801 to the

upper arm housings

3805, 3810 and the inner bearing spacer ring 3803. The mass of the stator and rotor is only increased by the weight of the additional securing features 3814, 3812 and the bearing spacer ring 3803 and inner bearing 3808. The spacing elements 3803 may be made of a low density material, such as aluminum or magnesium. The exemplary embodiment has an average air gap diameter of 175mm and a radial column length of 25 mm. The isotropic steel alloy or ferrous alloy stator 3802 and isotropic steel alloy or ferrous alloy rotor 3801 with back iron are sufficiently rigid to maintain a 0.005 "air gap when supported by bearings at ID and OD.

In one embodiment, the magnetic attraction between the rotor 3801 and the stator 3802 may be used to provide a preload on the

bearings

3804, 3808, and may be used to reduce or eliminate the need for fasteners to keep the bearings seated in the upper and

lower arm housings

3805, 3806, respectively. This configuration is believed to be beneficial in terms of simplicity and light weight, allowing the entire arm assembly to be lighter than using a motor outside the disclosed range.

Due to the axially inward magnetic attraction between the rotor 3801 and the stator 3802, they must both be secured against movement toward each other at the air gap 3809. It would be beneficial to achieve a lightweight yet rigid arm housing, and therefore the exemplary embodiment provides a method of assembling the arm and magnetic components from the air gap axial end of the actuator. This is accomplished by using an array of

tabs

3812, 3814 on the OD of the stators 3802 and rotor 3801 that allow the stators and rotor to be inserted into the

housings

3805, 3806 and then rotated to engage a matching array of

tabs

3816, 3813 on the

housings

3805, 3806. A threaded engagement would be another option.

Once the rotor 3801 and stator 3802 are assembled in their respective arms, the upper arm assembly with the stator and the lower arm assembly with the rotor are brought together. The force between the rotor and stator will then preload the

bearings

3804, 3808 and hold the arm knuckle together, up to about 400KG axial force for this size of device.

The 10OD actuator of the present apparatus can have up to 1500lbs or more of passive PM preload between the stator or rotor. This makes assembly very challenging or even dangerous. Embodiments of the present apparatus allow for insertion of the PM after the stator and rotor are assembled together. This allows for precise and low risk alignment of the stator and rotor and bearings and connections before any PM and its magnetic forces are added to the assembly.

The ability to add and remove magnets separately is very helpful for large motors/actuators to allow disassembly to service bearings and the like. The only tool required for this process is the magnet removal tool. Large actuators may require 10,000lbs or more of force to remove the rotor if the magnet cannot be removed before the rotor is removed.

By using bearings on the ID and OD of the axial or conical motor, a reasonably consistent axial preload on the bearings can be achieved. This has a number of potential advantages: (a) Bearing race retention may not be required in the opposite axial direction; (b) The preload of the bearing can remain reasonably constant despite bearing settling, wear or thermal expansion, since the preload is provided by the magnetic attraction forces which do not change significantly if the bearing races are moved relative to each other in the axial direction as much as would be expected in normal use; and (c) this may also have the additional advantage of allowing lower axial manufacturing tolerances.

While the foregoing description has been with respect to the preferred embodiments of the present invention, those skilled in the art will appreciate that many variations and modifications are possible. Some of these variations have been discussed above, and others will be apparent to those skilled in the art.

In the claims, the word "comprising" is used in its inclusive sense and does not exclude the possibility of other elements being present. The indefinite article "a/an" preceding a claim feature does not exclude the presence of more than one function, unless clearly understood from the context that there is only one element.

Claims

1. An electric machine comprising:

a stator having an array of electromagnetic elements;

a rotor mounted on a bearing, the rotor having an array of rotor posts, each of the rotor posts having a length defining two opposing ends, and the array of rotor posts extending along the rotor in a direction perpendicular to the length of each of the rotor posts, and the rotor having an electromagnetic element defining a magnetic pole placed between the rotor posts;

an air gap formed axially between the rotor and the stator when the stator and the rotor are in an operating position; and

a plurality of rotor flux limiters formed on the rotor, each of the plurality of rotor flux limiters being respectively placed adjacent to one of the two opposing ends of the rotor post,

wherein the plurality of rotor flux limiters comprises a plurality of inner flux limiters arranged near and inside an inner end of the rotor post in the radial direction and a plurality of outer flux limiters arranged near and outside an outer end of the rotor post in the radial direction.

2. The electric machine of claim 1, wherein the bearing further comprises:

a first bearing connecting the rotor and the stator, the first bearing being arranged to allow relative rotational movement of the rotor and the stator;

a second bearing connecting the rotor and the stator, the second bearing being arranged to allow relative rotational movement of the rotor and the stator; and is

Wherein the array of rotor posts and the plurality of rotor flux limiters are placed on the rotor between the first bearing and the second bearing.

3. The electric machine of claim 2, wherein the plurality of rotor flux limiters further comprises a plurality of holes in the rotor.

4. The electric machine of claim 3, wherein the plurality of rotor flux limiters further comprises a plurality of blind holes.

5. The electric machine of claim 3, wherein the plurality of rotor flux limiters further comprises a plurality of through-holes.

6. The electric machine according to any one of claims 2 to 5, wherein:

the electric machine further comprises an axial electric machine,

the first bearing further comprises an inner thrust bearing,

the second bearing further comprises an outer thrust bearing, and

the electromagnetic elements of the stator and the rotor are arranged radially inward from the outer thrust bearing and radially outward from the inner thrust bearing, the inner and outer thrust bearings being arranged to maintain an air gap against a magnetic attraction force of the electromagnetic elements of the rotor and the electromagnetic elements of the stator.

7. The electric machine of claim 6, wherein the plurality of outer flux limiters are positioned radially outward from the rotor post and radially inward from the outer thrust bearing.

8. The electric machine of claim 6, wherein the plurality of inner flux limiters are positioned radially inward from the rotor post and radially outward from the inner thrust bearing.

9. The electric machine of claim 7, wherein the plurality of inner flux limiters are positioned radially inward from the rotor post and radially outward from the inner thrust bearing.

10. The electric machine of claim 9, wherein each of the inner and outer flux limiters is radially aligned in an alternating pattern relative to the rotor posts such that the inner and outer flux limiters are adjacent to each second rotor post.

11. The electric machine of claim 10, wherein the inner and outer flux limiters are adjacent to alternating rotor posts such that each rotor post is adjacent to only one of the inner flux limiters or one of the outer flux limiters.

12. The electric machine of claim 9, wherein each of the inner and outer flux limiters is radially aligned with the rotor post and adjacent to each rotor post.

13. The electric machine of claim 9, wherein for each rotor post, the rotor post is adjacent to two inner flux limiters and two outer flux limiters.

14. The electric machine of any of claims 9 to 13, wherein the plurality of inner flux limiters and the plurality of outer flux limiters each further comprise a plurality of apertures having the same geometry.

15. The electric machine of claim 14 wherein the plurality of holes having the same geometry further comprises a plurality of holes having a circular cross-section.

16. The electric machine of claim 15, wherein the circular cross-section of each of the plurality of holes is of equal size.

17. The electric machine of claim 1 wherein the stator further comprises stator posts forming an electromagnetic element of the stator, the stator posts having slots therebetween, each slot having one or more electrical conductors therein, each of the stator posts having a length defining two opposing ends and the array of stator posts extending around the stator in a direction perpendicular to the length of each post, and the stator further comprising a plurality of stator flux limiters formed on the stator, each of the plurality of stator flux limiters positioned adjacent one of the two opposing ends of the stator post.