DE102006034454A1

DE102006034454A1 - Electric motor for robot, has rotor plates connected with each other and stator plates connected with each other, where motor is encapsulated using dielectric fluid provided between plates

Info

Publication number: DE102006034454A1
Application number: DE200610034454
Authority: DE
Inventors: Andreas Henke
Original assignee: Individual
Current assignee: Individual
Priority date: 2006-07-26
Filing date: 2006-07-26
Publication date: 2008-01-31

Abstract

The motor has rotor and stator plates connected with a shaft and a housing, respectively, where conductor paths are arranged in the plates. The paths form a wheel shape with a core hole and are connected with each other in a conductive manner. The rotor plates are connected with each other and each of the paths is connected with the rotor plates. The stator plates are connected with each other and each of the paths is connected with the stator plates. The paths lie on top of each other in the plates, where the motor is encapsulated using a dielectric fluid provided between the plates.

Description

Das elektrische Feld eignet sich um einiges besser für bestimmte Antriebsarten als das magnetische Feld, mit dem gewöhnliche Motoren arbeiten. Es ermöglicht viel höhere Kräfte bei sehr niedriger Umdrehungsgeschwindigkeit.The electric field is a lot better for certain types of drives than the magnetic field with which ordinary motors work. It allows much higher personnel at very low rotational speed.

Dieser Antrieb eignet sich besonders für den Einsatz in Robotern. Dort kann er ohne Getriebe eingebaut werden und kann sogar eine genaue Kraft erzeugen.This Drive is particularly suitable for the use in robots. There it can be installed without a gearbox and can even produce a precise force.

Stand der TechnikState of the art

Es gibt keinen Motor der mit dem elektrischen Feld angetrieben wird.It There is no motor powered by the electric field.

Beschreibung des AufbausDescription of the structure

Der Motor baut sich auf dünnen Platten auf. Je dünner desto besser. Begrenzung dabei ist die Biegesteifigkeit, die einen gewissen Wert nicht unterschreiten darf. In den Platten befinden sich Leiterbahnen (1).The engine builds up on thin plates. The thinner the better. The limitation here is the bending stiffness, which must not fall below a certain value. In the plates are printed conductors ( 1 ).

Jede zweite Leiterbahn ist miteinander verbunden. D.h. man hat pro Scheibe zwei elektrisch getrennte Leiterbahnen (2) → a und a sind miteinander verbunden und b und b sind miteinander verbunden. Das ist die Statorplatte, sie ist mit dem Gehäuse mechanisch verbunden.Every second trace is connected to each other. This means that one has two electrically isolated conductor tracks per pane ( 2 ) → a and a are connected and b and b are connected. This is the stator plate, it is mechanically connected to the housing.

Die Rotorplatte sieht genauso aus, ist aber mit der Welle verbunden. D.h. man hat wieder zwei elektrisch getrennte Leiterbahnen (3). Es kommen so Anschluss d und c dazu.The rotor plate looks the same but is connected to the shaft. Ie one has again two electrically separated conductor tracks ( 3 ). It comes so connection d and c to it.

Stator- und Rotorplatte wechseln sich im Aufbau immer ab.

a und a hat zwischen den Statorplatten elektrischen Kontakt.
b und b hat zwischen den Statorplatten elektrischen Kontakt.
c und c hat zwischen den Rotorplatten elektrischen Kontakt.
d und d hat zwischen den Rotorplatten elektrischen Kontakt.

Stator and rotor plate always change in structure.

a and a has electrical contact between the stator plates.
b and b has electrical contact between the stator plates.
c and c has electrical contact between the rotor plates.
d and d has electrical contact between the rotor plates.

Ziel ist es, die Platten so dicht und oft wie möglich zu stapeln.aim is to stack the plates as densely and often as possible.

Zwischen den Platten befindet sich ein flüssiges Dielektrikum. Deshalb muss das komplette Innere des Motors gekapselt werden.Between the plates is a liquid Dielectric. Therefore, the entire interior of the engine must be encapsulated become.

Wie in (1) zu sehen ist beginnen die Leiterbahnen erst im etwas äußeren Bereich. Da die Leiterbahnen eine konstante Dicke haben, haben sie in einem äußerern Durchmesserbereich einen konstanteren Abstand. (Das kommt außerdem dem Drehmoment zugute.) Die Welle kann deshalb hohl bleiben. (4)As in ( 1 ) can be seen, the traces begin only in the slightly outer area. Since the tracks have a constant thickness, they have a more constant distance in an outer diameter area. (This also benefits the torque.) The shaft can therefore remain hollow. ( 4 )

Nach mehreren Hundert Platten – immer Stator- und Rotorplatten abwechselnd – ist der Aufbau komplett. (4) After several hundred plates - always stator and rotor plates alternately - the structure is complete. ( 4 )

Zur FunktionsweiseTo the operation

Grundsätzlich arbeitet der Motor mit abstoßenden und anziehenden elektrischen Kräften auf einmal.Basically works the engine with repulsive and energizing electrical forces at once.

Der Motor hat deshalb vier Anschlüsse (a, b, c, d).Of the The engine therefore has four connections (a, b, c, d).

Zwischen ihnen wird eine hohe Spannung angelegt. Begrenzung hierbei ist nur die Durchschlagsspannung.Between they are put on a high voltage. Limitation here is only the breakdown voltage.

Wichtig ist das die Spannung in Höhe und Richtung schnell und genau steuerbar ist. So ist zum Beispiel auch die Drehrichtung regelbar:
Angenommen die abstrakten Kondensatorplatten liegen sich genau übereinander. Die Drehrichtung ist in diesem Augenblick nicht steuerbar. Die abstrakten Kondensatorplatten wirken in diesem Augenblick abstoßend aufeinander. Weiter angenommen es beginnt eine Bewegung in die falsche Richtung. Noch bevor a d und b c erreicht hat, muss in Bruchteilen einer Sekunde umgeschaltet werden. Und zwar so, dass a c und b d sich anziehen. Sobald sie sich erreicht haben, wird umgeschaltet. Die Drehrichtung stimmt nun wieder.It is important that the tension in height and direction is controlled quickly and accurately. For example, the direction of rotation can also be regulated:
Suppose the abstract capacitor plates are exactly on top of each other. The direction of rotation is not controllable at this moment. The abstract capacitor plates seem repulsive to each other at this moment. Assuming it starts a movement in the wrong direction. Even before ad and bc have reached, you have to switch in fractions of a second. And so that ac and bd get dressed. Once they have reached, is switched. The direction of rotation is correct again.

Um eine genaue Position zu erreichen, in der die abstrakten Kondensatorplatten nicht genau übereinander liegen, muss zwischen Anziehen und Abstoßen schnell hin- und hergeschaltet werden. So wird die genaue Position beibehalten.Around to achieve a precise position in which the abstract capacitor plates not exactly on top of each other must be quickly switched back and forth between tightening and pushing off become. This preserves the exact position.

Mit der Höhe der anliegenden Spannung lässt sich eine genaue Kraft erzeugen.With the height the applied voltage leaves to generate an exact force.

Claims

A motor that uses the power of the electric field (by controlling its four high voltage connections), characterized by: 1. The thin rotor disks and stator disks, which alternate axially tight. 2. The rotor discs are mechanically connected to the shaft. 3. The stator discs are mechanically connected to the housing. 4. The radial arrangement of the conductor tracks in the rotor disk and the stator disk. 5. Tracks are thin in this case, electrically conductive, straight wires, which are cast in the rotor and stator discs. But you can also have a slight deviation from the straight wire shape. The wire can also have a wavy or jagged, flat lying in the disc shape. 6. The tracks (in the rotor disks and stator disks) which form close to each other an imaginary disk shape with core hole. 7. The conductive connections between the tracks in rotor and stator disks: 7.1. The conductor tracks in the rotor disks have the following electrical property: 7.1.1. In the rotor disk, every second printed conductor is conductively connected to one another. 7.1.2. The rest (odd trace number), is conductively connected. 7.2. The tracks in the stator disks have the following electrical property: 7.2.1. In the stator, every second trace is conductively connected to each other. 7.2.2. The rest (odd trace number), is conductively connected. 8. The conductive connections between the panes: 8.1. The rotor disks are conductively connected: 8.1.1. Every second printed conductor is conductively connected to the rotor disks. 8.1.2. The remainder (odd number of tracks), which is located in the rotor disks, is conductively connected to each other. 8.2. The stator disks are conductively connected: 8.2.1. Every second conductor is conductively connected to the stator disks. 8.2.2. The remainder (odd trace number) located in the stator disks is conductively connected to each other. 8.3. ie you have a total of 4 connections. (In each case two of rotor and stator disks.) 9. The conductor tracks in the rotor and stator disks are located one above the other in axial direction. 10. The liquid-tight encapsulation of the motor, because of the liquid dielectric. It is present inside the engine, especially between the plates. 11. The hole wave makes sense, because with a larger radium difference the tracks have a constant distance.