WO2004040737A1 - Actionneur d'ondes elastiques - Google Patents

Actionneur d'ondes elastiques Download PDF

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Publication number
WO2004040737A1
WO2004040737A1 PCT/US2002/030693 US0230693W WO2004040737A1 WO 2004040737 A1 WO2004040737 A1 WO 2004040737A1 US 0230693 W US0230693 W US 0230693W WO 2004040737 A1 WO2004040737 A1 WO 2004040737A1
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WO
WIPO (PCT)
Prior art keywords
stator
rotor
elastic wave
flexible shell
wave actuator
Prior art date
Application number
PCT/US2002/030693
Other languages
English (en)
Inventor
Abu Akeel Hadi
Original Assignee
Abu Akeel Hadi
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abu Akeel Hadi filed Critical Abu Akeel Hadi
Priority to PCT/US2002/030693 priority Critical patent/WO2004040737A1/fr
Priority to AU2002365178A priority patent/AU2002365178A1/en
Publication of WO2004040737A1 publication Critical patent/WO2004040737A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2706—Inner rotors
    • H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/2726—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of a single magnet or two or more axially juxtaposed single magnets
    • H02K1/2733—Annular magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2786—Outer rotors
    • H02K1/2787—Outer rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/2789—Outer rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
    • H02K1/2791—Surface mounted magnets; Inset magnets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
    • H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/22—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating around the armatures, e.g. flywheel magnetos
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/06—Rolling motors, i.e. motors having the rotor axis parallel to the stator axis and following a circular path as the rotor rolls around the inside or outside of the stator ; Nutating motors, i.e. having the rotor axis parallel to the stator axis inclined with respect to the stator axis and performing a nutational movement as the rotor rolls on the stator

Definitions

  • This invention relates to a class of actuators capable of configuration to provide highspeed low-torque or to provide low speed high-torque output.
  • the invention includes a method to convert electrical energy directly into mechanical energy utilizing an elastically deformable flexible rotor.
  • actuators of a given power rating such as electrically or hydraulically powered motors, normally rotate at high speed with low torque.
  • the speed is deteraiined by the electrical excitation frequency and the number of motor poles for an electric motor; or by the flow rate for a hydraulic or pneumatic motor.
  • actuators are often coupled with any of several mechanical speed reducers, well known in the mechanical arts, such as chain driven gear sets, belt driven pulley sets and direct gear reduction.
  • Gear reducers may include several stages of speed reduction as in stepped gear reduction or planetary gearing systems.
  • high ratio reducers are commonly used with conventional motors ninning at a relatively high speed, typically 1000 to 5000 rpm or more, to obtain low-speed output rotation with high torque. Otherwise, high power high-torque motors would be used at great penalty of cost, size, and weight.
  • Some electrically powered motors are commercially available that generate high-torque and operate at low speed by employing a large number of electromagnetic stator poles. However, such motors are usually bulky and expensive. Similarly, low-speed and high- torque hydraulic motors are bulky and heavy with the additional requirement of a separate hydraulic power supply. Applications that are cost sensitive often utilize a high-speed motor coupled to a commercially available gear reduction system such as a multi-ratio gear reducer, a worm gear reducer or a planocentric motion reducer. For many applications it's desirable that the actuator and the speed reducer are provided with a central hole to pass process cables and lines through motorized joints.
  • the Harmonic Drive U.S. Patent 3,196,713 is a well known commercial speed reducer which includes a flexible internal shell having externally cut gear teeth that engage a rigid outer shell having internally cut gear teeth.
  • the flexible shell is deformed elliptically by a rotating elliptical cam to engage the outer shell at two diametrically opposed locations.
  • the rotating cam imparts a rotating elastic wave into the flexible shell and causes the shell to rotate about its central axis.
  • the flexible shell is usually coupled to an output shaft that rotates rigidly with it.
  • the difference in the number of teeth between the flexible shell and the outer rigid shell defines the ratio of rotation between the speed of the motor that rotates the cam and the speed of the output shaft.
  • the motor is external to the speed reducer and is coupled mechanically to the elliptical cam. Since the cam is rotated at the high speed of the motor, its inertia negatively impacts the servo controllability of an output load.
  • the flexible shell is placed within the air-gap between the motor's rotor and stator to provide a closely integrated actuator. However, such arrangement increases the width of the air- gap and reduces the power conversion efficiency of the motor.
  • Another type of motor achieves gear reduction to high torque using a rigid gear shell that progresses within a rigid fixed outer gear having a larger number of gear teeth.
  • a rotating magnetic field, generated by stator poles mounted along the circumference of the outer gear, can induce a rigid style gear shell to roll along the outer gear in an orbital fashion.
  • the low gear shell inertia and the absence of a bulky mechanical element rotating at high speed are features conducive of a desirable low-speed motion control.
  • a rigid orbiting shell progressively engages stator gear teeth and rotor gear teeth along one common line of contact in a planocentric motion.
  • This type of single point loading reduces possible torque output of the motor, promotes vibration, and generates excessive loads on the rotor bearings compared to the present invention.
  • the motor poles are energized in steps and are not controllable for smooth motion.
  • Humphreys U.S. Patent 3,561,006, discloses an electromagnetic actuator having an electromagnetic stator that elliptically deforms a coaxial spline having internal as well as external gear teeth.
  • the coaxial spline progressively engages matching external teeth on an output spline and stator internal teeth, the progressive rotation of the output spline being transmitted to a power output shaft at a rate reduced from the electromagnetic rotation rate.
  • Humphreys employs magnetic shim stock to reduce magnetic reluctance and suggests roughened surfaces instead of gearing for surface engagement. This prior art suffers from the multiplicity of gear engagement surfaces, which is subject to wear, factional losses and slip with factional engagement.
  • stator, coaxial spline, and output spline elements all serve both torque transmission and magnetic circuit functions. These functions require conflicting material properties of hardness and magnetic reluctance with one usually attained at the detriment of the other. Hence, power conversion efficiency and durability are compromised.
  • the stepping motion of the device is also a serious limitation.
  • Kondoh et al in U.S. Patent 5,497,041 (1996) discloses a low-speed motor wherein a rotating magnetic field is formed in a geared outer stator to induce progressive deformation in a geared inner flexible shell containing a series of permanent magnets with alternating polarity. The progressive rotation of the inner flexible shell is transmitted to a power output shaft.
  • the flexible shell is naturally circular and assumed to deform elliptically when the magnetic field is applied.
  • the flexible ring could assume the least energy position of single-point contact with the stator and remain circular rather than the more preferred two-point contact of elliptical deformation which has a higher elastic energy level.
  • the rotor naturally assumes the least energy circular configuration and may jam into a non-rotating vibratory state.
  • the position of the Kondoh internal gear may become indefinite relative to the position of the rotating magnetic field resulting in compromised precision with this actuator configuration.
  • the prior art addresses electromagnetic actuators that combine electric motor principles with high gear ratio flexible speed reducers.
  • these actuators are impractical for many applications due to the incompatible design considerations involved in combining the functions of electromagnetic permeability and gear engagement in the stator and rotor parts of the motor.
  • Prior art also requites gearing between the rotor and stator elements to avoid slippage in high torque applications.
  • Optimal rotor geometry is not inherent in much of the prior art.
  • the actuator utilizes the large magnetic attractive forces and friction between the stator and a ferromagnetic rotor flexible shell for the transmission of high torque at low speed, thus avoiding the mechanical complexity and financial cost associated with gearing.
  • Another embodiment includes a series of uniformly polarized permanent magnet segments radially mounted circumferencially to the rotor flexible shell to generate an elliptical rotor shape during electromagnetic interaction with the stator and propagates an elastic wave into the flexible shell.
  • Optimal rotor shape can also be provided by locating an elliptical cam within the rotor flexible shell. The elliptical cam is carried by the sequential flexible shell deformation to rotate synchronously with the electromagnetic field and provides access to high speed mechanical energy.
  • a synchronizing gear element may be provided on the rotor flexible shell to maintain electronic synchronization of rotor position with the electromagnetic field for field commutation and closed loop operation.
  • Energy- conversion efficiency is improved by isolating the gear engagement elements from the magnetic circuit elements, thus allowing the optimum use of materials for each function independent of the other.
  • High precision of motion in servo-controlled low speed drives is obtained by avoiding the need for a high-inertia high-speed rotor or external gear reducer.
  • Low manufacturing cost is realized as fewer mechanical elements are required and high cost load-bearing gearing is ehminated.
  • the Actuator can be built within the confines of a conventional electric motor shell of equal power without the added volume or cost of a speed reducer for low speed output.
  • the present invention thus provides a low cost, compact actuator that can be designed for optimum performance and manufactured with conve ⁇ tional manufacturing technologies.
  • the invention allows the rotor to have a relatively large internal axial hole suitable for passing wires and hoses often needed for motorized manufacturing process equipment.
  • this invention provides an ideal actuator with a rninimiim number of parts for safety and reliability and mass production at a lower cost.
  • the invention provides for an actuator that can be configured to supply low-speed high-torque power output or high-speed low- torque power output or both types of power output from the same actuator.
  • This invention is an electric energy conversion actuator comprising a stator, a rotor having a flexible shell rotatably supported inside the stator with bearings, and a rigid rotor output flange coupled coaxially to the flexible shell.
  • the stator includes an array of electromagnets arranged along ⁇ itsoircumference that are energized to generate a rotating electromagnetic field. Most preferably, the magnetic field attracts and deforms the flexible shell into a substantially elliptical shape to frictionally contact a frictional surface of the stator at two diametrically opposed circumferencial locations. An elastic wave is thus induced into the rotor flexible shell, which progressively rolls along the frictional surface of the stator.
  • the flexible shell may be deformed into an elliptical shape by means of a rotatable elliptical cam.
  • a rotatable elliptical cam is preferred, other cam forms may be used to provide frictional contact at more than twp diametrically opposed circumferencial locations.
  • the electromagnets are powered preferably by a multiple phase power supply and synchronized by electronic control means commonly practiced in the art such as direct commutation and sensor directed electronic controls. Pulse width modulated electrical excitation may also be used for precision motion applications.
  • the circumference of the rotor flexible shell differs from the circumference of the frictional surface of the stator by a predetermined amount that causes the flexible shell to rotate at much lower speed than the rotating electromagnetic field.
  • the low-speed rotor output shaft coupled to the flexible shell of this invention supplies high torque with inherently low inertia and high servo-control accuracy.
  • the elliptical cam rotates at the high speed of the rotating magnetic field and provides access to high-speed motion.
  • the flexible shell can be coated with friction promoting material and made of a high electromagnetic permeability metal such as silicon steel to provide high-energy conversion efficiency. Compactness and energy efficiency are also promoted in one embodiment by means of an elastic core of silicon steel sheets preferably laminated and coiled inside or around the flexible shell to maintain adequate magnetic flux path and minimize eddy-current generation.
  • uniformly polarized permanent magnet segments are mounted circumferencially to the flexible shell to enhance the magnetic flux properties and to maintain the elliptical shape and a holding torque capability when the actuator is not electrically energized.
  • attractive and repulsive interaction between the permanent magnet segments and the stator electromagnetic poles can induce optimum elliptical shape in the flexible shell.
  • the rotor flexible shell may be fixedly attached to the rotor output flange,- the operative stresses being accommodated by the resilience of the flexible shell.
  • the rotor may have radial splines that interlace with matching radial splines of the rotor output flange to transmit power and accommodate the radial deformations operatively induced in the flexible shell.
  • the rigid output flange and rotor are mounted using single moment carrying bearing set at one end of the stator.
  • the rigid output flange extends with a cylindrical shaft to mount on bearing sets at each end of the stator.
  • the flexible shell has serrations, or gear teeth, which mesh with matching serrations of equal pitch formed in or near the stator frictional surface.
  • the serration prevent slippage and keep the rotor synchronized with the rotating electromagnetic wave while frictional contact of the flexible shell and stator frictional surface remains the primary means of power transmission.
  • the serrations may have the geometry of conventional gear teeth such as involute, circular, or cycloidal geometry forms and thus provide a definite ratio of speed between the electromagnetic field and the rotor speed.
  • rotor synchronization can be maintained by a sensor-encoder that provides a feedback-indicating signal of rotor position to an electronic controller system.
  • FIG. 1 is a half-sectional view along the axis of the stator and flexible rotor of an internal rotor embodiment of an elastic wave actuator.
  • FIG. 2 is a half-sectional view orthogonal to the view of FIG. 1.
  • FIG. 3 is a half-sectional view, as in FIG. 1, but according to an embodiment having permanent magnet segments mounted to the flexible rotor core and having the rotor output shaft mounted on bearings at two ends.
  • FIG. 4 is a view of a laminated core having compact spiral ribbon.
  • FIG. 5 is a view of a laminated core having compact helical ribbon.
  • FIG. 6 is a view of a laminated core having segmented rings.
  • FIG. 7 is a half-sectional view along the axis of an elastic wave actuator configured to have an outer rotor and internal stator.
  • FIG. 8 is a sectional view similar to FIG. 1 but showing an embodiment having a highspeed cam output shaft.
  • FIG. 9 is a diagram showing the flexible rotor deformed into an exaggerated elliptical form for clarity.
  • FIG 10 is similar to FIG. 9 but shows the flexible rotor position after a full rotation of the magnetic field.
  • FIG. 11 is a diagram showing attraction and repulsion between the permanent magnets and the electromagnetic poles to induce elliptical deformation in a flexible shell.
  • FIG. 1 and Figure 2 there are provided a stator 1 and a rotor 2.
  • the rotor 2 being rotatably supported inside the stator 1 with bearing 11.
  • the stator 1 and rotor 2 share a common central axis 4.
  • the stator 1 consists of housing parts 10a and 10b fixedly supporting the bearing 11, stator pole laminations 12 and electrical stator coils 13 to electrically energize a plurality of electromagnetic poles, thereafter referred to as electromagnets 9, as is conventional with electric motors.
  • the stator having a hollow central cavity to functionally receive the rotor 2 and having a stator frictional surface 17.
  • the stator housing parts 10a and 10b may include actuator mounting brackets 18 for mounting the elastic wave actuator in a working position.
  • the bearing 11 outer race is fixedly attached to the stator housing part 10a by means of first clamping ring 14 and a plurality of bolts 15.
  • the rotor 2 consists of a core 21 mounted to a flexible shell 22.
  • Figure 2 shows the flexible shell 22 coupled at one end to a rotor output flange 23 by means of a plurality of bolts 31 which, in turn, clamp the inner race of bearing 11 between the rotor output flange 23 and a second clamping ring 24.
  • the rotor output flange 23 may have an extended shaft 43 to support the rotor 2 within the stator 1 at two axially extended locations by means of bearings 11 and 11a.
  • the flexible shell 22 may be capable of electromagnetic deformation to an elliptical shape by means of magnetic interaction with diametrically opposed stator electromagnets 9.
  • the elliptical shape may also be retained by means of an elliptical cam 28 slideably positioned coaxially within the inner surface of the flexible shell 22.
  • the presence of an elliptical cam bearing 29 between the elliptical cam 28 and flexible shell 22 reduces friction between the cam 28 and the flexible shell 22.
  • the bearing 29 may be any conventional slim- form bearing known in the art that conforms easily to the shape of the cam 28 such as a ball bearing, a roller bearing, a low friction interface such as Teflon® or a lubricated bronze bushing.
  • bearing 11 which allows rotation of the rotor 2, but not lateral or angular movement of the rotor 2, about the central axis 4.
  • Bearing 11 may be a moment carrying bearing, such as a cross roller bearing or a pair of opposed angular contact bearings.
  • the rotor 2 may be rotationally mounted to the stator 1 using two radial bearings axially spaced from each other along an output shaft 43 such as on opposite ends of the stator pole laminations 12 as shown in Figure 3. Oil seals 16 at both sides of bearing 11 may be used to retain lubricants within bearing 11.
  • the stator pole laminations 12 and the flexible rotor core 21 are best made with low-loss magnetically permeable material such as silicon steel and preferably laminated as conventionally practiced to provide a low energy loss path for the electromagnetic flux produced by the stator electromagnets 9.
  • the core 21 may be silicon steel laminations in the form of a compact spiral ribbon 21a ( Figure 4) which may also be split axially to form a layered set of concentric thin shells.
  • the core 21 may also be formed as -a compact- helical ribbon 21b ( Figure 5), or- split radially to form a layered stack of split flat rings 21c ( Figure 6).
  • the stator laminations 12 may be clamped solidly between stator clamp parts 7a and 7b by means of a plurality of axial bolts or rivets (not shown) extending through a plurality of holes 33.
  • the rotor core 21 mounted to the flexible shell 22 may be retained with a flexible mold 27, preferably of a polymer formulation tolerant of high temperature.
  • Uniformly polarized permanent magnet segments 25 may be embedded or circumferencially mounted to the rotor core 21 to improve the attractive force between the rotor 2 and the stator 1. Permanent magnets 25 also maintain the elliptical form of the flexible shell 22 when the stator coils 13 are not energized, thus minimizing the possibility of the rotor becoming locked in a circular form and unresponsive to magnetic excitation.
  • the invention may have the rotor 2 constructed with a large internal hole 40 for passing wires and process lines as may be needed for manufacturing process applications.
  • the flexible shell 22 deforms into a functional elliptical cross- section utider operational fordes while one end remains rigidly coupled to the rotor output flange 23.
  • the flexible shell 22 must be designed to flex radially to contact the stator frictional surface 17 following the electromagnetic wave while maintaining a circular form at the coupling end 23 a.
  • An alternative coupling means is to interlace axial or radial splines (not shown) of the flexible shell 22 with matching splines (not shown) of the rotor output flange 23 at the coupling end 23a.
  • Such spline coupling is known in the art and allows transmission of torque from the flexible shell 22 to the rotor output flange 23 through a sliding relative motion.
  • the elastic wave actuator may be fitted with an electronic controller to generate and supply the rotating electromagnetic field, and a sensor-encoder (optical, magnetic or otherwise) to provide a feedback signal indicative of the position of the rotor for electronic control of field commutation, positioning, current, speed or torque.
  • a sensor-encoder optical, magnetic or otherwise
  • an electromagnetic sensor 30 together with encoding circuitry may be positioned within stator housing part 10b to detect the passing of metallic teeth 32 protruding radially inwards from the internal circumference of elliptical cam 28.
  • the electromagnetic pulse -generated- as each tooth passes the sensor 30- could be fed to counter and relayed to the electronic controller as input for control decisions.
  • Such electronic controller circuits may excite the stator coils 13 with a multi-phase electrical power excitation or a Pulse Width Modulated (PWM) electrical excitation as is customary for servo controlled AC electric motors to generate the rotating electromagnetic field.
  • the sensor-encoder 30 may be located to detect the position of the flexible shell directly. However, detecting the position of the elliptical cam 28, which rotates at a much higher speed than the flexible shell, provides higher resolution counts to the electronic controller supportive of better control performance.
  • the elastic wave actuator may be configured having the rotor external to the stator. This embodiment functions essentially as in the inner-rotor embodiment and functions with the control systems, cam output and other embodiments described for the outer-stator embodiment as readily contemplated by those skilled in the art.
  • a cam output shaft 45 can be coupled to the elliptical cam 28 to provide an alternate high speed cam output to the elastic wave actuator (see Figure 8).
  • the elliptical cam 28 rotates at th ⁇ high rotational speed of the electromagnetic field, which is synchronous with the frequency of the field excitation. Therefore, a high-speed power cam output is also available from this actuator as is with conventional motors.
  • the elliptical cam 28, which rotates at high synchronous speed, is shown coupled to a cam output shaft 45 and mounted within housing part 10b by means of bearing 46. Bearing 46 being clamped between the elliptical cam 28 and the housing part 10b with retainers 47 and 48 and bolts 47a and 48a respectively.
  • Bearing 46 may be a moment carrying bearing or a set of two axially spaced angular contact, or deep groove, bearings as conventional in the art.
  • Cam output shaft 45 may serve as a power output shaft rotating at the high speed of the elliptical cam 28 which is synchronous with the rotational speed of the electromagnetic field.
  • a rotating magnetic field may be generated electrically when an electrical current is passed through the stator coils 13.
  • the design of the stator 1, including the number of poles, lamination geometry, the magnetic circuit parameters, the characteristics of the electrical input and the type of wire windings in the stator coils 13 must follow conventional design rules for electromagnetic machines to generate such rotating electromagnetic field.
  • the rotating magnetic field has a dominant magnetic vector, N that rotates around the central axis 4 as indicated by the curved arrow 34.
  • the flexible shell 22 may be biased along the vector N by magnetic attraction and to contact the stator frictional surface 17 at point 0.
  • the flexible shell 22 may be attracted to flex out at two diametrically opposite points 0 and 180.
  • the elliptical cam 28 may be used to force the flexible shell to assume an elliptical geometry and maintain contact with the stator at the two points 0 and 180.
  • the points of contact 0 and 180 of Figure 9 travel circumferencially along the stator frictional surface 17 in a full circle to their original starting points as shown in Figure 10.
  • the flexible shell 22 remains in contact with the stator frictional surface 17 and progresses, without slipping.
  • the flexible shell experiences an elastic wave deformation that propagates through the shell at the rotational speed of the electromagnetic filed.
  • the diameter of the stator frictional surface 17 is S
  • the points of contact 0 and 180 of the flexible shell 22 must travel a distance of ITS (circumference of stator frictional surface 17) when vector N makes a full rotation.
  • the ratio of rotor 2 rotation to electromagnetic field (vector V) rotation can be controlled.
  • Rotor 2 rotation can be controlled to be a small fraction of magnetic field rotation.
  • the permanent magnet segments 25 are arranged about flexible shell - 22 with the same radiaLpoJarity-orientation to_interact with the stator magnetic, field, resulting in the desired shell elliptical shape ( Figure 11).
  • the electromagnetic field may be structured to have two rotating and orthogonal components - one directed inwards and one directed outwards, i.e., having opposite magnetic polarities such as in a 4-pole arrangement.
  • the magnetic field components attract the permanent magnets along one axis 41 and repulse them along an orthogonal axis 42 causing the shell to deform elliptically.
  • the magnetic polarity of the rotor remains unchanged; hence, the elliptical shape propagates as an elastic wave through the flexible shell.
  • the elliptical shape is generated in this preferred embodiment even without an elliptical cam 28.
  • the strong magnetic attraction of the permanent magnets to the stator surface at the points of contact along the ellipse's major axis and the weaker attraction along its minor axis help maintain the elliptical geometry when the electromagnetic filed is de-energized. In contrast with the prior art, this effect stabilizes the actuator's geometry and allows the actuator to resume its rotation from where it had stopped without slippage or loss of commutation control.
  • the elliptical form of the cam, with two diametrically opposed points of contact is a preferred embodiment.
  • the invention may be practiced with one point of contact such as with a circular cam, three points of contact with a three-apex cam or four points with a four-apex cam.
  • Other stator pole configurations may be used to interact with the permanent magnet segments and yield more than two points of contact with non-orthogonal axes of attraction and repulsion. Such alternate configurations may be preferred for some applications especially when lower speed ratios are targeted for the high torque embodiment.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

L'invention concerne un actionneur d'ondes élastiques ainsi qu'un procédé permettant de convertir l'énergie électrique en énergie mécanique à options de sortie à grande vitesse ou à couple élevé. L'actionneur comprend un rotor cylindrique (2) ayant une enveloppe souple (22) montée tournant coaxialement dans un stator (1). Une série de pôles électromagnétiques (12) disposés radialement dans le stator sont excités pour produire un champ électromagnétique qui attire et déforme ladite enveloppe souple (22) de manière à mettre en prise la surface (17) de frottement du stator aux points de contacts qui avancent autour du stator. La circonférence de l'enveloppe souple (22) étant différente de celle de la surface du stator interne, le rotor tourne à une vitesse proportionnelle à la différence entre l'enveloppe et les circonférences du stator et beaucoup plus lentement que le champ électromagnétique. Un arbre de sortie (43) couplé à l'enveloppe souple (22) produira une sortie de puissance à vitesse lente à couple élevé. Une came elliptique (28) et un arbre de sortie de came montés coaxialement dans l'enveloppe souple du rotor produisent en outre une sortie de puissance à couple lent à grande vitesse.
PCT/US2002/030693 2002-10-28 2002-10-28 Actionneur d'ondes elastiques WO2004040737A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/US2002/030693 WO2004040737A1 (fr) 2002-10-28 2002-10-28 Actionneur d'ondes elastiques
AU2002365178A AU2002365178A1 (en) 2002-10-28 2002-10-28 Elastic wave actuator

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Application Number Priority Date Filing Date Title
PCT/US2002/030693 WO2004040737A1 (fr) 2002-10-28 2002-10-28 Actionneur d'ondes elastiques

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WO2004040737A1 true WO2004040737A1 (fr) 2004-05-13

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GB2453027A (en) * 2007-09-11 2009-03-25 Borealis Tech Ltd Motor using magnetic normal force
GB2449206B (en) * 2006-03-03 2011-10-05 Borealis Tech Ltd Motor using magnetic normal force
RU2565753C1 (ru) * 2014-02-04 2015-10-20 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный университет приборостроения и информатики" Электродвигатель
EP3032725A1 (fr) * 2014-12-02 2016-06-15 Hamilton Sundstrand Corporation Actionneur électromécanique rotatif multicoupe
DE102017211540A1 (de) * 2017-07-06 2019-01-10 Siemens Aktiengesellschaft Getriebemotoreinheit
RU2767117C1 (ru) * 2021-08-27 2022-03-16 Акционерное общество "Производственное объединение "Север" Волновой привод
EP4131733A1 (fr) * 2021-08-06 2023-02-08 Askoll Holding S.r.l. a socio unico Rotor externe à aimant permanent pour moteur électrique, moteur électrique comprenant ledit rotor et procédé de fabrication dudit rotor externe

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US3561006A (en) * 1969-05-22 1971-02-02 Usm Corp Electromagnetic actuators with deflectible rotor
US6100619A (en) * 1998-07-30 2000-08-08 General Motors Corporation Drive apparatus, in particular for a sliding door of a motor vehicle

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US3495108A (en) * 1968-03-19 1970-02-10 Us Navy Self-contained servomechanism
US3561006A (en) * 1969-05-22 1971-02-02 Usm Corp Electromagnetic actuators with deflectible rotor
US6100619A (en) * 1998-07-30 2000-08-08 General Motors Corporation Drive apparatus, in particular for a sliding door of a motor vehicle

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2449206B (en) * 2006-03-03 2011-10-05 Borealis Tech Ltd Motor using magnetic normal force
GB2453027A (en) * 2007-09-11 2009-03-25 Borealis Tech Ltd Motor using magnetic normal force
RU2565753C1 (ru) * 2014-02-04 2015-10-20 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный университет приборостроения и информатики" Электродвигатель
EP3032725A1 (fr) * 2014-12-02 2016-06-15 Hamilton Sundstrand Corporation Actionneur électromécanique rotatif multicoupe
US9751617B2 (en) 2014-12-02 2017-09-05 Hamilton Sundstrand Corporation Multi-slice rotary electromechanical actuator
US10220937B2 (en) 2014-12-02 2019-03-05 Hamilton Sundstrand Corporation Multi-slice rotary electromechanical actuator
DE102017211540A1 (de) * 2017-07-06 2019-01-10 Siemens Aktiengesellschaft Getriebemotoreinheit
US11984792B2 (en) 2017-07-06 2024-05-14 Siemens Aktiengesellschaft Geared motor unit
EP4131733A1 (fr) * 2021-08-06 2023-02-08 Askoll Holding S.r.l. a socio unico Rotor externe à aimant permanent pour moteur électrique, moteur électrique comprenant ledit rotor et procédé de fabrication dudit rotor externe
RU2767117C1 (ru) * 2021-08-27 2022-03-16 Акционерное общество "Производственное объединение "Север" Волновой привод

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