WO2023233247A1

WO2023233247A1 - Electric machine device, use and operating method

Info

Publication number: WO2023233247A1
Application number: PCT/IB2023/055375
Authority: WO
Inventors: Christian ATZENI
Original assignee: Invaction S.R.L.
Priority date: 2022-05-31
Filing date: 2023-05-25
Publication date: 2023-12-07

Abstract

An electric machine device (1) comprises a support structure (2) being connectable to a use (3), a motion transmission system (4) having one or more output members (5, 6) to transmit motion and mechanical power, a first rotor (7) supported by the support structure (2) in a rotatable manner with respect to the support structure (2) about a first rotor axis (8), a second rotor (9) supported by the support structure (2) in a rotatable manner with respect to the support structure (2) about a second rotor axis (10), wherein the first rotor (7) and the second rotor (9) have one an electric winding system (11) being electrically powerable to generate an induced electromagnetic field, and the other a system (12) being magnetically responsive to the induced electromagnetic field, so that an electrical power supply of the electric winding system (11) forms a main electric machine (13) and rotates: - the first rotor (7) with respect to the second rotor (9) and with respect to the support structure (2) in a first rotation direction, - rotates the second rotor (9) with respect to the first rotor (7) in a second rotation direction opposite to the first rotation direction, - rotates the first rotor (7) and the second rotor (9) with respect to the support structure (2), wherein both the first rotor (7) and the second rotor (9) are operatively connected to at least one of the one or more output members (5, 6) to transmit motion and/or mechanical power thereto.

Description

"Electric machine device, use and operating method"

DESCRIPTION

[0001] Field of the invention

[0002] The present invention relates to an electric machine device and an electric machine device operating method, improved with reference to the gyroscopic effects generated by the electric machine on the device, such as a vehicle, a tool, an electric motor, a current generator, a kinetic energy recovery system (KERS).

[0003] The invention further relates to the uses and methods for operating the electric machine device to make the device gyroscopically neutral, or gyroscopically irrelevant, or gyroscopically advantageous, to adjust, for example to reduce or cancel, the torque generated by the electric machine on the device, to use the device as a vehicle differential transmission, to use the device as an inertial Flywheel Energy Storage System (FESS), to use the device as a suspension of a vehicle or of an oscillating apparatus, to use the device as an electric current generator, to use the device as an actuation motor.

[0004] Background art

[0005] Known electric machines mainly consist of a fixed stator, i.e., integral with the device to which the electric machine is connected, and a rotor rotating inside or outside the stator. Examples are brushless motors, reluctance motors, axial magnetic flux motors.

[0006] The use of electric machines as a motor, for example to operate a work member of a machine tool, of a manual tool, or to operate the wheels or the propulsion member of an electric vehicle or aircraft, and to this end, an electronic control of the electric machine is known.

[0007] The use of electric machines as generators of electric current, by transforming a part of the kinetic energy of a vehicle or of a tool into electric energy, to electrically power electric functions and to charge electric batteries, and to this end, an electronic control of the electric machine and of the powered electric functions is also known.

[0008] It is worth noting that the installations of known electric machines make the stator integral with the structure of the use and assign an operational and useful movement function to the rotor alone. However, due to the rotation of the rotor alone with respect to the reference system, e.g., a vehicle, known electric machines inevitably generate a gyroscopic torque which significantly, and often negatively, affects the structure of the application.

[0009] Vehicles with electric propulsion undergo the gyroscopic effect of the rotor of the electric machine while driving, which generates a gyroscopic moment which increases as the radial dimensions, mass and angular speed of the rotor increase.

[00010] The gyroscopic effect can be undesirable when cornering, generating a lateral drag which reduces the ability of the vehicle to travel sharp turns at high speeds; but also in the event of sudden level changes, with high angles of incidence, producing a feeling of the vehicle floating when going downhill, with the risk of the wheels losing grip on the road, or of a collision when going uphill (sports vehicles, emergency vehicles).

[00011] The gyroscopic effect can be undesirable in the use of an electric machine in a robot, for example a walking one, negatively influencing the movements and positional stability of the robot and requiring, to date, the installation of additional, expensive and cumbersome stabilization devices (gyroscopes).

[00012] In two or three-wheeled vehicles, such as motorcycles and bicycles, for example, the control of the attitude of the vehicle in forward gear is also negatively affected by the gyroscopic effect, partly due to the rotation of the wheels and partly due to the rotation of the rotor of the electric traction motor. The gyroscopic moment acting on the vehicle can be further worsened by the presence of electric motors integrated in the wheel ("in-wheel" motors).

[00013] Even in the case of four-wheeled motor vehicles, which are unsuitable for rolling, the stabilizing gyroscopic effect is undesirable when cornering, limiting the ability of the vehicle to travel sharp curves at high speeds. Moreover, even in four-wheeled motor vehicles, providing "in-wheel" motors worsens the gyroscopic effect and further reduces maneuverability.

[00014] The hypothesis of affecting the gyroscopic moment generated by the wheels of a vehicle, by rotating the electric motor in the opposite direction, leads to a situation of hyper-stabilization (adding gyroscopic moments) of the vehicle in case of concordant rotation between rotor and wheel, and to a situation of compensation or destabilization in case of counter-rotation (subtracting gyroscopic moments) between rotor and wheel.

[00015] Even in electrically powered vehicles provided with energy recovery systems (KERS) to charge the accumulator, the operation of the electric motor as a dynamo gyroscopically affects the dynamics of the vehicle.

[00016] More generally, it is known that the gyroscopic effect generated by electric machines does not always benefit the safety and maneuverability of the vehicle, making it excessively inert to changes in direction or inducing unwanted movements.

[00017] Object of the invention

[00018] It is thus the object of the invention to provide an electric machine device having features such as to reduce the undesired gyroscopic effect of the electric machine.

[00019] Within the scope of the main object, subordinate objects of the invention are:

- to make the systems for transforming electricity into mechanical energy more efficient,

- to provide an electric machine device devoid of a motor stator,

- to make the rotations of multiple-rotor electric machines better synchronized or adjustable,

- to make the planned decommissioning of electric machines more programmable,

- to simplify and economize vehicle differential, and reduce the moving mass thereof, - to simplify and economize a suspension in vehicles, and reduce the moving mass thereof,

- to reduce the constraint reactions on the supports of electric machines,

- to recover kinetic energy from vehicles in an efficient, cost-effective and environmentally sustainable manner,

- to allow rotations of the electric machine which are even greater than 400,000 rpm with real payload, without the need for very expensive special bearings.

[00020] General description of the invention

[00021 ] These and other objects are achieved by an electric machine device according to claim 1 . The dependent claims relate to advantageous and preferred embodiments.

[00022] Brief description of the drawings

[00023] Figure 1 shows an axonometric view of an electric machine device, in partial section, according to an embodiment;

[00024] Figure 2 shows an axonometric view, in partial section, of an electric machine device according to an embodiment;

[00025] Figure 2A shows an axonometric view, in partial section, of a first rotor of the electric machine device in Figure 2;

[00026] Figure 2B shows an axonometric view of a second rotor of the electric machine device in Figure 2;

[00027] Figure 2C shows an axonometric view of a support structure and further details of the electric machine device in Figure 2;

[00028] Figure 3 shows an axonometric view, in partial section, of an electric machine device according to a further embodiment;

[00029] Figure 3A shows an axonometric view, in partial section, of a stator and rolling bearings of the device in Figure 3;

[00030] Figure 4 shows an axonometric view, in partial section, of an electric machine device according to a further embodiment, configured as an inertial energy accumulator, with a plurality of fly-wheel rotors;

[00031 ] Figure 4A shows an enlarged view of a detail of Figure 4;

[00032] Figure 5 shows an axonometric view of an electric machine device according to an embodiment, installed in a vehicle as a driving unit and simultaneously as an integral part of the suspension;

[00033] Figures 6A, 6B, 6C show details of the device and of the use in Figure 5;

[00034] Figure 7 shows a working tool (grinder) comprising the electric machine device according to an embodiment;

[00035] Figures 8, 9, 10, 11 , 12, 13 show, in the form of block diagrams, the electric machine device according to further embodiments. [00036] Detailed description of embodiments

[00037] An electric machine device 1 comprises:

- a support structure 2 being connectable to a use 3,

- a motion transmission system 4 having one or more output members 5, 6 to transmit motion and mechanical power,

- a first rotor 7 supported by the support structure 2 in a rotatable manner (with respect to the support structure 2) about a first rotor axis 8,

- a second rotor 9 supported by the support structure 2 in a rotatable manner (with respect to the support structure 2) about a second rotor axis 10, in which the first rotor 7 and the second rotor 9 have one an electric winding system 11 being electrically powerable and configured to generate an induced electromagnetic field, and the other a system 12 being magnetically responsive to the induced electromagnetic field, so that an electrical power supply of the electric winding system 11 :

- generates an electromagnetic torque between the first rotor 7 and the second rotor 9, creating a main electric machine 13,

- rotates the first rotor 7 with respect to the second rotor 9 and with respect to the support structure 2 in a first rotation direction,

- rotates the second rotor 9 with respect to the first rotor 7 in a second rotation direction opposite to the first rotation direction,

- rotates the first rotor 7 and the second rotor 9 with respect to the support structure 2, in which both the first rotor 7 and the second rotor 9 are operatively connected to at least one of the one or more output members 5, 6 to transmit motion and/or mechanical power thereto.

[00038] By virtue of the counter-rotation of the first rotor 7 and of the second rotor 9 with respect to one another and both with respect to the support structure 2, it is possible to advantageously compensate, reduce, cancel or influence the gyroscopic effects generated by both rotors 7, 9. Both the first 7 and second 9 counter-rotating rotors are "useful" components of the main electric machine 13 or components which transmit motion and/or mechanical power.

[00039] The first 7 and second 9 rotors can be operatively coupled, for example by means of the interposition of a rotor-output transmission 14, to the same rotary or translational output member of the one or more output members 5, 6 or to two rotary or translational output members 5, 6.

[00040] The one or more output members 5, 6, such as a first output member 5 and/or a second output member 6, are couplable to and act on the same mechanical resistance 15 or a plurality of mechanical resistances 15 suitable for absorbing the motion and/or the mechanical power transmitted.

[00041 ] According to an embodiment, the device 1 is completely devoid of a stator.

[00042] According to an embodiment, the electric winding system 11 can comprise electric windings configured to induce a magnetization of a part of the first rotor 7, e.g., a part consisting of magnetizable material.

[00043] According to an embodiment, the magnetically responsive system 12 can comprise permanent magnets and/or electrically powerable electromagnetic windings and/or magnetically responsive ferromagnetic material.

[00044] According to an embodiment, the electric winding system 11 and the magnetically responsive system 12 of the first rotor 7 and the second rotor 9 form a main mutual magnetic relationship 18 (main electric machine 13) such as to transmit magnetic torques therebetween depending on the electrical power supply of the electric winding system 11 (motor effect) and depending on the relative motion of the first rotor 7 and of the second rotor 9 (dynamo effect).

[00045] According to an embodiment, the device 1 comprises one or more further (nth) rotors 9' which form further (nth) electric machines 13' with one or more of the first 7 and second 9 rotors, or with one another.

[00046] Detailed description of the passive rotatable member 19

[00047] According to an embodiment, the device 1 comprises at least one or more passive rotatable members 19, e.g., one or more fly-wheels (application in an inertial energy accumulator 35), supported by the support structure 2 in a rotatable manner with respect to the support structure 2 about a respective passive member axis 20 (and also rotatable with respect to the first rotor 7 and to the second rotor 9, 9'), and comprising an inertial mass.

[00048] According to an embodiment, the passive rotatable member 19 has no magnetically responsive capability and can be rotated by a mechanical transmission between the passive rotatable member 19 and at least one of the first 7 and second 9 rotors and further rotors 9'.

[00049] According to an alternative embodiment, the passive rotatable member 19 comprises a further magnetically responsive system 21 and can be rotated by a magnetic thrust generated between the passive rotatable member 19 and at least one of the first 7 and second 9 rotors and further rotors 9'.

[00050] According to an embodiment, one of the rotors selected from the first rotor 7, the second rotor 9, the further rotor 9’ and the further magnetically responsive system 21 of the passive rotatable member 19 create an electric rotor-passive member machine 22 such as to transmit magnetic torques therebetween depending on the electrical power supply of the electric rotor-passive member machine 22 and depending on the relative motion between the rotor 7, 9, 9’ and the passive rotatable member 19.

[00051] According to an embodiment, the device 1 can be controlled and/or configured so that: [00052] - the main electric machine 13 or the further (nth) main electric machine 13' generates electric current in a dynamo mode (by subtracting kinetic energy from the rotors 7, 9, 9') and the generated electric current is fed (with possible intermediate treatment steps) to the electric rotor- passive member machine 22 or to the electric fly-wheel machine 30 (which will be described below) which, in motor mode, accelerates the passive rotatable member 19 with respect to the rotor 7, 9, 9' or with respect to the support structure 2,

[00053] - the electric rotor-passive member machine 22 or the electric fly-wheel machine 30 generates electric current in a dynamo mode (by subtracting kinetic energy from the passive rotatable member 19) and the generated electric current is fed (with possible intermediate treatment steps) to the main electric machine 13 or to the further (nth) main electric machine 13' which, in motor mode, accelerates the relative motion of the rotors 7, 9, 9' with respect to one another or with respect to the support structure 2.

[00054] This allows for more efficient energy recovery and energy provision, without mechanical friction and without significant heat dissipation, as well as without the need for electric accumulators. [00055] According to a further embodiment, at least one, a plurality or all of the first 7, second 9, or further 9' rotor(s) are provided with mass and moment of inertia so as to simultaneously act both as an electromagnetically operable rotor and as a fly-wheel, being thus capable (fully in analogy with the passive rotatable member 19 described, or so as to form said passive rotatable member 19) of contributing to a motor operation, and/or to a dynamo operation and/or to an inertial energy storage operation of the device 1 .

[00056] Detailed description of mechanical resistance 15

[00057] In the context of the present description, the term "mechanical resistance 15" denotes objects or mechanisms of solids or fluids to which it is possible to transmit a motion (translational or rotational or roto-translational) and/or to apply a force or torque against a mechanical or fluidmechanical resistance, for example:

- one or more work pieces, work means, machining members, propulsion members, which are deformable or machinable or mechanically displaceable,

- one or more mechanical systems, fluid-mechanical systems, mechanically operable electromechanical systems, for example, one or two propellers acting on a liquid or gas, in a pump or a ship or an aircraft, or for example, one or two driving wheel shafts acting on a road in a land vehicle, or for example, one or two shafts acting on a work member of a machine tool, or for example, one or two roller shafts acting on a product, e.g., a metal billet, being rolled, or for example, one or more fly-wheels,

[00058] Therefore, despite and by virtue of the counter-rotation thereof, the two rotors 7, 9 can make a common or coordinated output movement and transmit an output mechanical power to said mechanical resistance 15.

[00059] According to embodiments, the mechanical resistance 15 comprises one or more propellers or fluid conveyors, immersed or immersible in a fluid, and couplable to the one or more output members 5, 6 of the device 1 so as to oppose a resistance torque 23 to the counter-rotation of the first rotor 7 and the second rotor 9, for example in order to move a fluid (pump, conveyor) or as a propulsion in a fluid (ship, aircraft).

[00060] The counter-rotation of the first 7 and second 9 rotors with electromagnetic driving torque 24 will be opposed by an equal and opposite reaction of the fluid, i.e., the resistance torque 23, thus preventing the first rotor 7 from turning freely and inducing the counter-rotation of the at least a second rotor 9, also against the resistance of the (same or of a different) fluid. The device 1 dynamically self-adjusts or self-balances as a function of the instantaneous balance between the resistance torque 23 of the moved fluid or fluids and the driving torque 24, and to any frictional resistance in the device 1 .

[00061] Both the first 7 and second 9 rotors will counter- rotate with respect to one another (and will both rotate with respect to the support structure 2) and the fluid will be moved. A propulsion or traction system of a marine vehicle or of a conveyor or of a pump including the device 1 can be devoid of gears and joints, will have reduced noise and vibration (military application), and need not be designed to withstand stator reaction torques of conventional motors.

[00062] According to embodiments, the mechanical resistance 15 comprises one or more axles or wheels 53, 53' of a land vehicle, such as a front transmission axle and a rear transmission axle, in turn operatively coupled to or in contact with the road, and couplable to one or more output members 5, 6 of the device 1 so as to oppose a resistance torque 23 to the counter-rotation of the first rotor 7 and of the second rotor 9, for example for the purpose of traction of a car or motorbike.

[00063] The counter-rotation of the first 7 and second 9 rotors with electromagnetic driving torque 24 will be opposed by an equal and opposite reaction of the road vehicle, i.e., the resistance torque 23, thus preventing the first rotor 7 from turning freely and inducing the counter-rotation of the at least a second rotor 9, also against the resistance of the road vehicle. The device 1 dynamically selfadjusts or self-balances as a function of the instantaneous balance between the resistance torque 23 of the road vehicle and the driving torque 24, and to any frictional resistance in the device 1 .

[00064] In this case, the vehicle on the road will move without the device 1 generating torsional (stator) reaction torques on the vehicle chassis.

[00065] According to an embodiment, the mechanical resistance 15 comprises a ratchet wheel mechanism, or ratchet wheel, and/or an overrunning clutch or freewheel 52 or the like, adapted to allow a rotational motion in one rotation direction only.

[00066] According to an embodiment, the mechanical resistance 15 comprises at least one clutch adapted to operatively connect and disconnect, selectively, the first output member 5 and the second output member 6.

[00067] Detailed description of the operational coupling of the first rotor 7 and second rotor 9 and of the support structure 2 by means of a mechanical rotor-support transmission 16 [00068] According to an embodiment, the first 7 and second 9 rotors can be operatively coupled to each other and to the support structure 2, by means of the interposition of a rotor-support transmission 16, so that a relative rotation between the first rotor 7 and the second rotor 9 also always involves a relative rotation between the support structure 2 and both the first 7 and second 9 rotors. This is advantageous for ensuring the transmission of torque, motion, power by means of one of the output members 5, 6 (one of the two rotors 7, 9) when no external mechanical resistance 15 is coupled to the other output member 6, 5 (to the other rotor 9, 7), for example if only one output member 5, 6 is provided, or if one of two output members 5, 6 would risk running "idle".

[00069] According to an embodiment, the rotor-support transmission 16 can comprise a planetary gear. The first rotor 7 and the second rotor 9 can be coupled one to an input shaft (input sun pinion 16') of a planetary transmission and the other to an external toothed crown 16" of the same planetary transmission, while an output shaft (the last satellite holder 16”’) of the same planetary transmission is integral with the support structure 2. In this case, the input shaft 16' or the external toothed crown 16" of the planetary transmission can be the only output member 5, 6, or the input shaft 16' and the external toothed crown 16" of the planetary transmission can be two different output members 5, 6 of the device 1 .

[00070] In this embodiment, in a situation in which one of the output members 5, 6 is not coupled to any external mechanical resistance 15, another of the output members 6, 5 can still transmit torque/motion/mechanical power to the external mechanical resistance 15 and the rotor-support transmission 16 applies a corresponding reaction torque to the support structure 2. When both output members 5, 6 are coupled to the mechanical resistance 15, the device 1 can balance itself and operate without transmitting reaction torques to the support structure 2. For example, a use of the device 1 in a fluid turbine (water, gas, etc.) for generating electric current (dynamo mode) or for propulsion or conveyance purposes (engine, pump mode) ensures the operation even when one of the two propellers connected to the two output members 5, 6 is not immersed in the fluid.

[00071] According to an embodiment, when the driving torque 24 generated by the main electric machine 13 is greater than the resistance torque 23, both rotors 7, 9 rotate, and at least one of the rotors 7, 9 rotates in the same direction as an induced magnetic flux in the main electric machine 13; or when said driving torque 24 generated by the main electric machine 13 is equal to said resistance torque 23, both rotors 7, 9 are immobilized, or substantially immobilized, and neither of the two rotors 7, 9 rotates; or when said driving torque 24 generated by the main electric machine 13 is lower than said resistance torque 23, both rotors 7, 9 rotate, and both rotors rotate since they are driven in rotation by the external resistance torque 23 (which becomes an action torque and no longer only a reaction torque) and at least one of the rotors 7, 9 rotates in a direction discordant with the induced magnetic flux in the main electric machine 13.

[00072] The aforesaid operational coupling by means of the rotor-support transmission 16 also allows reducing the angular speed of the output member 5, 6 with respect to the relative angular speed between the first rotor 7 and the second rotor 9.

[00073] The rotor-support transmission 16 can be configured to obtain a counter-rotation of the rotors 7, 9 with respect to the support structure 2 so as to compensate at least one share of the gyroscopic force of a single rotor which would otherwise generate a stabilizing effect (not always desired) on the use 3. Thereby, a destabilizing effect can be obtained on the use 3, for example a neutral, or substantially irrelevant, gyroscopic inertia can be obtained for the purposes of the use 3. [00074] According to a preferred embodiment, the rotor-support transmission 16 creates a transmission ratio of the rotors 7, 9 (of the rotation thereof with respect to the support structure 2) equal to -1 . Thereby, the first rotor 7 and the second rotor 9 counter-rotate at the same angular speed but with the opposite rotation direction, with respect to the fixed reference of the support structure 2. [00075] The rotor-support transmission 16 can be configured to create a positive transmission ratio between the first rotor 7 and the second rotor 9, referred to the support structure 2, so as to generate a further stabilizing effect on the use 3.

[00076] Detailed description of the operational coupling of three rotors 7, 9, 9' by means of a mechanical tri-rotor transmission 16A

[00077] According to an embodiment, the device 1 comprises one or more further (nth) rotors 9' which form further (nth) electric machines 13' with one or more of the first 7 and second 9 rotors, or with one another, and in which three rotors (for example 7, 9, 9’) selected from the group consisting of:

[00078] - first rotor 7,

[00079] - second rotor 9,

[00080] - further rotor(s) 9’,

[00081] can be operatively coupled to one another by means of the interposition of a tri-rotor transmission 16A, so that a relative rotation between two of said three rotors (for example, 9 and 9’) also always involves a relative rotation between said two rotors (for example, 9 and 9’) and the third rotor (for example, 7) of said three rotors (for example, 7, 9, 9’).

[00082] This allows reducing the relative speeds between two of said rotors respectively (and thus in the mechanical transmission itself), as well as utilizing the mass of the mechanical tri-rotor transmission 16A, for example if the device 1 acts as an accumulator of inertial energy 35 and the tri-rotor transmission 16A serves as a rotation reversal system between the further rotors 9'.

[00083] Detailed description of the operational coupling of two rotors 7, 9, 9' and the passive rotatable member 19 by means of a mechanical tri-rotor transmission 16A

[00084] According to an embodiment, the device 1 can, but need not necessarily, comprise one or more further (nth) rotors 9' which form further (nth) electric machines 13' with one or more of the first 7 and second 9 rotors, or with one another, but in which two rotors (for example 7, 9) selected from the group consisting of:

[00085] - first rotor 7,

[00086] - second rotor 9,

[00087] - further rotor(s) 9’,

[00088] and the passive rotatable member 19 can be operatively coupled to one another by means of the interposition of a tri-rotor transmission 16A, so that a relative rotation between said two rotors (for example, 7, 9) also always involves a relative rotation between each of said two rotors (for example, 7, 9) and the passive rotatable member (19).

[00089] Similarly to the above explanation, this allows reducing the relative speeds between two of said rotary components, respectively, as well as utilizing the mass of the mechanical tri-rotor transmission 16A in addition to the inertial mass of the passive rotatable member 19 (fly-wheel) itself, for example if the device 1 acts as an inertial energy accumulator 35.

[00090] Detailed description of the electromagnetic coupling between the support structure 2 and at least one of the first 7 and second 9 rotors

[00091] According to an embodiment, the device 1 comprises one or more stators 25 supported in a stationary manner with respect to the support structure 2 and which creates with one of the first 7 and second 9 rotors, respectively, an auxiliary electric machine 26 being electrically powerable to generate an electromagnetic torque between said first 7 or second 9 rotor and the support structure 2.

[00092] The device 1 can comprise a first stator 25' which, with the first rotor 7, forms a first auxiliary electric machine 26' and a second stator 25" which, with the second rotor 9, forms a second auxiliary electric machine 26", powerable and controllable independently of each other.

[00093] According to an embodiment, the stator 25 and the associated rotor 7, 9 comprise one an auxiliary electric winding system 27 electrically powerable and configured to generate an auxiliary electromagnetic field, and the other one an auxiliary magnetically responsive system 28 responsive to the auxiliary electromagnetic field, so that an electrical power supply of the auxiliary electric winding system 27 generates an auxiliary electromagnetic torque between the rotor 7, 9 and the stator 25, thus creating said auxiliary electric machine 26.

[00094] The auxiliary electric machine or machines 26, 26', 26" can be electrically powered and controlled in a selective and targeted manner, to brake or accelerate the first or second rotor 7, 9 with respect to the support structure 2.

[00095] If the device 1 forms a differential mechanism 42 of a vehicle 36, the auxiliary electric machine or machines 26, 26', 26" can be used, for example, to stop the "spinning" of a wheel 53 (operatively coupled to one of the output members 5, 6 of the device 1) which has lost grip with the road, for example by using at least one of the auxiliary electric machines 26, 26', 26" in a dynamo mode, to recover part of the energy supplied by the main electric machine 13.

[00096] If the mechanical resistance 15 is highly variable or intermittent, or in situations of transition or movement cue of the output members 5, 6, for example in the case of a supersonic air turbine, the selectively controllable magnetic coupling between the rotors 7, 9 and the support structure 2, by means of the auxiliary electric machines 26, 26', 26", contributes to stabilizing the operation of the device 1 , even at the cost of temporarily transmitting a reaction torque to the support structure 2.

[00097] Similar to the coupling by means of the mechanical rotor-support transmission 16, described above, in a situation in which one of the output members 5, 6 is not coupled to any external mechanical resistance 15, another of the output members 5, 6 can still transmit torque/motion/mechanical power to the external mechanical resistance 15 and the electromagnetic coupling between the rotor 7, 9 and the stator 25 transmits a corresponding reaction torque to the support structure 2. When both output members 5 , 6 are coupled to the mechanical resistance 15, the electromagnetic coupling between the rotor 7, 9 and the stator 25 can be deactivated in a controlled manner to allow the device 1 to balance and operate without transmitting reaction torques to the support structure 2.

[00098] Detailed description of the electromagnetic coupling between the support structure 2 and the at least one passive rotatable member 19

[00099] According to an embodiment, the device 1 comprises a fly-wheel stator 29 supported in a stationary manner with respect to the support structure 2 and creating with the passive rotatable member 19 (fly-wheel) an electric fly-wheel machine 30 being electrically powerable to generate an electromagnetic fly-wheel torque between said passive rotatable member 19 and the support structure 2.

[000100] According to an embodiment, the fly-wheel stator 29 and the associated passive rotatable member 19 comprise one an electric fly-wheel winding system 31 electrically powerable and configured to generate an electromagnetic fly-wheel field, and the other one a magnetically responsive fly-wheel system 32 responsive to the electromagnetic fly-wheel field, so that an electrical power supply of the electric fly-wheel winding system 31 generates an electromagnetic fly-wheel torque between the passive rotatable member 19 and the fly-wheel stator 29, thus creating said electric fly-wheel machine 30.

[000101 ] The electric fly-wheel machine 30 can be electrically powered and controlled in a selective and targeted manner, to brake or accelerate the passive rotatable member 19 (a fly-wheel of an inertial energy accumulator 35) with respect to the support structure 2.

[000102] Detailed description of the clutch system 33 [000103] According to an embodiment, the device 1 can comprise a primary clutch 33 interposed between the support structure 2 and the use 3 for a rotary coupling and uncoupling, for example gradual, between the device 1 and the use 3.

According to an embodiment, the device 1 comprises an operating clutch system 34 comprising one or more rotary clutches 34', 34", 34"' connected to the rotor-support transmission 16 or directly or indirectly connected between at least one or more pairs formed by respectively two of: [000104] the first output member 5 [000105] the second output member 6 [000106] the support structure 2,

[000107] for a rotary coupling and uncoupling, for example gradual, between the output member 5, 6 and the support structure 2.

[000108] By virtue of the operating clutch system 34, it is possible to obtain that the first rotor 7 or the second rotor 9 do not rotate under certain conditions of use.

[000109] In the example of the planetary rotor-support transmission 16 described above, the first rotor 7 and the second rotor 9 can be coupled one to the input shaft (input sun pinion 16'), by interposing a first rotary clutch 34', and the other to the external toothed crown 16", by interposing a second rotary clutch 34", while the output shaft (the last satellite holder 16") is coupled to the support structure 2, by interposing a third rotary clutch 34'".

[000110] Thereby, during a use of the device 1 for transforming kinetic energy into electricity, if the electricity exceeds the absorption capacity of an electricity accumulator 38, the operating clutch system 34 is actuatable to release the first rotor 7 and the second rotor 9, allowing them to rotate more freely so as to cancel or at least mitigate the instantaneous electrical power output. By temporarily transforming the kinetic energy of the vehicle into rotational energy of the rotors 7, 9, they act as fly-wheels and at least temporarily accumulate said kinetic energy, for example to lengthen the charging time of the electric accumulator 38 in a manner commensurate with the absorption capacity of said electric accumulator 38.

[000111] Similarly, once the kinetic energy storable by the rotating rotors 7, 9 has exhausted, for example when the rotation speed of the driving system (for example, the vehicle) falls below the one of the driven system (the device 1 in a dynamo mode), the operating clutch system 34 can remain activated (unlocked) and allow the free rotation, net of friction, of the first rotor 7 and of the second rotor 9 until the next actuation of the main electric machine 13 when the operating clutch system 34 is deactivated (blocked), or at least modulated, to allow the transmission of the kinetic energy from the rotors 7, 9 to the external mechanical resistance 15, i.e., to the wheels 53, 53' of the vehicle 36.

[000112] Detailed description of the support structure 2 and the auxiliary systems

[000113] According to an embodiment, the support structure 2 comprises a casing or housing, which can be wound around (and protect from the external environment) and support the first rotor 7 and the second rotor 9, 9' and, if provided, the passive rotatable member 19, by means of one or more bearings, e.g., the rolling bearing 17.

[000114] The first rotor axis 8 of the first rotor 7 and the second rotor axis 10 of the second rotor 9 can be parallel, parallel and spaced apart, or concentric, for example, and they can be implemented by transmission shafts of said first 7 and second rotors 9.

[000115] The first rotor 7 and the second rotor 9 can be axially coincident and concentric and with radial magnetic flux, and/or coaxial but axially spaced apart and with axial magnetic flux, and/or configured with mixed magnetic flux.

[000116] According to an embodiment, the first rotor 7, the second rotor 9 and, if provided, further second rotors 9' and/or the passive rotatable member 19 are rotatably supported, in cascade, for example by means of rolling bearings 17, into/onto one another, for example, the second rotor 9 is rotatably supported by the first rotor 7 and the first rotor 7 is rotatably supported by the support structure 2, and/or the passive rotatable member 19 is rotatably supported into/onto the first 7 or second 9 rotor. Advantageously, one or more of the rotors 7, 9, 9', 19, can be supported by one or more magnetic suspension systems 50 (which utilizes magnetic repulsion) to magnetically support (vertically, or radially, or axially) the rotors 7, 9, 9', 19, so that the rolling bearings of the rotors 7, 9, 9', 19 need not support the entire mass of the system of rotors rotatably supported in cascade.

[000117] This configuration simplifies the structure of the device 1 and allows reducing the relative rotation in the single bearing 17 with the same absolute rotational speed of the rotor 7, 9 and/or of the passive rotatable member 19 with respect to the support structure 2.

[000118] Considering the first rotor 7 at a rotation speed with respect to the support structure 2 of 12,500 rpm, for example, and the second rotor 9 at a rotation speed of 12,500 rpm with respect to the first rotor 7, but in the same rotation direction with respect to the support structure 2, with the second rotor 9 rotatably supported by the first rotor 7 and the first rotor 7 rotatably supported by the support structure 2, for example with rolling bearings 17, the rotation speed of the second rotor 9 with respect to the support structure 2 is 12,500 + 12,500 = 25,000 rpm, while the rolling bearings 17 between the first rotor 7 and the support structure 2 and also the rolling bearings 17 between the second rotor 9 and the first rotor 7 perceive each only a rotational speed of 12,500 rpm.

[000119] According to an embodiment, the rotary components of the device 1 (rotors, passive rotatable member, etc.) comprise modular components. The support structure 2 can comprise an adjustable extension housing, for example telescopic, to accommodate different combinations of said modular components, so as to modify the features of the device 1 .

[000120] The support structure 2 is connectable to or integral with the use 3, for example connected to a vehicle chassis, an apparatus, a machine tool, etc., for example by means of bolts or welding or tightening or screwing or gluing, in a known manner.

[000121] The support structure 2 can comprise a leak-proof or pressure-tight, or pressurized housing, and/or the support structure 2 can contain a lubricating agent or fluid; for example, to lubricate a rolling bearing 17 supporting one or both of the first 7 and second 9 rotors, and/or to lubricate the first rotor 7 and the second rotor 9 and, if provided, the passive rotatable member 19. [000122] The device 1 can comprise a cooling system, e.g., a liquid and/or ventilation cooling system, possibly with a filtering system to prevent the entry of humidity and dust into areas containing sensitive components, e.g., electrical boards, bearings, etc., of the device 1.

[000123] In accordance with an embodiment, the device 1 comprises at least one auxiliary brake device 41 connected to the first output member 5 and/or to the second output member 6, or to the first rotor 7 and/or second rotor 9 to brake the movement of at least one of the rotors 7, 9 or output members 5, 6 with respect to the support structure 2.

[000124]

[000125] Detailed description of the control system 43

[000126] The device 1 comprises an electric control system 43, connected to the electric winding system 11 and configured to control the rotation direction of the first rotor 7 with respect to the second rotor 9 and with respect to the support structure 2.

[000127] The control system 43 controls the electrical power supply of one or more or all of the electric windings of the device 1 .

[000128] The control system 43 is adapted to control the device 1 , so that the first rotor 7 and the second rotor 9 rotate, with respect to the support structure 2, with the opposite rotation direction.

[000129] Moreover, the control system 43 can control the device 1 , so that the first rotor 7 and the second rotor 9 rotate, with respect to the support structure 2, with the same rotation direction but at different angular speeds.

[000130] The device 1 can comprise one or more:

[000131] - angular position sensors 44 (for example, a phonic wheel or a Hall sensor) to detect an angular position of the one or more output members or of the first rotor 7 and/or second rotor 9 and/or of the passive rotatable member 19, for example with respect to the support structure 2, and generate a corresponding angular position signal,

[000132] - angular speed sensors 45 (for example, a phonic wheel or a Hall sensor) to detect an angular speed of the one or more output members or of the first rotor 7 and/or second rotor 9 and/or of the passive rotatable member 19, for example with respect to the support structure 2, and generate a corresponding angular speed signal,

[000133] - torque detectors 46 to detect the torque transmitted from/to the output member(s) and generate a corresponding torque signal,

[000134] - one or more accelerometers 47 and/or gyroscopic sensors 48 for the real-time detection of the rolling and/or yaw inclination of the support structure 2 of the device 1 or of the use 3 (for example, vehicle 36), for example with respect to an external reference (for example, the road surface) and/or instantaneous acceleration values of the support structure 2 or of the use 3 (vehicle 36),

[000135] - a GPS 49 (Global Positioning System) or a generic position sensor with respect to an external reference (for example, the road surface) to detect the position of the device 1 in a global coordinate system or in a generic external reference system (for example, the road surface), [000136] in signal connection with the control system 43, which controls the device 1 also at least in dependency of at least one or more of:

[000137] - angular position signals,

[000138] - angular speed signals,

[000139] - torque signals,

[000140] - inclination signals,

[000141] - acceleration signals,

[000142] - global positioning signals or positioning signals with respect to an external reference (for example, the road surface).

[000143] The control system 43 is configured to selectively control and electrically power the one or more of said electric winding system 11 , main electric machine 13, auxiliary electric machine 26, first auxiliary electric machine 26', second auxiliary electric machine 26", auxiliary electric winding system 27, electric fly-wheel machine 30, electric fly-wheel winding system 31 , primary clutch 33, operating clutch system 34 (all combinations are expressly included), of which not all must necessarily be present depending on the specific embodiment of the device 1 .

[000144] The control system 43 can be integrated into the support structure 2 (housing) of the electric machine device 1 , partially or completely outside the support structure 2.

[000145] The control system 43 comprises signal and electrical power conductors, in which a rotational shaft of at least one of the first 5 and second 6 rotors is configured as electrical and/or signal contact means. The rotation shaft can be configured with annular layers or conductive segments, isolated from one another, which can be connected to electrical and/or signal contacts.

[000146] The main electric machine 13, and possibly the auxiliary electric machine 26 or the electric fly-wheel machine 30, is electrically connected to the control system 43 by means of an electric rotary interface 51 , or rotary collector, such as a slip ring, or a wireless connection, capacitive connection, inductive connection, for example.

[000147] The control system 43 can also be electrically connected to the electric accumulator 38, e.g., at least one electrochemical rechargeable battery and/or at least one capacitor.

[000148] Detailed description of the use 3

[000149] According to embodiments, the use 3 can comprise a device adapted to incline or roll when cornering, e.g., cycles, motorcycles and/or motorbikes, and/or mopeds, and/or scooters, motor vehicles, cars, lorries, trains and aircrafts, drones, airplanes, helicopters, gliders, missiles, for example, where maneuverability and low, or neutral, gyroscopic force are advantageous, including satellites, stationary devices where immobility is required and/or sought after, devices capable of navigating or submerging in a fluid, e.g. boats, yachts, ships, aircraft carriers, underwater probes, submarines, work devices, such as grinders, angle grinders, drills, electric hammers, blenders, power tools, robotic devices.

[000150] According to an embodiment, the use 3 is a wheeled vehicle, in which one of the first 5 and second 6 output members is connected (directly or by means of a transmission system) to a first wheel 53 of the vehicle and the other one of the first 5 and second 6 output members is connected (directly or by means of a transmission system) to a further wheel 53' of the same vehicle. The device 1 can be connected to the wheeled vehicle in an in-wheel mode or outside the overall volume of the wheels 53, 53'.

[000151] In a constructional variant, for example when the device 1 is installed in-wheel, the rotor 7, 9, 9' or the further rotatable member 19 and the wheel 53, 53' can consist of the same component. [000152] The main electric machine 13 is electrically operable to supply driving mechanical power to the first wheel 53 and to the further wheel 53'.

[000153] In addition, the main electric machine 13 is mechanically actuatable, by the rotation of the first wheel 53 and the further wheel 53', to generate electric current accumulable in a rechargeable electric accumulator 38.

[000154] The device 1 is also actuatable to transmit the kinematic energy of the first rotor 7 and the second rotor 9 to the passive rotatable member 19 (fly-wheel) and to retransmit the kinematic energy of the passive rotatable member 19 (fly-wheel) to the first rotor 7 and second rotor 9, by means of selective electromagnetic coupling, so as to adjust the intensity and duration of the generation of electric current (in a dynamo mode) in order to charge the rechargeable electric accumulator 38.

[000155] The device 1 can comprise a plurality of said passive rotatable members 19 in order to accumulate and release inertial kinematic energy.

[000156] The device 1 can comprise a plurality of said second rotors 9 with a mutually opposite rotation direction, so as to limit, and preferably cancel, their gyroscopic influence on the vehicle.

[000157] The device 1 can be used as an inertial energy accumulator 35 ("inertial pile") and, to this end, be connected to a machine 37 or to a vehicle 36. Advantageously, the device 1 with an inertial energy accumulator 35 function can be inserted into a cardan suspension e.g. a gimbal, e.g., a two- axis or three-axis gimbal, of a vehicle 36, and be electrically connected to the electrical system of the vehicle 36.

[000158] The device 1 can be mounted in a wheeled vehicle 36 (which thus forms the use 3) in an "in-wheel" configuration or outside the wheels 53, 53' of the vehicle 36, in which the support structure 2, the first output member 5 and the second output member 6 are, for example, connected one to the chassis of the vehicle 36, one to at least one wheel 53, 53' of the vehicle 36 and one to at least one other wheel 53' of the vehicle 36, respectively. The control system 43 of the device 1 or of the vehicle 36 electrically powers the electric machine 12 (engine mode) to generate the driving torque 24 both for traction of the vehicle 36 and (with opposite torque direction) for braking the vehicle 36, and possibly controls the device 1 (in a dynamo mode) for transforming the kinematic energy of the vehicle into electricity and generating electric current for recharging a rechargeable electric accumulator 38 of the vehicle 36.

[000159] The device 1 can be connected in a suspension 39 of a vehicle 36 and configured to cushion relative movements in the suspension 39 by dissipating kinematic energy by transforming it into electricity (dynamo mode) and possibly charging an electric accumulator 38.

[000160] The device 1 can be connected in a suspension 39 of a vehicle 36 and configured to cushion relative movements in the suspension 39 by delivering electromagnetic torque (active suspension).

[000161] The device 1 can be connected in a suspension 39 of a vehicle 36, for example by means of the rotor 7, while being configured to supply driving torque 24, or resistance torque 23 in a dynamo mode, for example by means of the rotor 9 (see Figures 5 and 6).

[000162] The device 1 can be connected in a brake 40 of a vehicle 36 or of a machine/tool 37 and configured to brake or block relative movements in the brake 40 by dissipating kinematic energy by transforming it into electricity (dynamo mode) and possibly charging an electric accumulator 38. [000163] The device 1 can be a differential 42 of a vehicle 36 or a machine 37.

[000164] The use of the device 1 is advantageous for increasing the instantaneous power of a vehicle 36, by coupling the first output member 5 and the second output member 6 to wheels 53, 53' of the vehicle 36, transmitting rotary motion from the first 7 and second 9 rotors to the passive rotatable member 19 for temporarily storing energy in the form of inertial energy of the passive rotatable member 19, and then retransmitting rotary motion from the passive rotatable member 19 to the first 7 and second 9 rotors and thus transmitting mechanical power to the wheels 53, 53' of the vehicle 36

[000165] The use of the device 1 is also advantageous to increase the instantaneous power of a vehicle 36 by powering the main electric machine 13 together with a retransmission of the rotary motion from the passive rotatable member 19 to the first 7 and second 9 rotors, thus transmitting both electrical and mechanical power to the wheels 53, 53' of the vehicle 36.

[000166] The use of the device 1 is also advantageous for increasing the instantaneous power of a vehicle 36, by coupling the first output member 5 and the second output member 6 to wheels 53, 53' of the vehicle 36, transmitting rotary motion from the first 7 and second 9 rotors to the passive rotatable member 19 for temporarily storing energy in the form of inertial energy of the passive rotatable member 19, and then transforming the rotary motion from the passive rotatable member 19 into electric current (dynamo mode of the device 1 ) to charge a rechargeable electric accumulator 38 and thus use the electricity of the electric accumulator 38 to electrically actuate the wheels 53, 53' of the vehicle 36, for example by means of the device 1 itself.

[000167] The use of the device 1 is also advantageous to protect the device from the high temperatures which common electric motors reach when they have great workloads and low speeds of rotation, for example the rotor 7 is connected to a transmission axle of a positioning robot which maintains a given position and does not rotate (a work step) by means of the auxiliary electric machine 26 (and which thus tends to overheat), the further rotor 9 is connected to the motor cooling system (fan) and rotates at high speed by means of the main electric machine 13.

[000168] Detailed description of the motion transmission system 4 and of the output member 5, 6

[000169] According to embodiments, one or more output members 5, 6 are part of the motion transmission system 4, suitable for transmitting motion and mechanical power, for example to act on a mechanical resistance 15 or a plurality of mechanical resistances 15 capable of absorbing the transmitted motion and/or the mechanical power.

In a general embodiment, the output member 5, 6 is the portion of the rotor 7, 9, 9', or of the further passive rotatable member 19, adapted to transmit (or receive) motion and mechanical power; for example:

- the output member 5, 6 is the portion of the rotor 7 or further rotor 9, 9' or further passive rotatable member 19 on which the transmission gear 14, 16, 16A is keyed;

- the output member 5 is the axle operatively connected to a first wheel 53 and the output member 6 is the axle operatively connected to a second wheel 53' acting in the same road surface;

- the output member 5 of a first rotor 7 is the part of the rotor 7 operatively connected inside a freewheel 51 capable of rotating in only one direction, and the output member 6 of a second rotor 9 is the portion of space obtained in the second rotor 9 in which the freewheel 51 is installed,

- the output member 5 of a first rotor 7, or the output member 6 of a second rotor 9, is the portion of the rotor which houses the electric winding 11 , or the magnetically responsive system 12,

- the output member 5 of a first rotor 7, or the output member 6 of a second rotor 9, for example in the case of an in-wheel electric machine, is the part of the wheel 53, 53' adapted to exchange motion and mechanical power with the road surface.

[000170] Advantages

[000171 ] By virtue of the configuration of the device 1 and of the operational coupling thereof to the mechanical resistance 15, on the use 3, for example on the chassis of the vehicle 36 or tool/machinery 37 and/or on the anchoring foundation of the device 1 , as well as on the support structure 2, no reaction torques (stator of the prior art) will be transmitted, thus allowing a lighter and less cumbersome dimensioning of the uses (3) and the support structure 2.

[000172] In the case of vehicles 36, the device 1 positively affects the handling and drivability of the vehicle.

[000173] The device 1 is adapted to replace an existing electric machine, for example for retrofitting operations on pre-existing uses 3.

[000174] The device 1 in the embodiments described allows:

[000175] - creating a gyroscopically neutral or substantially neutral electric machine.

[000176] - creating an electric machine with a gyroscopic moment which is continuously, or substantially continuously, adjustable.

[000177] - utilizing the gyroscopic effect to make a device, e.g., a vehicle 36 or a tool 37, more agile or more stable;

[000178] - reducing the ecological and economic cost of inertial accumulators, for example by utilizing simple and commercial rolling means against very high relative rotations and loads;

[000179] - creating an electric machine capable of simultaneously performing multiple functions, such as being the driving unit/dynamo as well as the suspension of a vehicle (Figures 5, 6-A, 6-B and 6-C), e.g., self-shielding from high temperatures.

[000180] - reducing the fuel consumption of a vehicle;

[000181 ] - accumulating energy in a versatile and controlled manner.

LIST OF REFERENCE NUMERALS (in the text and drawings) device 1 support structure 2 use 3 motion transmission system 4 first output member 5 second output member 6 first rotor 7 first rotor axis 8 second rotor 9 further nth rotor 9’ second rotor axis 10 electric winding system 11 magnetically responsive system 12 main electric machine 13 further (nth) main electric machine 13’ rotor-output transmission 14 mechanical resistance 15 rotor-support transmission 16 input sun pinion 16’ toothed crown 16” last satellite holder 16”’ tri-rotor transmission 16A rolling bearing 17 main mutual magnetic relationship 18 passive rotatable member 19 passive member axis 20 further magnetically responsive system 21 electric rotor-passive member machine 22 resistance torque 23 electromagnetic driving torque 24 stator 25 first stator 25’ second stator 25” auxiliary electric machine 26 first auxiliary electric machine 26’ second auxiliary electric machine 26” auxiliary electric winding system 27 auxiliary magnetically responsive system 28 fly-wheel stator 29 electric fly-wheel machine 30 electric fly-wheel winding system 31 magnetically responsive fly-wheel system 32 primary clutch 33 operating clutch system 34 first rotary clutch 34’ second rotary clutch 34” third rotary clutch 34’” inertial energy accumulator 35 vehicle 36 machine, tool 37 rechargeable electric accumulator 38 suspension 39 brake 40 auxiliary brake 41 differential 42 control system 43 angular position sensor 44 angular speed sensor 45 torque detector 46 accelerometer 47 gyroscopic sensor 48

GPS 49 magnetic suspension system 50 electric rotary interface 51 overrunning clutch or freewheel 52 wheel and further wheels 53, 53’ electrical braking resistance 54 (only in the drawings)

Claims

1. An electric machine device (1 ), comprising:

- a support structure (2) being connectable to a use (3),

- a motion transmission system (4) having one or more output members (5, 6) to transmit motion and mechanical power,

- a first rotor (7) supported by the support structure (2) in a rotatable manner with respect to the support structure (2) about a first rotor axis (8),

- a second rotor (9) supported by the support structure (2) in a rotatable manner with respect to the support structure (2) about a second rotor axis (10), wherein the first rotor (7) and the second rotor (9) have one an electric winding system (11 ) being electrically powerable and configured to generate an induced electromagnetic field, and the other a system (12) being magnetically responsive to the induced electromagnetic field, so that an electrical power supply of the electric winding system (11 ):

- generates an electromagnetic torque between the first rotor (7) and the second rotor (9), creating a main electric machine (13),

- rotates the first rotor (7) with respect to the second rotor (9) and with respect to the support structure (2) in a first rotation direction,

- rotates the second rotor (9) with respect to the first rotor (7) in a second rotation direction opposite to the first rotation direction,

- rotates the first rotor (7) and the second rotor (9) with respect to the support structure (2), wherein both the first rotor (7) and the second rotor (9) are operatively connected to at least one of the one or more output members (5, 6) to transmit motion and/or mechanical power thereto.

2. A device (1 ) according to claim 1 , wherein the first (7) and second (9) rotors are operatively coupled, by means of the interposition of a rotor-output transmission (14):

- to the same rotary or translational output member (5; 6), or

- to a first rotary or translational output member (5) and to a second rotary or translational member (6), of said one or more output members (5, 6), wherein said one or more output members (5, 6) are operatively coupled to:

- the same mechanical resistance (15) or a plurality of mechanical resistances (15) adapted to absorb the motion and/or mechanical power transmitted.

3. A device (1) according to claim 1 or 2, comprising one or more further rotors (9’) forming further electric machines (13’) with one or more of the first (7) and second (9) rotors, or with one another.

4. A device (1 ) according to any one of the preceding claims, comprising at least one or more passive rotatable members (19) with a fly-wheel function, supported by the support structure (2) in a rotatable manner with respect to the support structure (2) and with respect to the first rotor (7) and to the second rotor (9, 9’) about a passive member axis (20), and comprising an inertial mass, wherein the passive rotatable member (19) can be rotated by:

- a mechanical transmission arranged between the passive rotatable member (19) and at least one of the first (7) and second (9, 9’) rotors, or

- a magnetic thrust generated between a further magnetically responsive system (21 ) of the passive rotatable member (19) and at least one of the first (7) and second (9, 9’) rotors.

5. A device (1) according to claim 4, wherein a rotor selected from the first (7) and second (9, 9’) rotors and said further magnetically responsive system (21 ) of the passive rotatable member (19) create an electric rotor-passive member machine (22) such as to transmit magnetic torques therebetween depending on an electrical power supply of the electric rotor-passive member machine (22) and depending on a relative motion between the rotor (7, 9, 9’) and the passive rotatable member (19), wherein the device (1 ) is configured so that:

- in an energy storage mode, the main electric machine (13) generates an electric current in a dynamo mode by subtracting kinetic energy from the rotors (7, 9, 9’) and the generated electric current is supplied to the electric rotor-passive member machine (22) accelerating the passive rotatable member (19) with respect to the support structure (2), and

- in an energy return mode, the electric rotor-passive member machine (22) generates an electric current in a dynamo mode by subtracting kinetic energy from the passive rotatable member (19) and the generated electric current is supplied to the main electric machine (13) which, in a motor mode, accelerates the relative motion of the rotors (7, 9, 9’) with respect to one another and to the support structure (2).

6. A device (1) according to claims 4 and 5, the at least one further rotor (9’) comprises mass and moment of inertia so as to act simultaneously both as an electromagnetically operable rotor and as a fly-wheel and to form said passive rotatable member (19).

7. A device (1) according to any one of the preceding claims, wherein the first (7) and second (9) rotors are operatively coupled to each other and to the support structure (2), by means of the interposition of a rotor-support transmission (16), so that a relative rotation between the first rotor (7) and the second rotor (9) also always involves a relative rotation between the support structure (2) and both the first (7) and second (9) rotors.

8. A device (1 ) according to claim 7, wherein the rotor-support transmission (16) comprises a planetary gear, wherein the first rotor (7) and the second rotor (9) are coupled one to an input pinion (16’) of the planetary gear and the other to an external toothed crown (16”) of the planetary gear, while a last satellite holder (16”’) of the same planetary transmission is integral with the support structure (2).

9. A device (1) according to claim 7 or 8, wherein the rotor-support transmission (16) has a transmission ratio of the rotors (7, 9) equal to -1 , so that the first rotor (7) and the second rotor (9) counter- rotate at the same angular speed but in the opposite rotation direction with respect to a fixed reference consisting of the support structure (2).

10. A device (1) according to claim 3, comprising one or more further rotors (9’) forming further electric machines (13’) with one or more of the first (7) and second (9) rotors, or with one another, and wherein three rotors (7, 9, 9’) selected from the group consisting of:

- first rotor (7),

- second rotor (9),

- further rotor(s) (9’), are operatively coupled to one another by means of the interposition of a tri-rotor transmission (16A) so that a relative rotation between two rotors (9, 9’) of said three rotors (7, 9, 9’) also always involves a relative rotation between said two rotors (9, 9’) and a third rotor (7) of said three rotors (7, 9, 9’).

11. A device (1 ) according to claims 3 and 4, wherein two rotors (7, 9) selected from the group consisting of:

- first rotor (7),

- second rotor (9),

- further rotor(s) (9’), and the passive rotatable member (19) are operatively coupled to one another by means of the interposition of a three-rotor transmission (16A), so that a relative rotation between said two rotors (7, 9) also always involves a relative rotation between each of said two rotors (7, 9) and the passive rotatable member (19).

12. A device (1) according to any one of the preceding claims, comprising one or more stators (25) supported in a stationary manner with respect to the support structure (2) and which creates with one of the first (7) and second (9) rotors, respectively, an auxiliary electric machine (26, 26’, 26”) being electrically powerable to generate an electromagnetic torque between said first (7) or second (9) rotor and the support structure (2), to brake or accelerate the first or second rotor (7, 9) with respect to the support structure (2).

13. A device (1 ) according to claim 4 or 5, comprising a fly-wheel stator (29) supported in a stationary manner with respect to the support structure (2) and creating with the passive rotatable member (19) an electric fly-wheel machine (30) being electrically powerable to generate an electromagnetic flywheel torque between said passive rotatable member (19) and the support structure (2), to brake or accelerate the passive rotatable member (19) with respect to the support structure (2).

14. A device (1) according to any one of the preceding claims, comprising a primary clutch (33) interposed between the support structure (2) and the use (3) for a gradual, rotary coupling and uncoupling between the device (1 ) and the use (3).

15. A device (1) according to claim 1 , comprising an operating clutch system (34) having one or more rotary clutches (34’, 34”, 34”’) connected between at least one pair consisting of two of:

- the first output member (5),

- the second output member (6),

- the support structure (2), respectively, for a gradual, rotary coupling and uncoupling between the output member (5, 6) and the support structure (2).

16. A device (1 ) according to one of claims 7 to 9, comprising an operating clutch system (34) having one or more rotary clutches (34’, 34”, 34’”) connected to the rotor-support transmission (16) for a gradual rotary coupling and uncoupling between the output member (5, 6) and the support structure (2).

17. A device (1) according to any one of the preceding claims, wherein the support structure (2) comprises a casing or housing which supports the first rotor (5) and the second rotor (6) and, if provided, further rotatable members (9’, 19) of the device (1), by means of one or more rolling bearings (17).

18. A device (1 ) according to any one of the preceding claims, wherein the first rotor (7), the second rotor (9) and, if provided, further rotors (9’, 19) of the device (1) are rotatably supported, in cascade, by means of rolling bearings (17), one about the other.

19. A device (1) according to claim 17 or 18, wherein at least one of the first and second rotors (7, 9, 9’, 19) and, if provided, further rotors (9’, 19) of the device (1) are supported by one or more magnetic suspension systems (50).

20. A device (1 ) according to any one of the preceding claims, comprising at least one auxiliary brake (41 ) connected to the first output member (5) and/or the second output member (6), or to the first rotor (7) and/or second rotor (9) to brake the movement of at least one of the rotors (7, 9) with respect to the support structure (2).

21. A device (1 ) according to any one of the preceding claims, comprising an electric control system (43), connected to the electric winding system (11) and configured to control the rotation direction of the first rotor (7) with respect to the second rotor (9) and with respect to the support structure (2).

22. A device (1 ) according to claim 21 , wherein the control system (43) controls the electrical power supply of the electric windings of the device (1 ), so that, selectively,

- the first rotor (7) and the second rotor (9) rotate, with respect to the support structure (2), with an opposite rotation direction, and

- the first rotor (7) and the second rotor (9) rotate, with respect to the support structure (2), with the same rotation direction but at different angular speeds.

23. A device (1 ) according to claim 22, comprising one or more of:

- angular position sensors (44) to detect an angular position of the one or more output members and/or of the rotors with respect to the support structure (2), and generate a corresponding angular position signal,

- angular speed sensors (45) to detect an angular speed of the one or more output members and/or of the rotors with respect to the support structure (2), and generate a corresponding angular speed signal,

- torque detectors (46) to detect a torque transmitted from/to the output member(s) and generate a corresponding torque signal,

- one or more position sensors (47, 48, 49) to detect the position of the support structure (2) with respect to an external reference, and generate a corresponding global position signal, in signal connection with the control system (43), which controls the device (1 ) also at least in dependency of at least one or more of:

- angular position signals,

- angular speed signals,

- torque signals,

- global position signals.

24. A device (1 ) according to claim 22, wherein the control system (43) is electrically connected to a rechargeable electric accumulator (38).

25. A device (1 ) according to claim 1 or 2, being completely devoid of a stator.

26. A device (1) according to claim 2, wherein the mechanical resistance (15) is selected from the group consisting of:

- one or more mechanically operable mechanical, fluid-mechanical, electromechanical systems,

- one or two propellers acting on a liquid or gas, in a pump or a ship or an aircraft,

- one or two wheel shafts (53, 53’) or driving wheels (53, 53’) acting on a road in a land vehicle (36),

- one or two shafts acting on a work member of a machine tool,

- one or two roller shafts acting on a product being rolled,

- one or more fly-wheels,

- a ratchet wheel mechanism, or ratchet wheel,

- an overrunning clutch or freewheel (52), adapted to allow the rotation motion in one rotation direction only,

- a clutch configured to be able to selectively connect and disconnect the first output member (5) and the second output member (6).

27. A use (3) comprising the device (1 ) according to any one of the preceding claims, wherein the use (3) is selected from the group consisting of cycles, motorcycles, motorbikes, mopeds, scooters, motor vehicles, cars, lorries, trains, aircrafts, drones, airplanes, helicopters, gliders, missiles, boats, yachts, ships, aircraft carriers, underwater probes, submarines, work devices, grinders, angle grinders, drills, electric hammers, blenders, power tools, robotic devices.