U.S. patent application number 15/913531 was filed with the patent office on 2018-08-09 for electric rotary motor with two degrees of movement.
The applicant listed for this patent is Nucleus Scientific, Inc.. Invention is credited to Timothy A. Fofonoff, Ian W. Hunter.
Application Number | 20180226188 15/913531 |
Document ID | / |
Family ID | 43530271 |
Filed Date | 2018-08-09 |
United States Patent
Application |
20180226188 |
Kind Code |
A1 |
Hunter; Ian W. ; et
al. |
August 9, 2018 |
Electric Rotary Motor with Two Degrees of Movement
Abstract
Instead of being made from one continuous piece of material, a
coil includes multiple flat coil segments that are stacked together
and electrically coupled in series. In many embodiments, the coil
segments are U-shaped segments, and the segments are arranged so
that each segment is rotated (e.g., by 270 degrees) with respect
the segment it follows. The stacked coils may then be fastened
together using, for example, bolts through the corners of the coil
segments. The combined coil segments form a continuous coil.
Inventors: |
Hunter; Ian W.; (Lincoln,
MA) ; Fofonoff; Timothy A.; (Cambridge, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Nucleus Scientific, Inc. |
Cambridge |
MA |
US |
|
|
Family ID: |
43530271 |
Appl. No.: |
15/913531 |
Filed: |
March 6, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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14144929 |
Dec 31, 2013 |
9934904 |
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15913531 |
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12590493 |
Nov 9, 2009 |
8624699 |
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14144929 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
H02K 33/18 20130101;
Y10T 29/4902 20150115; H01F 41/10 20130101; H01F 2027/297 20130101;
H01F 41/061 20160101; H02K 7/075 20130101; H01F 27/2847 20130101;
H01F 41/04 20130101; H01F 41/041 20130101; H01F 41/071 20160101;
H01F 41/02 20130101; H02K 3/04 20130101; Y10T 29/49073 20150115;
H01F 27/303 20130101; H01F 27/323 20130101; H01F 5/00 20130101;
Y10T 29/49071 20150115; H02K 7/1876 20130101; H02K 35/04 20130101;
H02K 15/0421 20130101 |
International
Class: |
H01F 41/02 20060101
H01F041/02; H02K 35/04 20060101 H02K035/04; H02K 33/18 20060101
H02K033/18; H01F 41/061 20160101 H01F041/061; H01F 41/071 20160101
H01F041/071; H01F 5/00 20060101 H01F005/00; H01F 41/04 20060101
H01F041/04; H01F 41/10 20060101 H01F041/10; H02K 15/04 20060101
H02K015/04; H02K 7/18 20060101 H02K007/18; H02K 7/075 20060101
H02K007/075; H02K 3/04 20060101 H02K003/04 |
Claims
1-7. (canceled)
8. A rotary electric motor with two degrees of movement, said
rotary electric motor comprising: a support member for attaching to
a vehicle frame; a rotary member having a rotational axis; a magnet
assembly including a plurality of magnets producing magnetic
fields; a first coil assembly arranged to interact with the
magnetic fields of the magnet assembly to cause relative movement
between the first coil assembly and the magnet assembly; a second
coil assembly separate from the first coil assembly, said second
coil assembly arranged to interact with the magnetic fields of the
magnet assembly to cause relative movement between the second coil
assembly and the magnet assembly; and a converter assembly operated
by the first and second coil assemblies and coupling the rotary
member to the support member, and which is configured to: (a)
respond to a first relative movement between the coil assemblies
and the magnet assembly to cause the rotary member to rotate about
the rotational axis without causing translational movement of the
rotational axis of the rotary member relative to the support
member, and (b) respond to a second relative movement between the
coil assemblies and the magnet assembly to cause the rotational
axis of the rotary member to move in a transverse direction
relative to the support member without causing rotary movement of
the rotary member.
9. The rotary electric motor of claim 8, wherein, with one of the
relative movements, the magnet assembly and the first coil assembly
move relative to each other while the first and second coil
assemblies are not caused to move relative to each other and, with
the other of the relative movements, the first and second coil
assemblies move in opposite directions with respect to each other
relative to the magnet assembly.
10. The rotary electric motor of claim 8 wherein, when the first
and second relative movements are performed together, the rotary
member rotates about the rotational axis and the rotational axis of
the rotary member moves in a transverse direction relative to the
opposite member.
11. The rotary electric motor of claim 8, wherein the magnet
assembly, the first coil assembly, and the second coil assembly
form two linear actuators arranged along a common axis.
12. The rotary electric motor of claim 8, wherein the converter
assembly comprises a cam, a first cam follower connected to the
first coil assembly, and a second cam follower connected to the
second coil assembly, and wherein the first and second cam
followers ride on the cam.
13. The rotary electric motor of claim 8, wherein the plurality of
magnets includes a first set of magnets and a second set of
magnets, wherein the magnet assembly comprises a linear core with
the first set of magnets at one end of the linear core and the
second set of magnets at the other end of the linear core, and
wherein the first coil assembly circumscribes the core and the
first set of magnets and the second coil assembly circumscribes the
core and the second set of magnets.
14. The rotary electric motor of claim 13, wherein the converter
assembly comprises a cam, a first cam follower connected to the
first coil assembly, and a second cam follower connected to the
second coil assembly, and wherein the first and second cam
followers ride on the cam.
15. The rotary electric motor of claim 14, wherein the rotary
member comprises a wheel rim for supporting a tire and wherein the
cam is coupled to the wheel rim so that the wheel rim rotates with
the cam.
16. The rotary electric motor of claim 14, wherein the converter is
a linear-to-rotary converter including the cam and the first and
second cam followers.
Description
[0001] This application is a continuation of U.S. application Ser.
No. 14/144,929, filed on Dec. 31, 2013, which is a divisional of
U.S. application Ser. No. 12/590,493, filed on Nov. 9, 2009, now
U.S. Pat. No. 8,624,699, issued on Jan. 7, 2014. The entire
teachings of the above applications are incorporated herein by
reference.
BACKGROUND OF THE INVENTION
[0002] Electric motors convert electrical energy to mechanical
energy through the interaction of magnetic fields and a
current-carrying medium, which is typically a coiled wire. Electric
generators convert mechanical energy to electrical energy by
forcing electric charges to move through an electrical circuit,
which is also typically a coiled wire.
SUMMARY OF THE INVENTION
[0003] Coils used with electric motors or generators typically
consist of a single continuous piece of material wound into a coil.
Manufacture of a flat, square cross-section coil can be very
expensive if made from one continuous piece of material. Instead of
being made from one continuous piece of material, an electric coil
may include multiple flat coil segments stacked together and
electrically coupled in series, where each coil segment is rotated
with respect to the coil segment it follows in the stack.
Manufacturing of the coil segments may be much less expensive, and
the segments can be combined into a single coil. For example, each
coil segment may be U-shaped and may be rotated 270 degrees with
respect to the coil segment it follows in the stack of coil
segments. A method of manufacturing such an electric coil includes
fabricating multiple flat coil segments, stacking together and
electrically coupling the multiple coil segments in series where
each coil segment is rotated with respect to the coil segment it
follows, and fastening the coil segments together to form the
electric coil.
[0004] The coil segments may be inexpensively formed by stamping or
etching and bending the coil segments from a flat sheet of metal,
for example. All sides of a coil segment may be equal in length or,
alternatively, adjacent sides of a coil segment may be different
lengths while opposite sides of the coil segment may be equal
lengths. The coil may further include electrically-insulating
material on portions of the coil segments. In a stack of coils
segments, for example, all surfaces of the coil segments may be
coated with an electrically-insulating layer of material except for
the top surface of the finishing end of a lower coil segment in the
stack and the bottom surface of the starting end of an immediately
upper coil segment in the stack. The segments may be fastened
together using bolts, for example, that may be inserted through the
corners of the coil segments. A layer of electrically-insulating
material may also cover the bolts. When assembled,
electrically-insulating spacers may be placed in any gaps between
the coil segments.
[0005] This application relates to U.S. patent application titled
"ELECTRIC MOTOR" by inventor Ian W. Hunter (Attorney Docket No.
4489.1000-000), U.S. patent application titled "ELECTRIC GENERATOR"
by inventor Ian W. Hunter (Attorney Docket No. 4489.1002-000), and
U.S. patent application titled "TUNABLE PNEUMATIC SUSPENSION" by
inventor Ian W. Hunter (Attorney Docket No. 4489.1004-000). These
applications are being filed concurrently with the present
application, and the contents of these applications are
incorporated herein by reference in their entirety.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] The foregoing will be apparent from the following more
particular description of example embodiments of the invention, as
illustrated in the accompanying drawings in which like reference
characters refer to the same parts throughout the different views.
The drawings are not necessarily to scale, emphasis instead being
placed upon illustrating embodiments of the present invention.
[0007] FIGS. 1A and 1B illustrate example rotary devices.
[0008] FIG. 1C illustrates an example magnetic stator assembly.
[0009] FIGS. 1D-1F illustrate cross-sections of example rotary
devices.
[0010] FIGS. 2A-2C illustrate components of an example rotary
device in action.
[0011] FIG. 2D illustrates an example shape of a cam.
[0012] FIGS. 2E-2H illustrate an example rotary device in action
and coupled to a wheel.
[0013] FIGS. 3A and 3B illustrate an example rotary device with an
additional cam and magnetic stator components.
[0014] FIG. 4A illustrates a mount attached to the magnetic stator
assembly of an example rotary device.
[0015] FIG. 4B illustrates a simplified cross-section of an example
rotary device attached to the chassis of a vehicle.
[0016] FIGS. 5A-5D illustrate a support structure coupling a
magnetic stator assembly and mount of an example rotary device with
electromagnetic actuators and coils of the device through a
plurality of shafts.
[0017] FIG. 6A illustrates a rotary bearing coupling a support
structure of an example rotary device with a cam of the device.
[0018] FIG. 6B illustrates a wheel structure coupling a cam of an
example rotary device with a wheel of a vehicle.
[0019] FIG. 7 illustrates a horizontal cross-section of an example
rotary device.
[0020] FIG. 8 illustrates a horizontal cross-section of an example
rotary device from a top-down view.
[0021] FIG. 9 illustrates an inner structure of a magnetic stator
assembly of an example rotary device.
[0022] FIG. 10 illustrates a horizontal cross-section of an example
rotary device.
[0023] FIG. 11 illustrates a horizontal cross-section of an example
rotary device.
[0024] FIG. 12A illustrates a vertical cross-section of an example
rotary device showing how a support structure of an example rotary
device may be arranged.
[0025] FIGS. 12B-12D illustrate an example tunable pneumatic
suspension.
[0026] FIGS. 13A and 13B illustrate an example rotary device at
different vertical positions.
[0027] FIGS. 14A-14C illustrate the construction of an example coil
of an electromagnetic actuator.
[0028] FIG. 15 illustrates a wheel that includes an example rotary
device.
[0029] FIGS. 16A and 16B illustrate different views of an example
rotary device.
[0030] FIGS. 16C and 16D illustrate two rotationally offset
cams.
[0031] FIG. 16E illustrates an example shape of a cam.
[0032] FIGS. 17A and 17B illustrate a disc of an example rotary
device coupled to a rim of a wheel.
[0033] FIG. 18 illustrates two support structures coupling
respective magnetic stator assemblies with electromagnetic
actuators through a plurality of shafts and fluid dampers.
[0034] FIGS. 19A-19C illustrate an example arrangement of magnetic
stators.
[0035] FIGS. 20A-20G illustrate the construction of an example coil
of an electromagnetic actuator.
[0036] FIGS. 21A and 21B illustrate a side view and a top view of
two rotary devices with respective wheels.
[0037] FIGS. 22A-22C illustrate various different rotations of the
wheels.
[0038] FIGS. 23A and 23B illustrate vertical movement of the
wheels.
[0039] FIGS. 24A-24F illustrate a top view of a vehicle having four
pairs of rotary devices with respective wheels.
DETAILED DESCRIPTION OF THE INVENTION
[0040] A description of example embodiments of the invention
follows.
[0041] FIG. 1A shows an example rotary device 100 inside a wheel.
The device includes a magnetic stator assembly 120, opposed
electromagnetic actuators 110a, 110b, and a linear-to-rotary
converter (e.g., cam) 105. The device may be attached to the
chassis of a vehicle, for example, at a point on the far side of
the wheel (not shown). The rotary device depicted inside the wheel
may be attached to the wheel via the cam 105 using a circular
plate, for example, which has been removed to show the inside of
the wheel. Such a plate may be attached to both the rim of the
wheel and the cam 105 using fasteners, such as bolts. The wheel and
cam support plate rotate relative to a hub 145 about a bearing 150.
It is important to note that the cam 105 is shown as an oval shape,
but may take other forms, such as, for example, a cam having
multiple lobes.
[0042] FIG. 1B shows the example rotary device 100 from the side of
the wheel 140 and with the tire of the wheel 140, and some other
components, removed. The core of the rotary device includes the cam
105, two opposed electromagnetic actuators 110a, 110b, and magnetic
stator assembly 120. The electromagnetic actuators 110a, 110b each
include a coil 115a, 115b that is arranged to reciprocate relative
to the magnetic stator assembly 120. One electromagnetic actuator
110a is shown having a housing 155a surrounding its coil 115a and
the other electromagnetic actuator 110b is shown with its housing
removed to show its coil 115b.
[0043] The magnetic stator assembly 120 depicted in FIG. 1B is
oriented vertically and may include a plurality of magnetic stators
125a, 125b. Each of the magnetic stators 125a, 125b may include a
single magnet or multiple magnets. As current is applied to the
coils 115a, 115b of the electromagnetic actuators 110a, 110b (e.g.,
alternating current), the actuators 110a, 110b are forced to
reciprocate vertically along the magnetic stator assembly 120 due
to the resulting electromagnetic forces. As known in the art, when
a coil carrying an electrical current is placed in a magnetic
field, each of the moving charges of the current experiences what
is known as the Lorentz force, and together they create a force on
the coil. As depicted, the rotary device 100 may include a
plurality of shafts 130a, 130b, coupled to a bearing support
structure 165. The electromagnetic actuators 110a, 110b may slide
along the shafts using, for example, linear bearings. Other
bearings that may be used include air bearings, silicon nitride
bearings, graphite bearings, and linear recirculating ball
bearings. Attached to each electromagnetic actuator 110a, 110b may
be a pair of followers 135a-d used to interface with the cam 105.
To reduce friction, the followers 135a-d may spin to roll over the
surfaces of the cam 105. The followers 135a-d may be attached to
the electromagnetic actuators 110a, 110b via, for example, the
actuators' housings. As the electromagnetic actuators 110a, 110b
reciprocate, the force exerted by the followers 135a-d on the cam
105 drives the cam 105 in rotary motion.
[0044] FIG. 1C illustrates an example magnetic stator assembly 120
with two magnetic stators 125a, 125b. The magnetic stators 125a,
125b each include multiple magnets. For example, magnetic stator
125a includes, on one surface of the stator 125a, eight magnets
160a-h.
[0045] FIGS. 1D-1F illustrate simplified cross-sections of example
rotary devices. The device of FIG. 1D is within a wheel 140 of a
vehicle and includes a hub (or mount) 145 coupled to a magnetic
stator assembly 120 having two magnetic stators 125a, 125b. Also
shown are two electromagnetic actuators (including coils) 110a,
110b that reciprocate relative to the magnetic stator assembly 120
along shafts 130a, 130b (shown as dashed lines). The shafts 130a,
130b are coupled to a bearing support structure 165, keep the
components of the device in vertical alignment, and prevent the
wheel 140 from falling off of the device. A cam plate 170 coupled
to the wheel 140 is rotatably coupled to the bearing support 165
through a bearing 150. Affixed to the cam plate 170 is a cam 105
used to drive the plate 170 and, thus, the wheel 140 in rotary
motion. The cam 105 is driven by the reciprocation of the
electromagnetic actuators 110a, 110b using followers 135a-d that
are coupled to the electromagnetic actuators 110a, 110b and that
interface with the cam 105. Also included in the example device is
a fluid damper 175a coupling the bearing support 165 and the mount
145. The fluid damper 175a suspends the mount 145 above the ground
and may allow for some movement between the bearing support 165 and
the mount 145, depending on the amount of resistance of the damper.
For example, if the damper is a pneumatic damper, higher gas
pressures inside the chambers of the damper allow for less movement
than lower air pressures.
[0046] FIG. 1E illustrates that in the absence of the fluid damper
175a, the electromagnetic forces caused by the electromagnetic
actuators 110a, 110b and magnetic stators 125a, 125b may suspend
the mount 145 above the ground. If, however, electrical current is
removed from the electromagnetic actuators 110a, 110b, the
associated electromagnetic forces will also be removed and the
mount 145 may drop toward the ground, along with the magnetic
stator assembly 120 and vehicle chassis, as illustrated in FIG.
1F.
[0047] FIGS. 2A-2C illustrate components of the rotary device 100
in action, including the rotary device's electromagnetic actuators
110a, 110b (with associated coils 115a, 115b and followers 135a-d)
and cam 105 moving relative to the magnetic stator assembly 120
(including associated magnetic stators 125a, 125b). The housings by
which the followers are attached to the coils are not shown in
these figures. As illustrated by FIGS. 2A-2C, the reciprocal
movement of the coils 115a, 115b in opposition drives the cam 105
to rotate, which, in turn, may cause a wheel attached to the cam
105 to rotate. The coils 115a, 115b are shown in FIG. 2A as being
at almost their furthest distance apart. FIG. 2B shows that as the
coils 115a, 115b move closer to each other, the coils 115a, 115b
drive the cam 105 to rotate in a clockwise direction, thereby
causing any attached wheel to also rotate clockwise. In the example
device, the force exerted on the cam 105 is caused by the outer
followers 135a, 135c squeezing-in on the cam 105. FIG. 2C shows
that the coils 115a, 115b are yet closer together causing further
clockwise movement of the cam 105.
[0048] After the coils 115a, 115b have reached their closest
distance together and the cam 105, in this case, has rotated ninety
degrees, the coils 115a, 115b begin to move away from each other
and drive the cam 105 to continue to rotate clockwise. As the coils
115a, 115b move away from each other, the inner followers 135b,
135d exert force on the cam 105 by pushing outward on the cam 105.
Again, it is important to note that the cam 105 is shown in the
figures as an oval shape, but the cam 105 may be shaped in a more
complex pattern, such as, for example, a shape having an even
number of lobes, as illustrated in FIG. 2D. The sides of each lobe
may be shaped in the form of a sine wave or a portion of an
Archimedes spiral, for example. The number of lobes determines how
many cycles the coils must complete to cause the cam to rotate full
circle. A cam with two lobes will rotate full circle upon two coil
cycles. A cam with four lobes will rotate full circle upon four
coil cycles. Additionally, more lobes in a cam creates a higher
amount of torque. In addition to driving the cam in rotational
motion, the electromagnetic actuators may act as generators by
drawing current from the coils as the cam rotates. This also has
the effect of reducing the rotational movement of the cam when
energy is absorbed from the rotational movement of the cam. In an
application of the device in a vehicle, drawing current from the
coils may act as a regenerative braking mechanism for the vehicle.
Because the devices may act as generators, rotation of the wheel
caused by an outside force may recharge the batteries of a vehicle.
For example, the vehicle may be positioned so that at least one of
its wheels is placed on a recharging device that causes the wheel
to rotate. Such a recharging device may be similar to a
dynamometer, which may be placed on or in a floor. But while a
vehicle causes a dynamometer to rotate, it is the rotation of the
recharging device that causes the vehicle's wheel to rotate,
thereby causing the electromagnetic actuators to act as generators
and to charge the vehicle's batteries. The recharging device may be
powered by, for example, electricity or fuel.
[0049] In some devices, heat produced by the reciprocation of the
coils 115a, 115b may be reduced by spraying a liquid coolant, such
as, for example, water, on the coils 115a, 115b. This may be
accomplished by spraying liquid through openings 146 in the magnets
of the magnetic stators 125a, 125b and onto the coils 115a, 115b as
they pass by the openings 146. The liquid coolant may be
transported to the openings 146 through channels in the magnetic
stator assembly 120. The sprayed liquid may then be collected for
reuse or may be allowed to convert to a gas and be vented from the
rotary device.
[0050] FIGS. 2E-2H also illustrate components of an example rotary
device in action, but with a wheel 140 that is attached to the cam
105 through a plate, or similar structure (not shown). A white
circle appears on the wheel 140 to show the wheels position at
different points during reciprocation of the electromagnetic
actuators 110a, 110b. As illustrated by the white circle in 2E-2H,
the wheel 140 rotates along with the rotating cam 105.
[0051] FIG. 3A illustrates a rotary device similar to the device of
FIGS. 2A-2C, but with an additional cam 106 on the other side of
the magnetic stator assembly 120. Reciprocation of the coils 115a,
115b acts to also drive the second cam 106 in rotary motion, and
the second cam 106 may be attached to the other side of a wheel
using, for example, another circular plate. Also shown is that the
magnetic stator assembly 120 of the example device may be in the
shape of a long extended box-shaped core of magnetically permeable
material, with a magnetic stator 125a, 125b at either end. In the
example device, each magnetic stator 125a, 125b includes magnets on
all four sides of the magnetic stator assembly 120. The box-shaped
core, on which the magnetic stators 125a, 125b are affixed in the
example device, may act as a return path for the magnetic flux of
the magnetic stators 125a, 125b. Also shown in FIG. 3A is that the
coils 115a, 115b of the electromagnetic actuators may have a
rectangular shaped cross-section and arranged to surround the
magnetic stators 125a, 125b. This arrangement allows for efficient
utilization of the electromagnetic forces between the coils 115a,
115b and the magnetic stators 125a, 125b.
[0052] FIG. 3B illustrates the rotary device of FIG. 3A, but with
additional magnets 325a, 325b arranged outside of the coils 115a,
115b. According to the example device, each end of the magnetic
stator assembly 120 includes an additional four magnet arrays, one
on each side of a rectangular cross-section coil 315a, 315b. The
additional magnets 325a, 325b enables the creation of more
electromagnetic force. Also shown in FIG. 3B is an additional
magnetic return path 320 for the additional magnets 325a, 325b.
[0053] FIG. 4A illustrates a mount 145 to which the magnetic stator
assembly 120, including magnets and return paths, may be attached.
The mount may be part of, or further attached to, for example, a
chassis of a vehicle (not shown). Specifically, the mount 145
includes outer and inner hub plates 445a, 445b, the latter of which
may be bolted to the chassis of a vehicle. Delivery of electrical
current to the coils 115a, 115b may be accomplished using
electricity-conducting flexures (not shown in FIG. 4A) that extend
from the mount 145 to the coils 115a, 115b. The flexures allow
current to be delivered to the coils 115a, 115b even as the coils
reciprocate along the magnetic stator assembly 120. Thus, the
flexures may electrically couple to an electrical supply (not shown
in FIG. 4A), such as a battery, coupled to the mount or located in
the chassis of a vehicle, the supply delivering electrical current
to the coils 115a, 115b.
[0054] FIG. 4B illustrates a simplified cross-section of an example
rotary device attached to the chassis of a vehicle 405. FIG. 4B is
similar to FIGS. 1D-1F, but with some components removed for
clarity. The figures shows a mount 145 coupled to the chassis of a
vehicle 405 and a magnetic stator assembly 120. Also shown are a
cam 105, cam plate 170, wheel 140, bearing 150, and electromagnetic
actuators 110a, 110b. Coupled to the mount 145 is an electrical
unit 410, which is used to deliver electricity to the
electromagnetic actuators 110a, 110b through a pair of flexures
415a, 415b. Also coupled to the mount 145 is a battery 420 for
storing electrical energy. Although the electrical unit 410 and the
battery 420 are shown as being coupled to the mount 145, the
electrical unit 410, battery 420, or both may, instead, be coupled
to the support structure 165 (FIG. 1D).
[0055] According to the example rotary device, the electrical unit
410 may be controlled by a controller 430 on the chassis of the
vehicle 405 and through a fiber-optic cable 435 running between the
controller 430 and the electrical unit 410. The example rotary
device also includes a bidirectional power line 440 connecting the
electrical unit 410 and the battery 420. During operation as a
motor, power may flow from the battery 420 to the electrical unit
410 and on to the electromagnetic actuators 110a, 110b. During
operation as a generator, power may flow from the electromagnetic
actuators 110a, 110b to the electrical unit 410 and on to the
battery 420. The vehicle may also include a charger 425 for
charging the battery 420 using an external power source (not
shown), such as an electrical outlet or gasoline engine in the case
of a hybrid vehicle. During such charging, power flows from the
external power source to the charger 425 and on to the battery 420
through line 427, the electrical unit 410, and the bidirectional
power line 440. Thus, the battery 420 may be charged by either an
external power source or by the rotary device acting as a
generator.
[0056] Through delivery of electricity to the electromagnetic
actuators 110a, 110b, the electrical unit 410 may control the
reciprocation of the coils. For example, when at speed, the
electrical unit 410 may control the constant reciprocation of the
coils. In vehicular embodiments, the controller 430 may be operated
by a driver (not shown) of a vehicle and, in response to actions by
the driver, the controller 430 may send commands to the electrical
unit 410 to cause the rotary device to accelerate, decelerate, or
change direction, for example. In addition, the electrical unit 410
may be configured to provide an electrical component to the
electromagnetic actuators 110a, 110b to drive their coils in the
same direction, thereby creating a vertical translational movement
of the wheel 140. Any translational movement of the wheel 140,
caused by the rotary device or not, may be sensed by the electrical
unit 410. In some configurations, the electrical unit 410 may be
configured to absorb energy from the translational movement of the
wheel by causing the electromagnetic actuators 110a, 110b to act as
electrical generators and dampers. This energy may be transferred
to the battery 420 for storage.
[0057] FIG. 5A illustrates a bearing support structure 165. A
rotary bearing (not shown) that supports the cam plate and, thus,
the wheel is mounted to a flange 585. The bearing support 165 and
the electromagnetic actuators 110a, 110b with coils 115a, 115b are
kept in vertical alignment using a plurality of shafts 130a-d. If
the rotary device is employed in the wheel of a vehicle, the
support structure 165 allows the magnetic stator assembly 120,
mount 145, and chassis of the vehicle (not shown) to remain
suspended above the ground without electrical power. In the absence
of the support structure 165, the magnetic stator assembly 120,
mount 145, and vehicle chassis may drop toward the ground when
current is not applied to the coils 115a, 115b. Thus, both the
support structure 165 and the electromagnetic actuators 110a, 110b
can provide suspension for the vehicle, but the electromagnetic
actuators 110a, 110b require electrical power to lift the magnetic
stator assembly 120, mount 145, and vehicle chassis off the ground.
The support structure 165, on the other hand, may use fluid dampers
(not shown) for suspension.
[0058] The support structure 165 also enables the use of multiple
flexures in series for delivering electricity to the coils. For
example, one set of flexures may run between the mount 145 and the
support structure 165, and another set of flexures may run between
the support structure 165 and the coils 115a, 115b. Use of multiple
flexures is advantageous when the bearing support 165 moves in a
vertical direction. During such vertical movement of the bearing
support 165 and reciprocation of the coils 115a, 115b, one set of
flexures may flex with respect to the vertical movement of the
bearing support 165, and the other set of flexures may flex with
respect to the reciprocation of the coils 115a, 115b. If only one
set of flexures were used (e.g., connected directly between the
mount 145 and the coils 115a, 115b), more flex would be required
upon vertical movement of the bearing support 165 and reciprocation
of the coils 115a, 115b, possibly leading to increased stress and
wear on the flexures.
[0059] FIG. 5B illustrates the magnetic stator assembly 120, mount
145, and vehicle chassis as being raised with respect to the other
components of the rotary device. This is accomplished either by
adding an electrical component to the coils 115a, 115b to cause
both coils to move in the same direction (e.g., in this case down
relative to the stator assembly and chassis) or by using the fluid
dampers (not shown) of the support structure 165, as described
below. The vertical movement of the coils 115a, 115b may occur
concurrently with, or apart from, opposed coil reciprocation. The
effect that the vertical movement has on a vehicle, for example, is
to raise or lower the vehicle's ride height or to act as a shock
absorber (e.g., going over bumps). To raise a vehicle's ride
height, either the fluid dampers or the coils 115a, 115b may be
used to raise, and keep raised, the chassis of the vehicle with
respect to the wheels. To act as a shock absorber, either the fluid
dampers or the coils 115a, 115b may react to a bump in the road by
allowing the wheels to quickly rise with respect to the chassis of
the vehicle and then return to their normal position. In addition,
all four wheels of a vehicle may be thrust rapidly downwards with
respect to the chassis of the vehicle to cause the vehicle to jump
off of the ground. Thus, the rotary device may exhibit at least two
degrees of movement: rotational movement with opposed reciprocation
of the coils and linear movement with movement of the coils in a
common direction. These degrees of movement may be performed either
separately or together.
[0060] FIG. 5C shows a horizontal cross-section through the device
showing the support structure 165 as surrounding, but not coupled
to, the mount 145. Also shown are a plurality of shafts 130a-d
coupled to the support structure to maintain alignment among the
components of the rotary device. A plurality of fluid dampers
175a-d, described below, are also shown.
[0061] FIG. 5D illustrates the side of an example rotary device
including one pair of flexures 505a, 505b running between
components 545a, 545b of the mount 145 and the support structure
165, and another pair of flexures 510a, 510b running between the
support structure 165 and the electromagnetic actuators 110a,
110b.
[0062] FIG. 6A illustrates a rotary bearing 150 used to couple the
bearing support structure 165 with one of the cams 105. An inner
race 650a is coupled to the bearing support 165 and an outer race
650b couples a wheel structure (not shown), such as a cam plate
and, thus, to the cam 105 and outer wheel rim. The wheel structure
may be a plate, a plurality of spokes, a lattice, or other
appropriate structure as known in the art. The rotary bearing 150
is not coupled directly to the mount 145, but rather, in the
example device, through a fluid damper. Another rotary bearing (not
shown) may be used to couple the support structure 165 with the
other cam 105 on the other side of the rotary device. Because the
rotary bearing 150 rotatably couples the bearing support structure
165 with an outer wheel rim, the support structure 165 and wheel
have the same vertical position with respect to each other. Because
of its constant vertical position with respect to the wheel, the
shafts 130a-d may be fixed to the support structure 165, thereby
preventing the shafts from coming into contact with the wheel.
[0063] FIG. 6B illustrates a wheel structure 605 coupling a cam 105
of an example rotary device with a wheel rim 140 of a vehicle. As
illustrated, the cam 105 is fixed to the wheel structure 605, and
the wheel structure 605 is fixed (e.g., using bolts) to the wheel
104 rim. Rotation of the cam 105, thus, causes rotation of the
wheel structure 605 and the wheel 104.
[0064] FIG. 7 shows a horizontal cross-section of an example rotary
device. The cross-section is cut through one of the electromagnetic
actuators 155. Inside the electromagnetic actuator 155 is shown a
coil 115a and the components of the magnetic stator assembly 120.
According to the illustrated device, the magnetic stator assembly
120 includes an inner magnetic stator component 125a, including a
plurality of magnets, and an outer magnetic stator component 325a,
also including a plurality of magnets. The magnetic stator assembly
120 also includes an inner magnetic flux return path 725a for the
inner magnetic stator component 125a and includes an outer magnetic
flux return path 735a for the outer magnetic stator component 325a.
As described above, the inner magnetic stator component 125a and
inner magnetic flux return path 725a are located inside of the coil
115a, and the outer magnetic stator component 325a and outer
magnetic flux return path 735a are located outside of the coil
115a. Also shown in the cross-section is the housing of the
electromagnetic actuator 155, which surrounds the coil 115a and
magnetic stator assembly 120 and slides along the long axis of the
magnetic stator assembly 120 by sliding along a plurality of shafts
130a-d. The housing of the electromagnetic actuator 155 may hold
the coil 115a using, for example, four bolts that run through the
corners of the rectangular-shaped coil 115a.
[0065] FIG. 8 shows another cross-section of the example rotary
device, but from a top-down view. As in FIG. 7, the cross section
shows a coil 115a, inner magnetic stator component 125a, outer
magnetic stator component 325a, inner magnetic flux return path
725a, outer magnetic flux return path 735a, electromagnetic
actuator housing 155a, and shafts 130a-d. The inner magnetic stator
component 125a and inner magnetic flux return path 725a are mounted
to an inner structure 820 of an example magnetic stator assembly.
As can be seen, bolts 815 having electrically insulating cover
material 817 may be inserted through bolt holes 816 at the corners
of the coil 115a to fix the coil 115a to the housing 155a.
[0066] FIG. 9 illustrates an inner structure 820 of an example
magnetic stator assembly. A mount 145 (FIG. 4A) may be attached at
point 910 to, for example, couple the structure 820 to the chassis
of a vehicle. Channels 905a-d may be used to transport a cooling
fluid within the magnetic stator assembly to spray on the coils
through the magnets.
[0067] FIG. 10 shows a cross-section of the example rotary device.
The cross-section is cut through the middle of the device and shows
the inner structure 820 of the magnetic stator assembly, mount 145,
inner magnetic flux return path 725a, and outer magnetic flux
return path 735a. The cross-section also shows a channel 1005 used
to access the inner part of the magnetic stator assembly for
running wires or cooling fluid, for example.
[0068] FIG. 11 shows another cross-section of a rotary device as in
FIG. 10, but at a point slight higher than the cross-section of
FIG. 10. In addition to the channel 1005 for running wires or
cooling lines, the cross-section shows channels 1105a-d for
inserting fasteners, such as screws.
[0069] FIG. 12A shows a vertical cross-section of the example
rotary device. The cross-section shows how the support structure
illustrated in FIGS. 5A and 5B may be slidably coupled to the
magnetic stator assembly and the mount 145 using additional shafts
1230a, 1230b and fluid dampers 175a, 175b. As illustrated in FIG.
12A, the support structure 165 may be coupled to the lower rod of a
fluid damper 175a. Specifically, a connecting arm 1215a pinned at
point 1225a to the lower end of the rod 1220a is joined to the
support at point 1205. An upper rod of the fluid damper 175a may be
connected to the mount 145 of the device, which may be part of a
vehicle's chassis. The mount 145 joins suspension arm 1240a at
point 1210. The shaft 1230a, fixed to the support 165, slides
through the suspension arm 1240a at opposite ends. The upper rod of
the damper 175a is pinned to the suspension arm 1240a at point
1235a.
[0070] The fluid dampers 175a, 175b may be a pneumatic suspension,
such as a piston with opposing gas chambers. The pressure of the
gas in each chamber above and below the piston may also be
dynamically adjusted to either change the position of the magnetic
stator assembly and the mount 145 (e.g., move up or down) or to
change the stiffness of the dampers 175a, 175b. To change the
position of the magnetic stator assembly and the mount 145,
pressure in the gas chambers may be adjusted so that the chambers
have different pressures. For example, if the fluid dampers 175a,
175b each include a top and bottom chamber, more pressure would be
applied to the top chamber to move the magnetic stator assembly and
the mount 145 in the upward direction, and more pressure would be
applied to the bottom chamber to move the magnetic stator assembly
and the mount 145 in the downward direction. To change the
stiffness of the dampers 175a, 175b, equal pressure may be added to
or removed from the top and bottom chambers. If the rotary device
is used in the wheel of a vehicle, changing the position of the
magnetic stator assembly and the mount 145 can change the ride
height of the vehicle, and changing the stiffness of the dampers
175a, 175b can change the stiffness of the vehicle's
suspension.
[0071] The cross-section of FIG. 12A also shows the inside of the
magnetic stator assembly. An example arrangement of the coil 115b
of an electromagnetic actuator, inside magnetic stator component
125b, and outside magnetic stator component 325b can be seen
through the cross-section. Also visible is the magnetic flux return
path 735b for the outside magnetic stator component 325b.
[0072] FIGS. 12B-12D illustrate an example tunable pneumatic
suspension. FIG. 12B shows that the suspension 175a includes a
piston 1276 and opposed chambers 1277a, 1277b applying respective
opposed pneumatic pressures to opposite faces 1278a, 1278b of the
piston 1276. The example suspension 175a includes a top chamber
1277a and a bottom chamber 1277b. Also shown is a pneumatic
controller 1279 that independently controls the pneumatic pressures
in the chambers 1277a, 1277b.
[0073] The pressures of the chambers 1277a, 1277b may be adjusted
to change the relative positions of the piston 1276 and the
chambers 1277a, 1277b by differing the pressures. For example, as
shown in FIG. 12C, a higher pressure in the bottom chamber 1277b of
the suspension 175a, as compared to the top chamber 1277a, exerts
more force on the bottom face 1278b of the piston 1276, causing the
piston 1276 and the bottom chamber 1277b to move away from each
other. As shown in FIG. 12D, a higher pressure in the top chamber
1277a, as compared to the bottom chamber 1277b, exerts more force
on the top face 1278a of the piston 1276, causing the piston 1276
and the top chamber 1277a to move to move away from each other. If
the suspension 175a is part of a vehicle, this movement can change
the ride height of the vehicle, the direction of the vehicle's
movement depending on whether the chambers 1277a, 1277b or the
piston 1276 are coupled to the chassis of the vehicle. Either the
chambers 1277a, 1277b or the piston 1276 may be grounded, while the
other is coupled to the chassis of the vehicle.
[0074] In addition to changing the position of the piston 1276, the
pressures of the chambers 1277a, 1277b may be adjusted to change
the stiffness of the suspension 175a by adding or removing equal
pressures to or from the chambers 1277a, 1277b. Adding equal
pressure to both chambers 1277a, 1277b increases the stiffness of
the suspension 175a, and removing equal pressures from both
chambers 1277a, 1277b decreases the stiffness of the suspension
175a. If the suspension 175a is part of a vehicle, changing the
stiffness of the suspension 175a can change the stiffness of the
vehicle's ride.
[0075] FIG. 13A illustrates an example rotary device incorporating
many of the above-described features. The rotary device includes,
for example, a cam 105, two opposed electromagnetic actuators
(including an example housing 155a and coil 115b), a magnetic
stator assembly (including an example inner magnetic stator
component 125b, outer magnetic stator component 325b, and outer
magnetic flux return path 735b for the outer magnetic stator
component 325b), mount 145, suspension arms 1240a, 1240b, followers
135a-d, support structure 165, rotary bearing 150, shafts 130a,
130b, 1230a, 1230b, and fluid dampers 175a, 175b.
[0076] FIG. 13B illustrates the rotary device of FIG. 13A, but
where the fluid dampers 175a, 175b have been used to raise the
magnetic stator assembly and the mount 145 by, for example,
applying more pressure to a top chamber within each of the fluid
dampers 175a, 175b. As illustrated in FIG. 13B, the fluid dampers
175a, 175b, suspension arms 1240a, 1240b, magnetic stator assembly
and the mount 145 are in a vertically higher position than
illustrated in FIG. 13A.
[0077] FIGS. 14A-14C illustrate the construction of an example coil
from one of the electromagnetic actuators. Instead of being made
from one continuous piece of material, the coil may include
multiple flat coil segments stacked together and electrically
coupled in series. FIG. 14A illustrates four coil segments that are
combined into one coil 1400. The coil of a given electromagnetic
actuator may include a number of such coils. FIG. 14B illustrates
one of the coil segments 1401. FIG. 14C illustrates an exploded
view 1405 of the coil of FIG. 14A. Each segment 1410a-d of the
example coil may be a flat, U-shaped piece of metal formed by, for
example, a stamping or etching process. The segments 1410a-d may be
assembled in the configuration shown in FIG. 14C to form a full
coil.
[0078] FIG. 14C shows four U-shaped coil segments 1410a-d that are
stacked on top of each other, where each segment is rotated 270
degrees (or 90 degrees depending on the direction of rotation) with
respect to the coil segment it follows in the stack of coil
segments. In stacking the segments 1410a-d in rotated positions,
the segments 1410a-d may be positioned so that a starting end 1425
of an upper coil segment 1410b in the stack interfaces a finishing
end 1420 of an immediately lower coil segment 1410a in the stack.
The coil including the four U-shaped coil segments 1410a-d, for
example, loops around three times to finish at the same relative
position (e.g., ends 1415 and 1450) that it started.
[0079] Electric current may flow through the coil, for example,
from a starting end of a bottom-most coil segment in the stack to a
finishing end of a top-most coil segment in the stack. In the
example coil, when assembled, electrical current 1455 may flow
through the coil, for example, from a starting point 1415 to an
ending point 1450. The current 1415 may begin at point 1415 and
flow counter-clockwise around segment 1410a to point 1420. At point
1420, the current continues to point 1425 as points 1420 and 1425
are in electrical contact with each other once assembled, as shown,
for example, in FIG. 14A. From point 1425, the current 1415 flows
counter-clockwise around segment 1410b to point 1430, where the
current continues to point 1435 as described above. From point
1435, the current 1415 flows counter-clockwise around segment 1410c
to point 1440, where the current continues to point 1445, and flows
counter-clockwise around segment 1410d to point 1450. If combined
with other segments, the current may continue to flow from one
segment to a subsequent segment in a longer coil. Overall, a method
of manufacturing such an electric coil includes fabricating the
multiple flat coil segments, stacking the multiple coil segments
together where each coil segment is rotated with respect to the
coil segment it follows, and fastening the coil segments together
to form the electric coil.
[0080] To prevent the electrical current from straying from the
above-described path, each segment may be coated with an
electrically-insulating layer of material, except for the surfaces
between which the current is meant to propagate, such as the top
surface of point 1420 and the bottom surface of point 1425.
Alternatively, instead of being coated, layers of
electrically-insulating material may be inserted between the coil
segments. When the coil segments 1410a-d are assembled in the form
illustrated in FIG. 14A, fasteners, such as bolts, may be inserted
through the openings shown at points 1415, 1420, 1425, 1430, 1435,
1440, 1445, and 1450. The segments 1410a-d may also be joined by
soldering or brazing in addition to, or instead of, preloading the
mechanical and electrical connections with fasteners. When the
segments 1410a-d are assembled, there may remain gaps between some
of the above points. To allow the fasteners to tightly secure the
coil segments 1410a-d together, electrically-insulating spacers may
be inserted between the points to fill the gaps. For example, when
the segments 1410a-d are assembled, a gap may remain between points
1415 and 1450, and one or more spacers may be inserted between
points 1415 and 1450 to fill the gap. On the other hand, no gap
should exist between points 1420 and 1425. The fasteners may also
be insulated using, for example, heat shrink tubing.
[0081] The coil segments 1410a-d may be mechanically and
electrically joined together using bolts that pass through openings
included in the segments 1410a-d, where the openings are positioned
outside the coil path so that a continuous, helical, flat coil may
be formed. Fabricating coil segments at a constant thickness may be
simple and inexpensive, but, at a constant thickness, the coil
segment connections may occur outside the coil path so that
intermediate segments do not overlap with the connection points.
The shape of the connection points 1415, 1420, 1425, 1430, 1435,
1440, 1445, 1450 may be chosen so that there is adequate contact
area for a good mechanical connection that produces an acceptable
contact resistance between the segments. The coil segments may be
electroplated, with gold or nickel for example, to further reduce
the contact resistance.
[0082] The connection points 1415, 1420, 1425, 1430, 1435, 1440,
1445, 1450 may be raised or lowered so that the coil path continues
in a smooth manner, without any sudden ledges or stress points, and
with the connection centered at the level of connection. For
example, for the connection between segments 1410a and 1410b, point
1420 may be lowered and point 1425 may be raised, as illustrated in
FIG. 14C. The amount that the points are raiser or lowered by may
be one-half of the thickness of the segments 1410a-d. The overall
helical path may be set by slight inclines, or a continuous
incline, included in supporting structures immediately above and
below the coil. The supporting structures may be clamped-down on
the coil when the bolts are tightened, and can also include
starting levels for the four bolts so that the coil may be formed
with smooth transitions and minimal deformation in the segments
1410a-d when the bolts are tightened. A similar approach is
possible where three bolts are used and segments repeat more
frequently, possibly forming a triangular shaped coil. Use of a
greater number of bolts is also possible. The segments may also be
fabricated so that a circular path is formed, rather than a
rectangular one.
[0083] Instead of including raised and lowered sections in the coil
segments 1410a-d, the connection points 1415, 1420, 1425, 1430,
1435, 1440, 1445, 1450 may be of half-thickness, where two segments
join together to yield the coil path thickness, and the path would
continue smoothly. This type of connection may overlap with
intermediate segments to a larger degree. Additionally, in some
devices, added stress and deformation caused by not raising and
lowering the connection points 1415, 1420, 1425, 1430, 1435, 1440,
1445, 1450 in the segments 1410a-d may be acceptable, and the
tensioning in the bolts may be used to give the segments 1410a-d
their final shape.
[0084] FIG. 15 illustrates another example rotary device 1500
inside a wheel. As with the devices described above, the device
1500 may be attached to the chassis of a vehicle. The device 1500
includes a cam 1505, two opposed electromagnetic actuators 1510a,
1510b, a magnetic stator assembly 1520 (including magnetic stators
1515a, 1515b), a support structure 1525, and fluid dampers 1530a,
1530b. The rotary device depicted inside the wheel may be attached
to the wheel via the cam 1505 as described below.
[0085] FIG. 16A illustrates the example rotary device 1500 with the
tire of the wheel, and some other components, removed. The device
1500 is similar to the devices described above, but includes a
central disc 1635 sandwiched between to pairs of electromagnetic
actuators 1510a, 1510b, 1610a, 1610b and two magnetic stator
assemblies 1520, 1620. Each of the magnetic stator assemblies 1520,
1620 includes two magnetic stators 1515a, 1515b, 1615a, 1615b,
which include magnetic flux return paths 1640a-d and magnets (e.g.,
1630a, 1630b). The housings surrounding the coils of the
electromagnetic actuators 1510a, 1510b, 1610a, 1610b are not shown.
Each coil reciprocates along four arrays of magnets, which, as
described above, may include multiple magnets. Two of the magnet
arrays are located inside the coil (e.g., inner magnetic stator
component 1630b) and two are located outside the coil (e.g., outer
magnetic stator component 1630a). Each set of magnets are mounted
to a magnetic flux return path 1640a-d.
[0086] The disc 1635 includes two cams, one on either side of the
disc 1635. Each cam of the example device is in the form of a grove
that includes an inner surface 1605a and an outer surface 1605b.
Coupled to electromagnetic actuators 1510a and 1510b are two pairs
of followers 1625a, 1625b, the different followers of each pair
interfacing with a respective surface 1605a, 1605b of the cam.
Electromagnetic actuators 1610a and 1610b are similarly coupled to
followers. As the coils move towards each other, one of the
followers of each electromagnetic actuator 1510a, 1510b exerts
force on the inner surface 1605a of the cam. As the coils move away
from each other, the other follower exerts force on the outer
surface 1605b of the cam.
[0087] FIG. 16B illustrates a different view of the example rotary
device 1500. It should be apparent that each pair of
electromagnetic actuators (pair 1510a, 1510b and pair 1610a, 1610b)
are at different phases of reciprocation. This is because, in the
example device, the cams on either side of the disc 1635 are
rotationally offset from each other by, for example, forty-five
degrees. This helps to prevent the actuators from stopping at a
point on the cams from which it would be difficult to again start.
Thus, if one pair of actuators stops on a "dead-spot" of its
respective cam, the other pair of actuators would not be at a
dead-spot. Alternatively, if the cams were not offset from each
other, or if only one cam were used, a controller may control the
rotation of the cam so that the actuators do not stop on a dead
spot. FIG. 16B also illustrates an arrangement of the coils and
magnetic stator components. For example, magnetic stators
components 1630b and 1630c are located inside the coil of actuator
1610a, and magnetic stators components 1630a and 1630d are located
outside the coil.
[0088] FIG. 16C illustrates two rotationally offset cams 1505,
1606. The cams 1505, 1606 may be part of or mounted on a disc 1635.
One cam 1505 may be on one side of the disc 1635, and the other cam
1606 may be on the opposite side, as indicated by the dashed line.
In some devices the cam may be offset by forty-five degrees, for
example. The cams 1505, 1606 may have any even number of lobes.
Cams having two lobes, for example, may be offset by forty-five
degrees. Cams having four lobes, for example, may be offset by
twenty-two and a half degrees.
[0089] FIG. 16D illustrates a vertical cross-section of a disc 1635
with two rotationally offset cams, each having in inner surface
1605a, 1605c and an outer surface 1605b, 1605d. Due to the offset,
the inner surfaces 1605a, 1605c are not in line with each other.
Likewise, the outer surfaces 1605b, 1605d are also not in line with
each other.
[0090] FIG. 16E illustrates that the inner and outer surfaces
1605a, 1605b of a cam may be shaped in a complex pattern, such as,
for example, a shape having an even number of lobes. As noted
above, the sides of each lobe may be shaped in the form of a sine
wave or portions of an Archimedes spiral, for example. The inner
and outer surfaces 1605a, 1605b illustrated in FIG. 16E each have
four lobes.
[0091] FIG. 17A illustrates how the disc 1635 of the example rotary
device may be coupled to the rim 1705 of a wheel. The rim 1705 may
consist of one piece to which the disc 1635 may be affixed using
fasteners, such as bolts, along an inner ring 1715. Alternatively,
the rim 1705 may include two parts 1710a, 1710b that bolt together
along ring 1715. When fastened together, the two parts 1710a, 1710b
form a full rim 1705 with inner ring 1715. A tire may then be
mounted to the rim 1705. FIG. 17B shows how the disc 1635 may be
fastened to the inner ring 1715 of the disc 1635.
[0092] FIG. 18 illustrates two support structures 1525, 1825
coupling respective magnetic stator assemblies 1520, 1620 with
electromagnetic actuators 1510a, 1510b, 1610a, 1610b through a
plurality of shafts and fluid dampers 1530a, 1530b, 1830a. Support
structure 1525 is slidably coupled to magnetic stator assembly 1520
using fluid dampers 1530a, 1530b. Fluid damper 1530a may be coupled
to the support structure 1525, for example, at point 1810 and
coupled to magnetic stator assembly 1820a at point 1805. Likewise,
support structure 1825 is slidably coupled to magnetic stator
assembly 1620 using fluid damper 1830a and a corresponding fluid
damper (now shown) on the far side of the device.
[0093] FIGS. 19A-19C illustrate an example arrangement of the
components of a magnetic stator assembly. Referring to FIG. 19A,
magnet array 1910a is an outer magnet array and magnet array 1910b
is an inner magnet array. The overall magnetic flux return path
1640a supports the magnet arrays. The particular geometric shape of
the example return path 1640a allows the return path 1640a to be
formed using a cost-effective extrusion process. Specifically, four
flux paths may be joined together at a center junction and two end
junctions, and many such structures may be cut from a single
extrusion. Also illustrated is a base structure 1920a on which the
magnetic stator components may be mounted.
[0094] FIG. 19B illustrates a component 1905 used to deliver liquid
coolant to the magnets, which may be sprayed onto the coils as they
pass by the magnets. Liquid coolant may be transported from the
base structure 1920a to the magnet arrays 1910a, 1910b through a
component 1905 that is fastened along the edge of the return path
1640a. The liquid may flow through an opening 1915 in the base
structure 1920a, through a channel 1917 of the component 1905, and
into a chamber 1925 located in a gap formed by parts of the return
path 1640a. From inside the chamber 1925, the liquid coolant may be
directed through openings (e.g., holes) in the magnet arrays 1910a,
1910b and sprayed onto the coils as they reciprocate by the
openings.
[0095] FIG. 19C illustrates four magnetic stators that are coupled
to a central mount 1945. If the rotary device is employed in the
wheel of a vehicle, for example, the mount 1945 may be coupled to
the chassis of the vehicle.
[0096] FIGS. 20A-20G illustrate the construction of an example coil
from one of the electromagnetic actuators. FIG. 20A shows an entire
coil 2000 from an electromagnetic actuator. It should noted that
the coil 2000 may consist of many smaller coils. FIG. 20B
illustrates four coil segments that are combined into one coil
2005. A number of such segments may be combined to form the larger
coil 2000 of FIG. 20A. FIG. 20C is an exploded view 2010 of the
coil 2005 of FIG. 20B. Each segment 2015, 2020, 2025, 2030 of the
example coil may be a flat piece of metal formed by, for example, a
stamping or etching process. The segments 2015, 2020, 2025, 2030
may be assembled in the configuration shown in FIG. 20C to form a
full coil. When assembled, electrical current 2075 may flow through
the coil, for example, from starting point 2035 to ending point
2070. For example, the current 2075 may begin at point 2035 and
flow counter-clockwise around segment 2015 to point 2040. At point
2040, the current continues to point 2045 as points 2040 and 2045
are in electrical contact with each other when the segments are
combined. From point 2045, the current 2075 flows counter-clockwise
around segment 2020 to point 2050, where the current continues to
point 2055 as described above. From point 2055, the current 2075
flows counter-clockwise around segment 2025 to point 2060, where
the current continues to point 2065, and flows counter-clockwise
around segment 2030 to point 2070.
[0097] As described above, to prevent the electrical current from
straying from the above-described path, each segment may be coated
with an electrically-insulating layer of material, except for the
surfaces between which the current is meant to propagate, such as
the top surface of point 2040 and the bottom surface of point 2045.
When the coil segments are assembled in the form illustrated in
FIG. 20B, fasteners, such as bolts, may be inserted through the
openings of the segments. When the segments are assembled, there
may remain gaps between some of the above points. To allow the
fasteners to tightly secure the segments together,
electrically-insulating spacers may be inserted between the points
to fill the gaps.
[0098] FIG. 20D shows one coil segment 2015. FIG. 20E shows a
second coil segment 2020 stacked on top of segment 2015. FIG. 20E
shows a third coil segment 2025 stacked on top of segments 2015 and
2020, and FIG. 20G shows a fourth coil segment 2030 stacked on top
of segments 2015, 2020, and 2025, resulting in a full coil as
illustrated in FIG. 20B.
[0099] FIG. 21A illustrates a side view of two rotary devices with
respective wheels 2105a, 2105b. FIG. 21B illustrates a top view of
the same two devices and wheels 2105a, 2105b. The two devices are
used in tandem and may be used in vehicular applications. For
example, a vehicle may include four pairs of devices, one pair at
each corner of the vehicle. Each device includes a magnetic stator
assembly, opposed coils, and linear-to-rotary converter (hidden
from view). The devices are coupled to respective wheels 2105a,
2105b and are held together with a central mounting structure 145.
The mounting structure 145 may include, or be coupled to, a
vertical shaft 2110 for coupling to the chassis of a vehicle. The
shaft 2110 may allow rotation of the two wheels 2105a, 2105b
relative to the chassis of the vehicle and about the shaft
2110.
[0100] FIGS. 22A-22C illustrate example rotations of the wheels
2105a, 2105b. FIG. 22A shows that the rotary devices may create
propulsion for the vehicle by causing both wheels 2105a, 2105b to
rotate in the same direction. FIG. 22B shows that the rotary
devices may cause the two wheels to turn with respect to the
vehicle by rotating the wheels 2105a, 2105b at differential rates.
The difference in wheel rotation rates creates propulsion for the
vehicle and causes the vehicle to move along a curved path. FIG.
22C shows that the rotary devices may cause the two wheels to turn
with respect to the vehicle by rotating the wheels 2105a, 2105b in
opposite directions when the vehicle is not in motion.
[0101] FIGS. 23A and 23B illustrate example vertical movement of
the wheels 2105a, 2105b. FIG. 23A shows that one of the devices may
cause its respective wheel 2105b move in a vertical direction off
of the ground. The wheel 2105b may also be rapidly shook in the
vertical direction to remove liquid from the surface of the wheel
1205b. Additionally, both wheels 2105a, 2105b may move up or down
together to lower or raise the ride height of the vehicle. The two
wheels 2105a, 2105b may even be thrust downward with sufficient
force to cause the vehicle to jump. FIG. 23B shows that the shaft
2110 may be coupled to the chassis of the vehicle so as to allow
for angular movement of the shaft 2110 relative to the chassis by,
for example, using a pivot 2305 or similar component to couple the
shaft 2110 with the chassis. In this configuration, different
vertical movements of the two wheels 2105a, 2105b causes the wheels
2105a, 2105b to tilt, or camber. For example, one wheel 2105a may
move downward and the other wheel 2105b may move upward, causing
the wheels 2105a, 2105b, as well as the mount 145 and shaft 2110 to
tilt. Alternatively, a pivot, or similar component, may be used to
couple the shaft 2110 with the mount 145, causing the wheels 2105a,
2105b and the mount 145 to tilt, but not the shaft 2110.
[0102] FIGS. 24A-24F illustrate a top view of a vehicle 2405 having
four pairs of rotary devices with respective pairs of wheels
2410a-d. FIG. 24A shows the vehicle 2405 with four pairs of rotary
devices and respective wheels 2410a-d, one pair at each corner of
the vehicle 2405. The vehicle may also be configured with different
wheel arrangements, such as two pairs of rotary devices and
respective wheels at the front corners of the vehicle. In such an
arrangement, the wheels at the rear corners of the vehicle may be
conventional vehicle wheels. As shown in FIG. 24A, all of the wheel
pairs 2410a-d may be oriented in the forward direction to provide
forward propulsion for the vehicle. FIG. 24B shows that the two
front pairs of wheels 2410a, 2410b may be turned to the right, for
example, to cause the moving vehicle 2405 to turn to the right.
FIG. 24C shows that the rear pairs of wheels 2410c, 2410d may be
turned in a complimentary direction, for example, to the left, to
improve the turning radius of the vehicle 2405. FIG. 24D shows that
each of the wheel pairs 2410a-d may be oriented in a direction that
is tangential to a circular path to cause the vehicle 2405 to
rotate about its center. FIG. 24E shows that each of the wheel
pairs 2410a-d may be oriented in the same direction, other than the
forward direction, to cause the vehicle 2405 to move, for example,
diagonally or sideways. FIG. 24F shows that each of the wheel pairs
2410a-d may be pointed toward, or away from, the center of the
vehicle to prevent any movement of the vehicle, obviating the need
for a parking brake. The independent movements of each wheel may be
controlled by a respective electrical unit 410 (FIG. 4B) and all
movements may be coordinated by a central controller 430 (FIG. 4B)
in communication with the electrical units.
[0103] While this invention has been particularly shown and
described with references to example embodiments thereof, it will
be understood by those skilled in the art that various changes in
form and details may be made therein without departing from the
scope of the invention encompassed by the appended claims. For
example, in addition to being used in a motor vehicle, the
disclosed devices may also be used in trains, planes, robots, and
force-reflecting human interfaces.
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