U.S. patent application number 17/625613 was filed with the patent office on 2022-06-30 for gearless torque motor catching structure.
The applicant listed for this patent is ABB Schweiz AG. Invention is credited to Radim Capla, Ulf Richter.
Application Number | 20220209615 17/625613 |
Document ID | / |
Family ID | |
Filed Date | 2022-06-30 |
United States Patent
Application |
20220209615 |
Kind Code |
A1 |
Richter; Ulf ; et
al. |
June 30, 2022 |
Gearless Torque Motor Catching Structure
Abstract
It is provided an actuated machine having a main frame 100, a
machine shaft 200 mounted on the main frame 100 by means of a
bearing module 300, a gearless torque motor 400 coupled to the
machine shaft 200 for driving a rotation of the machine shaft 200,
a torque arm 500 coupled to the gearless torque motor 400, and a
catching structure. The gearless torque motor 400 is coupled to the
machine shaft 200 such that the gearless torque motor 400 is
capable of following a translational movement of the machine shaft
200. The torque arm 500 is coupled to the gearless torque motor 400
for inhibiting a rotational motion of the gearless torque motor
400, relative to the main frame 100, about a central axis of the
gearless torque motor. The catching structure is arranged
underneath the gearless torque motor 400 for catching and holding
the gearless torque motor 400 in case of a failure causing the
gearless torque motor's weight to be no longer carried by the
machine shaft 200.
Inventors: |
Richter; Ulf; (Baden,
CH) ; Capla; Radim; (Baden, CH) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
ABB Schweiz AG |
Baden |
|
CH |
|
|
Appl. No.: |
17/625613 |
Filed: |
July 14, 2020 |
PCT Filed: |
July 14, 2020 |
PCT NO: |
PCT/EP2020/069912 |
371 Date: |
January 7, 2022 |
International
Class: |
H02K 5/00 20060101
H02K005/00; H02K 7/00 20060101 H02K007/00; H02K 7/14 20060101
H02K007/14 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 15, 2019 |
EP |
19186304.2 |
Claims
1. An actuated machine comprising: a main frame; a machine shaft
mounted on the main frame by means of a bearing module; a gearless
torque motor coupled to the machine shaft for driving a rotation of
the machine shaft; a torque arm coupled to the gearless torque
motor; and a catching structure, wherein the gearless torque motor
is coupled to the machine shaft such that the gearless torque motor
is capable of following a translational movement of the machine
shaft, wherein the torque arm is coupled to the gearless torque
motor for inhibiting a rotational motion of the gearless torque
motor, relative to the main frame, about a central axis of the
gearless torque motor, and wherein the catching structure is
arranged underneath the gearless torque motor for catching and
holding the gearless torque motor in case of a failure causing the
gearless torque motor's weight to be no longer carried by the
machine shaft.
2. The actuated machine according to claim 1, wherein the gearless
torque motor includes a stator portion and a rotor portion.
3. The actuated machine according to claim 1, wherein the catching
structure is separated from the gearless torque motor by an air gap
and/or wherein the catching structure is mounted directly on the
main frame.
4. The actuated machine according to claim 1, wherein the gearless
torque motor is coupled to the machine shaft such that the machine
shaft carries at least 50% or at least 90% of the gearless torque
motor's weight.
5. The actuated machine according to claim 1, wherein a first end
portion of the torque arm is attached to the gearless torque motor
and/or a part rigidly connected to the gearless torque motor such
as to inhibit the rotational motion of the gearless torque motor,
relative to the main frame, about a central axis of the gearless
torque motor.
6. The actuated machine according to claim 1, wherein the catching
structure includes a holding structure and/or a supporting
structure.
7. The actuated machine according to claim 5, wherein a second end
portion of the torque arm is attached to at least one of a first
group, the first group including: the catching structure, a holding
structure, a supporting structure, and the main frame.
8. The actuated machine according to claim 6, wherein the holding
structure is a swing base, the holding structure is at least
partially supported by a pivot support and/or the holding structure
is at least partially supported by a supporting structure.
9. The actuated machine according to claim 6, wherein the
supporting structure supports the holding structure's weight and/or
the gearless torque motor's weight in case of a failure causing the
gearless torque motor's weight to be no longer carried by the
machine shaft.
10. The actuated machine according to claim 6, wherein the holding
structure includes at least one stopper for stopping and holding
the gearless torque motor in case of a failure causing the gearless
torque motor's weight to be no longer carried by the machine
shaft.
11. The actuated machine according to claim 1, wherein the actuated
machine further includes at least one of a second group, wherein
the at least one of the second group is separated by an air gap
from the gearless torque motor, the second group including: a
holding structure, a supporting structure, and a stopper.
12. The actuated machine according to claim 1, wherein the catching
structure's weight is supported by the main frame.
13. The actuated machine according to claim 11, wherein an air gap
decouples the at least one of the second group's weight from the
gearless torque motor, the at least one of the second group's
weight is not supported by the machine shaft and/or the at least
one of the second group's weight is not supported by the gearless
torque motor.
14. The actuated machine according to claim 1, wherein the machine
shaft is provided for driving a conveyor belt.
15. The actuated machine according to claim 1, wherein the gearless
torque motor weighs at least 500 kg preferably 1000 kg, and/or a
holding structure weighs at least 200 kg, preferably 400 kg.
16. The actuated machine according to claim 2, wherein the catching
structure is separated from the gearless torque motor by an air gap
and/or wherein the catching structure is mounted directly on the
main frame.
17. The actuated machine according to claim 2, wherein the gearless
torque motor is coupled to the machine shaft such that the machine
shaft carries at least 50% or at least 90% of the gearless torque
motor's weight.
18. The actuated machine according to claim 2, wherein a first end
portion of the torque arm is attached to the gearless torque motor
and/or a part rigidly connected to the gearless torque motor such
as to inhibit the rotational motion of the gearless torque motor,
relative to the main frame, about a central axis of the gearless
torque motor.
19. The actuated machine according to claim 2, wherein the catching
structure includes a holding structure and/or a supporting
structure.
Description
TECHNICAL FIELD
[0001] Aspects of the invention relate to a gearless torque motor
catching structure, in particular an actuated machine having a
gearless torque motor and a catching structure. Further aspects
relate to a process of manufacturing an actuated machine having a
gearless torque motor and a catching structure.
BACKGROUND
[0002] An actuated machine may include a machine and a motor. The
machine may be actuated by the motor. The motor may be coupled to a
machine shaft via a gearbox. The motor and gearbox may be installed
and bolted on a common swing base that serves as a torque arm. The
weight of the gearbox, the motor and the common swing base hangs on
the machine shaft. In such a configuration, a heavy weight is
placed on the machine shaft. In the case where the machine shaft
fails, the weight of the motor, gearbox, and swing base may cause
damage.
[0003] In retrofits, the motor and gearbox may be replaced by a
gearless torque motor driving the machine directly without a
gearbox. In such a case, the machine shaft carries the weight of
the gearless torque motor and the swing base.
[0004] Thus, there is a need for reducing the risk that a shaft
fails, e.g., that the machine shaft or motor shaft coupled to the
machine shaft breaks. There is also a need to reduce the damage
that may be caused in a case where a shaft fails e.g., breaks.
[0005] Patent document US20130344969A1 describes a gearless drive
with a bearing-free rotor shaft for a driving drum of a belt
conveyor plant. The gearless drive includes a support. The support
is positioned such that it forms a horizontal repository for the
rotor shaft in the event of separation between the rotor shaft and
a drum shaft connected to the driving drum, without the rotor
touching the stator, and such that said support does not touch the
rotor shaft in the event of connection between the rotor shaft and
drum shaft.
[0006] Patent document EP2664563A1 describes a motor drive for a
gearless belt conveyor drive system comprising a motor base frame,
a torque arm mounted on the motor base frame, a rotationally
symmetrical stator of a synchronous motor being fixedly held by the
torque arm and a rotationally symmetrical rotor casing containing
permanent magnet elements of the rotor of the synchronous motor.
The rotor casing is directly mountable on a front end of a
cylindrical belt conveyor pulley so that the permanent magnet
elements of the rotor are rotary around the stator and so that the
symmetry axis of the rotor casing and the symmetry axis of the
stator are aligned with each other and with the longitudinal axis
of the belt conveyor pulley. This motor drive belongs to a gearless
belt conveyor drive system, which further comprises a cylindrical
belt conveyor pulley mounted so as to be rotary around its
longitudinal axis, and at least one flange for fixedly connecting
the belt conveyor pulley and the rotor casing of the motor
drive.
[0007] Patent document DE2822993A1 describes a rotor of the driving
motor mounted directly on the tube forming the kiln. and preferably
close to a bearing. In order to compensate for tube eccentricities,
the motor stator is mounted directly on the rotor the parts being
separated by a ball or roller bearing system. A torque arm with
universal joints supports the reaction on the stator. The
construction allows the machine to follow irregularities in the
kiln tube movement without affecting the motor air gap.
[0008] Patent document US20070032360A1 describes an apparatus for
manufacturing and/or treating a fiber material web having a roll
with a bearing journal which is present at one roll end, a frame
for mounting the roll rotatably and a hollow-shaft motor which is
plugged onto the bearing journal of the roll, the motor being
connected to the roll frame via a motor fastener.
[0009] Patent document DE10339733A1 describes a drive directly
connected mechanically and rigid, to the rotor of an electric
motor. The stator of the motor is connected mechanically and
elastic to a machine bed of roller frame of an appliance. The
elastic stator bearing is arranged so that the stator is connected
mechanically rigid with the housing of the electric motor, while
the housing is connected mechanically elastic to machine bed or
roller frame. The motor has a bearing for mechanical guidance only,
and the roller has similar bearings. The motor is a torque
motor.
[0010] Patent document CN104753223A describes a waterproof base for
a motor.
SUMMARY
[0011] In view of the above, an actuated machine is provided.
[0012] According to an aspect, there is provided an actuated
machine having a main frame, a machine shaft mounted on the main
frame by means of a bearing module, a gearless torque motor coupled
to the machine shaft for driving a rotation of the machine shaft, a
torque arm coupled to the gearless torque motor and a catching
structure. The gearless torque motor is coupled to the machine
shaft such that the gearless torque motor is capable of following a
translational movement of the machine shaft. The torque arm is
coupled to the gearless torque motor for inhibiting a rotational
motion of the gearless torque motor, relative to the main frame,
about a central axis of the gearless torque motor. The catching
structure is arranged underneath the gearless torque motor for
catching and holding the gearless torque motor in case of a failure
causing the gearless torque motor's weight to be no longer carried
by the machine shaft.
[0013] According to embodiments, the gearless torque motor may be
coupled to the machine shaft such that the machine shaft carries at
least 50% or at least 90% of the gearless torque motor's
weight.
[0014] According to embodiments, the first end portion of the
torque arm attached to the gearless torque motor and/or a part
rigidly connected to the torque motor such as to inhibit the
rotational motion of the gearless torque motor, relative to the
main frame, about a central axis of the gearless torque motor.
[0015] According to embodiments, the catching structure includes a
holding structure and/or a supporting structure.
[0016] According to embodiments, the second end portion of the
torque arm may be attached to at least one of a first group, the
first group including at least: the catching structure, a holding
structure, a supporting structure, and the main frame.
[0017] According to embodiments, the holding structure may be a
swing base, the holding structure may be at least partially
supported by a pivot support and/or the holding structure may be at
least partially supported by a supporting structure.
[0018] According to embodiments, the supporting structure supports
the holding structure's weight and/or gearless torque motor's
weight in case of a failure causing the gearless torque motor's
weight to be no longer carried by the machine shaft.
[0019] According to embodiments, the holding structure has at least
one stopper for stopping and holding the gearless torque motor in
case of a failure causing the gearless torque motor's weight to be
no longer carried by the machine shaft.
[0020] According to embodiments, there may be provided at least one
of a second group, wherein the at least one of the second group may
be separated by an air gap from the gearless torque motor, the
second group including at least: the catching structure, a holding
structure, a supporting structure, and a stopper.
[0021] According to embodiments, the at least one of the second
group's weight may be at least partially supported by the main
frame and/or a surface of the ground.
[0022] According to embodiments, the air gap may decouple the at
least one of the second group's weight from the gearless torque
motor. Alternatively, or in addition, the at least one of the
second group's weight may not be supported by the machine shaft.
Alternatively, or in addition, the at least one of the second
group's weight may not be supported by the gearless torque
motor.
[0023] According to embodiments, the machine shaft may be provided
for driving a conveyor belt.
[0024] According to embodiments, the gearless torque motor weighs
at least 500 kg preferably 1000 kg, and/or a holding structure
weighs at least 200 kg, preferably 400 kg.
[0025] Another aspect is directed to a process of manufacturing an
actuated machine having a main frame, a machine shaft mounted on
the main frame by means of a bearing module, a gearless torque
motor coupled to the machine shaft for driving a rotation of the
machine shaft, a torque arm coupled to the gearless torque motor
and a catching structure. The gearless torque motor may be coupled
to the machine shaft such that the gearless torque motor is capable
of following a translational movement of the machine shaft. The
torque arm may be coupled to the gearless torque motor for
inhibiting a rotational motion of the gearless torque motor,
relative to the main frame, about a central axis of the gearless
torque motor. The catching structure may be arranged underneath the
gearless torque motor for catching and holding the gearless torque
motor in case of a failure causing the gearless torque motor's
weight to be no longer carried by the machine shaft.
[0026] Some advantages relating to the gearless torque motor and/or
coupling to the machine shaft are described as follows.
[0027] The gearless torque motor may eliminate the need for a
gearbox. The gearless torque motor may follow possible positions
and/or movements of the machine shaft. This facilitates easy
alignment of the system components. Installation may also be
faster. By being coupled directly to the machine shaft, the
gearless motor may be naturally dynamically aligned to the machine
shaft. Misalignments arising during operation, for example due to
temperature changes i.e., thermal expansion may be avoided. High
forces or loads in the construction or on couplings due to
deflections, expansions, movements or displacements in the
mechanical structure and components such as shaft(s) may be
avoided. In retrofits, for example replacing geared drives in
existing installations with gearless drives, the new gearless drive
may be such that the existing connection points to the mechanical
structure of the machine need not be changed or modified. Thus,
gearless drive motors can be implemented without major modification
or infeasible or uneconomic reinforcement of the existing steel
structure of a machine.
[0028] Some advantages relating to the torque arm and/or coupling
to the gearless torque motor are described as follows.
[0029] The torque arm may stop the gearless torque motor from
rotating freely while the machine shaft remains stationary. The
torque arm may enable the gearless torque motor to drive or actuate
the machine via the machine shaft.
[0030] Some advantages relating to the catching structure are
described as follows.
[0031] Damage that may be caused in a case where the machine shaft
and/or motor shaft fails or breaks may be reduced or avoided by the
catching structure. Where the existing installation already has a
swing base, the swing base may perform the function of the holding
structure. This has an advantage that additional and/or substitute
holding structure may not be needed. The pivot allows horizontal
movement of the holding structure and/or swing base. Furthermore,
the swing base as part of the catching structure may therefore be
arranged underneath the gearless torque motor for catching and
holding the gearless torque motor in case of a failure causing the
gearless torque motor's weight to be no longer carried by the
machine shaft. This has an advantage that the weight of the holding
structure may be supported by the supporting structure rather than
hanging on the machine shaft. Furthermore, in case of a failure
causing the gearless torque motor's weight to be no longer carried
by the machine shaft, the supporting structure subsequently carries
the weight of the gearless torque motor whether directly or
indirectly via the holding structure. Thus, the catching structure,
holding structure, supporting structure, and/or stopper may be
separated and/or disconnected from the motor and/or does not hang
on the machine shaft. For example, the weight of the swing base may
be separated or disconnected from the motor and/or does not hang on
the machine shaft. Accordingly, the weight of the catching
structure, holding structure, supporting structure, and/or stopper
may not be added to the weight of the motor. Thus, the weight of
the at least one of the second group may not be hanging on the
machine shaft and/or motor shaft. In this way, the weight on the
machine shaft may be reduced. For example, the weight on the
machine shaft may be reduced by a third. In retrofits, when
installing the motor to the machine shaft, the weight on the
machine shaft should not be higher than the pre-existing motor
and/or gearbox, for example, when replacing a geared drive with a
gearless drive. By reducing the weight on the machine shaft, it may
also be advantageous for new installations. For example, the risk
of machine and/or motor shaft breakage may be reduced and/or the
weight limit of the new motor may be increased. It may be that the
machine shaft and/or motor shaft may not be able to carry the motor
and/or the forces may be too high for permanent operation when the
weight of the torque motor together with accessories, brakes and/or
torque arm is too heavy. Thus, there may be an advantage of
avoiding too much weight and/or having too high forces, and thus
avoiding the need for modifications of existing machine shaft
and/or common shaft line. Thus, modifications like reinforcement of
the machine shaft, bearings and/or other parts of the actuated
machine which may be costly and time-consuming may be avoided.
[0032] Further advantages, features, aspects and details that can
be combined with embodiments described herein are evident from the
dependent claims, the description and the drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0033] The details will be described in the following with
reference to the figures, wherein
[0034] FIGS. 1A and 1B are cross-sectional representations from two
sides of an actuated machine according to embodiments described
herein, and
[0035] FIGS. 2A and 2B are cross-sectional representations from two
sides of an actuated machine according to embodiments described
herein.
DETAILED DESCRIPTION
[0036] Reference will now be made in detail to the various
embodiments, one or more examples of which are illustrated in each
figure. Each example is provided by way of explanation and is not
meant as a limitation. For example, features illustrated or
described as part of one embodiment can be used on or in
conjunction with any other embodiment to yield yet a further
embodiment. It is intended that the present disclosure includes
such modifications and variations.
[0037] Within the following description of the drawings, the same
reference numbers refer to the same or to similar components.
Generally, only the differences with respect to the individual
embodiments are described. Unless specified otherwise, the
description of a part or aspect in one embodiment applies to a
corresponding part or aspect in another embodiment as well.
[0038] The reference numbers used in the figures are merely for
illustration. The aspects described herein are not limited to any
particular embodiment. Instead, any aspect described herein can be
combined with any other aspects or embodiments described herein
unless specified otherwise.
[0039] According to aspects or embodiments described herein, the
problems of reducing the risk that the machine shaft breaks and of
the damage caused if it breaks may be reduced or avoided. As shown
in the figures, there is provided an actuated machine which may
have a main frame 100, a machine shaft 200 mounted on the main
frame by means of a bearing module 300, a gearless torque motor 400
coupled to the machine shaft 200 for driving a rotation of the
machine shaft 200, a torque arm 500 coupled to the gearless torque
motor 400, and/or a catching structure.
[0040] Some embodiments relating to the gearless torque motor are
described as follows.
[0041] In addition to a gearless torque motor 400, the actuated
machine may include couplings, and/or brake module. A gearless
torque motor 400 may substitute a motor and gearbox such that the
gearless torque motor 400 may be installed directly to the machine
shaft 200. The gearless torque motor 400 may include a rotor
portion, stator portion, motor frame and/or motor feet. In an
example, the gearless torque motor 400 includes a rotor portion and
a stator portion. The gearless torque motor 400 may drive the
machine shaft 200 thus actuate the machine. The gearless torque
motor 400 may be coupled to the machine shaft 200 such that the
gearless torque motor 400 may be capable of following a
translational motion of the machine shaft 200. The gearless torque
motor 400 may be coupled to the machine shaft 200 such as to follow
a translational movement of the machine shaft 200 relative to the
main frame 100 and/or the catching structure.
[0042] The gearless torque motor 400 is not rigidly connected
and/or is unconnected to the catching structure. The gearless
torque motor 400 is able to move relative to the catching
structure. Translational motion may include any of the following:
motion in any direction or all directions, motion in at least all
directions perpendicular to the central axis of the gearless torque
motor 400, motion in a vertical direction parallel to gravity. The
gearless torque motor 400 may be coupled to the machine shaft 200
such that the machine shaft 200 carries the majority of the weight
of the motor 400. The machine shaft 200 may carry at least 50% or
at least 90% of the weight of the gearless torque motor 400. The
machine shaft 200 may drive a conveyor belt. The gearless torque
motor 400 may weigh at least 500 kg. Alternatively, the gearless
torque motor 400 may weigh at least 1000 kg. The gearless torque
motor 400 may include an identifiable motor shaft portion.
Alternatively, the gearless torque motor 400 may not include an
identifiable motor shaft portion. The motor 400 may be coupled to a
machine shaft 200 as follows. The rotor portion of the gearless
torque motor 400 may be coupled directly to the machine shaft 200.
Alternatively, the identifiable motor shaft portion may be coupled
to the machine shaft 200. The motor shaft portion may be a hollow
shaft. The hollow motor shaft may be plugged onto the machine
shaft. The coupling may transfer rotational movement. The coupling
may be a rigid coupling. Examples of a rigid coupling may be
plugged coupling, sleeve coupling, clamp coupling, ring compression
type coupling and flange coupling. The coupling may be such that
axial load is not transferred. Alternatively, or in addition, the
coupling may be such that axial load taken by axial load
bearings.
[0043] Some further embodiments relating to the torque arm are
described as follows.
[0044] The torque arm 500 may be coupled to the gearless torque
motor 400 for inhibiting a rotational motion of the gearless torque
motor 400, relative to the main frame 100, about a central axis of
the gearless torque motor. The first end portion of the torque arm
500 may be attached to the gearless torque motor 400, a motor frame
of the gearless torque motor 400, a motor feet 410 of the gearless
torque motor 400, or a part rigidly connected to the gearless
torque motor 400. The torque arm 500 may allow linear or
translational motion of the gearless torque motor 400. The
attachments to the torque arm 500 may be by means of a rotational
joint. The torque arm 500 may be rigid between its first end
portion and second end portion. The torque arm 500 may be anchored
on the second end portion to a structure such as the catching
structure, holding structure 610, swing base, supporting structure
620, main frame 100, base frame and/or conveyor structure. A second
end portion of the torque arm 500 may be attached to at least one
of a first group, the first group including at least the following:
the catching structure, a holding structure 610, a supporting
structure 620, and the main frame 100. The torque arm 500 may stop
the gearless torque motor 400 from rotating completely freely. The
torque arm 500 may remain coupled to the gearless torque motor 400
while allowing some small rotation of the gearless torque motor 400
relative to the torque arm 500. A small rotation of the gearless
torque motor 400 relative to the torque arm 500 may result from a
translational movement of the gearless torque motor 400. A small
rotation may be considered as a rotation on the order of degrees
rather than tens of degrees, or according to the length of the
torque arm 500 and the relative magnitude of the translation motion
of the gearless torque motor 400. The torque arm 500 may be
supported by the catching structure. In an example, the torque arm
500 is anchored on the catching structure. Accordingly, a rotation
of the stator of the gearless torque motor 400 relative to the main
frame 100 may be restricted by the torque arm 500.
[0045] Some further embodiments relating to the catching structure
are described as follows.
[0046] The catching structure may be arranged underneath the
gearless torque motor 400 for catching and holding the gearless
torque motor 400 in case of a failure causing the gearless torque
motor's weight to be no longer carried by the machine shaft 200.
The catching structure may be configured to catch and hold the
gearless torque motor 400 in the range of possible movement of the
gearless torque motor 400. A range of possible movement of the
gearless torque motor 400 may be: the range of possible movement of
the machine shaft 200, to which the gearless torque motor 400 is
coupled to, and/or the range of translation movement of the machine
shaft 200 which the gearless torque motor 400 follows. The catching
structure may have design, structure, shape and/or dimensions
suitable for catching and holding the gearless torque motor 400.
The dimensions of the catching structure may be larger than
dimensions for catching and holding the gearless torque motor 400
in the case where the gearless torque motor 400 does not follow the
machine shaft 400 and/or in the case where the gearless torque
motor 400 falls directly downwards from an initial installed
position. The catching structure may include a holding structure
610 and/or a supporting structure 620. The holding structure 610
may be a swing base. The holding structure 610 may be at least
partially supported by a pivot support 611 and/or a supporting
structure 620. The holding structure 610 may rest on or adjoin the
supporting structure 620. Alternatively, the holding structure 610
may be separated from the supporting structure 620 by an air gap.
As shown in FIGS. 2A and 2B, the holding structure 610 may have at
least one edge raised above the supporting structure 620. The at
least one raised edge of the holding structure 610 may be suitable
for catching and holding the gearless torque motor 400 in case of a
failure causing the gearless torque motor's weight to be no longer
carried by the machine shaft 200. As shown in FIGS. 1A, 1B, 2A, and
2B, the supporting structure 620 may support the weight of the
holding structure 610 an/or the weight of the gearless torque motor
400 in case of a failure causing the weight of the gearless torque
motor 400 to be no longer carried by the machine shaft 200. The
holding structure 610 may include at least one stopper 612 for
stopping and/or holding the gearless torque motor 400. The stopper
612 may be such as to match the dimension of the gearless torque
motor 400. The stopper 612 may be such as to catch and hold the
gearless torque motor 400 according to the dynamic forces that may
be experienced by the gearless torque motor 400 during a failure
causing the weight of the gearless torque motor 400 to be no longer
carried by the machine shaft 200. For example, for a gearless
torque motor 400 that may experience larger forces thus travelling
further, at a higher speed and/or at a different angle in a case of
machine shaft 200 breakage, the stopper 612 may be stiffer or
stronger, and/or the stopper 612 may be extend further higher in
the vertical direction and/or the stopper 612 may be positioned
closer to the motor 400, for example, even substantially touching
the motor 400 in order to arrest the fall of the gearless torque
motor to limit the momentum gained by a fall of the motor 400. The
above embodiments may apply, mutatis mutandis, for a gearless
torque motor 400 that may experience smaller forces in a case of
machine shaft 200 breakage. For example, the stopper 612 may be
positioned further away from the gearless torque motor 400. The
above-described embodiments may be applied according to tolerances,
operational movement range such as caused by vibration, and/or
maintenance and/or installation considerations. The above
embodiments may be implemented, mutatis mutandis, for the holding
structure 610, and/or supporting structure 620. For example, the
holding structure 610 and/or supporting structure 620 may be
stiffer or stronger in a case where the gearless torque motor 400
may be heavier and/or experience larger forces during operation
and/or during possible breakage of the machine shaft 200. In
another example, the holding structure 610 and/or supporting
structure 620 may be positioned closer from to gearless torque
motor 400 limit the momentum gained by a fall of the motor 400 in
the event of a machine shaft 200 failure and/or failure of a
component that result in the fall of the gearless torque motor 400.
There may be provided at least one of a second group, wherein the
second group may include at least one of the following: a catching
structure, a swing base, a holding structure 610, a supporting
structure 620, a pivot support 611, and a stopper 612. The at least
one of the second group may be separated by an air gap 700 from the
gearless torque motor. This has an effect to disconnect the holding
structure 610 from the gearless torque motor 400. A swing base may
be disconnected from the gearless torque motor 400. The holding
structure 610, supporting structure 620, the stopper 612, and/or
the catching structure, may be mechanically unconnected to the
gearless torque motor 400. The air gap 700 may be between the
gearless torque motor 400 and a swing base. The swing base may be
configured to catch the gearless torque motor 400 in a case of
shaft breakage. Breakage or failure may be a failure or breakage of
the motor shaft, a coupling, and/or a part of the actuated machine
such that the gearless torque motor 400 is no longer held in an
intended or desirable position. The weight of the at least one of
the second group may be not added to the weight of the motor and/or
hang on the machine shaft. This may reduce the risk of the machine
shaft breaking. This may reduce the damage caused in a case of the
machine shaft breaking. The weight hanging on the machine shaft may
be reduced, possibly by a third. A weight of a swing base may be
400 kg for low power drives. A weight of a swing base may be up to
10 tons for high power drives. A swing base may be heavier than 10
tons or lighter than 400 kg. A beam may act as a swing base. A beam
may act as a holding structure 610. A beam may be attached to the
main frame 100 and/or a pivot 611 allowing horizontal movement. The
weight of the at least one of the second group may be at least
partially supported by the main frame 100 and/or a surface of the
ground. The air gap 700 may decouple the weight of the at least one
of the second group from the gearless torque motor 400 and/or
machine shaft 200. The catching structure may be arranged
(elevated) above the ground (e.g., at least 2m above ground). In
this way, the catching structure may retain the gearless torque
motor from crashing to the ground in case of failure. For example,
the catching structure may be elevated such that it is closer to
the gearless torque motor than to the ground (in terms of height
difference of the support surface of the support structure from the
lower end of the gearless torque motor and from ground,
respectively). For example, the height difference from the lower
end of the gearless torque motor may be less than, preferably less
than half, preferably less than a quarter, of the height difference
from ground. For example, the catching structure may be separated
from the ground by an air gap (not the air gap 700 shown in the
figures).
[0047] In an example, the catching structure is indirectly
supported by the ground, e.g., the catching structure is connected
to the ground via an intermediate structure, e.g., via the main
frame 100. The support via the main frame 100 can be direct or
indirect, e.g., through the holding structure and/or the supporting
structure. In an example, the main frame 100 supports the catching
structure's weight. For example, the catching structure's weight is
carried by the main frame 100. According to embodiments, the
catching structure is mounted directly on the main frame 100. For
example, the catching structure is separated from the gearless
torque motor 400 by an air gap 700. In an example, the catching
structure is mounted directly on the main frame 100 in a cantilever
manner. For example, the catching structure is supported by the
main frame 100. In an example, the catching structure may be
supported in a cantilever manner by the main frame 100. According
to embodiments, the catching structure extends (or cantilevers)
away from the main frame 100, e.g., away from the center of the
main frame 100. In an example, the catching structure may be a
cantilever structure supported by the main frame 100. In an
example, the catching structure may extend outside an envelope of
the main frame 100. In a beneficial example, the gearless torque
motor 400 is coupled to the machine shaft outside the envelope of
the main frame 100. Beneficially, the gearless torque motor 400 may
be maintained easily. Beneficially, the catching structure may
catch and hold the gearless torque motor 400 in case of a failure
causing the gearless torque motor's weight to be no longer carried
by the machine shaft 200. Accordingly, safety is improved.
Accordingly, the main frame 100 may support the weight of the
catching structure. Accordingly, the main frame 100 may support the
weight of the gearless torque motor 400 during normal operating
condition, e.g., via the machine shaft 200. Accordingly, the main
frame 100 may support the weight of the catching structure and the
gearless torque motor 400 in case of a failure causing the gearless
torque motor's weight to be no longer carried by the machine shaft
200. Accordingly, the weight of the gearless torque motor 400 may
be carried by the main frame 100, e.g., via the machine shaft 200
during normal operating condition, and carried by the main frame
100, e.g., via the catching structure during a failure causing the
gearless torque motor's weight to be no longer carried by the
machine shaft 200. Beneficially, the main frame already designed
for carrying the weight of the motor, e.g., via the machine shaft
200, may also be used for carrying the weight of the motor during a
failure causing the gearless torque motor's weight to be no longer
carried by the machine shaft 200, thus simplifying the design.
Beneficially, the design may be applicable in a wide range of
setups, e.g., a setup where the machine shaft 200 and gearless
torque motor attached thereto is at a height above the ground that
a failure would be a safety issue. Accordingly, the main frame 100
may support the catching structure at a safe position, e.g.,
directly underneath the gearless torque motor, e.g. (the centre of
gravity of) the gearless torque motor 400 is (directly) above the
catching structure. For example, the catching structure may be
arranged directly underneath the gearless torque motor.
Beneficially, the distance between the ground and the motor may be
reduced, and damage, in case of a failure causing the gearless
torque motor's weight to be no longer carried by the machine shaft,
may be reduced. The catching structure may extend, in a plane
parallel to the ground, at least as far as the gearless torque
motor 400 extends, in the plane parallel to the ground. According
to embodiments, the catching structure is a swing base. For
example, the catching structure may include a pivot mechanism. The
catching structure may be rotatable about the pivot mechanism. The
catching structure may be rotatable about a vertical axis, e.g., an
axis parallel to gravity. For example, the catching structure may
include a pivot mechanism and be rotatable about the pivot
mechanism. Accordingly, the catching structure may be a swing base.
The holding structure 610 may weigh at least 200 kg. Alternatively,
the holding structure 610 may weigh at least 400 kg.
[0048] According to an aspect, there is provided a process of
manufacturing an actuated machine having a main frame 100, a
machine shaft 200 mounted on the main frame 100 by means of a
bearing module 300, a gearless torque motor 400 coupled to the
machine shaft 200 for driving a rotation of the machine shaft 200,
a torque arm 500 coupled to the gearless torque motor 400 and a
catching structure. The gearless torque motor 400 may be coupled to
the machine shaft 200 such that the gearless torque motor 400 is
capable of following a translational movement of the machine shaft
200. The torque arm 500 may be coupled to the gearless torque motor
400 for inhibiting a rotational motion of the gearless torque motor
400 relative to the main frame 400 about a central axis of the
gearless torque motor 400. The catching structure may be arranged
underneath the gearless torque motor 400 for catching and holding
the gearless torque motor 400 in case of a failure causing the
weight of the gearless torque motor 400 to be no longer carried by
the machine shaft 200.
* * * * *