Electric machine

{
  "publication_number": "US9742226B2",
  "country": "US",
  "kind": "B2",
  "title": "Electric machine",
  "abstract": "An electric machine comprise a first carrier having an array of electromagnetic elements and a second carrier having electromagnetic elements defining magnetic poles, the second carrier being arranged to move relative to the first carrier. An airgap is provided between the first carrier and the second carrier. The electromagnetic elements of the first carrier include posts, with slots between the posts, one or more electric conductors in each slot, the posts of the first carrier having a post height in mm. The first carrier and the second carrier together define a size of the electric machine. The magnetic poles having a pole pitch in mm. The size of the motor, pole pitch and post height are selected to fall within a region in a space defined by size, pole pitch and post height that provides a benefit in terms of force or torque per weight per excitation level.",
  "claims": [
    "1. A linear electric machine, comprising: a first carrier having an array of electromagnetic elements; a second carrier having electromagnetic elements defining magnetic poles, the second carrier being arranged to move relative to the first carrier; an airgap between the first carrier and the second carrier; the electromagnetic elements of the first carrier including posts, with slots between the posts, one or more electric conductors in each slot, the posts of the first carrier having a post height in mm; the first carrier and the second carrier together defining a size of the linear electric machine; the magnetic poles having a pole pitch S in mm; the size of the linear electric machine, pole pitch and post height being selected to fall within a region in a space defined by size, pole pitch and post height, the region being defined by either 1) a first union of: a) a first surface defined by a first set of inequalities for a first size of the linear electric machine; b) a second surface defined by a second set of inequalities for a second size of the linear electric machine; and c) a set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; the first set of inequalities and the second set of inequalities being respectively sets of inequalities A and B, or B and C, or C and D, in which the set of inequalities A is for a size of 25 mm, the set of inequalities B is for a size of 50 mm, the set of inequalities C is for a size of 100 mm, the set of inequalities D is for a size of 200 mm; or 2) a second union of a surface as defined by set of inequalities D and a corresponding set of all points with size greater than the surface but with pole pitch and post height corresponding to points within the surface; where A is selected from the group of sets of inequalities consisting of: Set A1: Post Height> −1.070 * S + 2.002 for 0.572 −1.340 * S + 2.305 for 0.619 −4.160 * S + 5.032 for 0.723 0.254 * S + 0.462 for 0.319 0.269 * S + 0.456 for 0.380 0.191 * S + 0.626 for 0.472 0.322 * S + 0.359 for 0.233 0.277 * S + 0.593 for 0.250 0.277 * S + 0.591 for 0.278 0.257 * S + 0.327 for 0.208 0.322 * S + 0.359 for 0.233 0.212 * S + 0.600 for 0.264 < S < 4.833 3.017 * S + −12.960 for 4.833 < S < 6.667 Post Height< −12.356 * S + 89.531 for 5.556 < S < 6.667 −4.551 * S + 46.170 for 3.175 < S < 5.556 3.850 * S + 19.496 for 1.502 < S < 3.175 19.751 * S + −4.387 for 0.264 < S < 1.502.",
    "2. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is A1 and the second set of inequalities is B1.",
    "3. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is A1 and the second set of inequalities is B2.",
    "4. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is A1 and the second set of inequalities is B3.",
    "5. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is A2 and the second set of inequalities is B1.",
    "6. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is A2 and the second set of inequalities is B2.",
    "7. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is A2 and the second set of inequalities is B3.",
    "8. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is A3 and the second set of inequalities is B1.",
    "9. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is A3 and the second set of inequalities is B2.",
    "10. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is A3 and the second set of inequalities is B3.",
    "11. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is B1 and the second set of inequalities is C1.",
    "12. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is B1 and the second set of inequalities is C2.",
    "13. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is B1 and the second set of inequalities is C3.",
    "14. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is B2 and the second set of inequalities is C1.",
    "15. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is B2 and the second set of inequalities is C2.",
    "16. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is B2 and the second set of inequalities is C3.",
    "17. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is B3 and the second set of inequalities is C1.",
    "18. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is B3 and the second set of inequalities is C2.",
    "19. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is B3 and the second set of inequalities is C3.",
    "20. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is C1 and the second set of inequalities is D1.",
    "21. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is C1 and the second set of inequalities is D2.",
    "22. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is C1 and the second set of inequalities is D3.",
    "23. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is C2 and the second set of inequalities is D1.",
    "24. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is C2 and the second set of inequalities is D2.",
    "25. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is C2 and the second set of inequalities is D3.",
    "26. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is C3 and the second set of inequalities is D1.",
    "27. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is C3 and the second set of inequalities is D2.",
    "28. The linear electric machine of claim 1 in which the region is defined by a union of the first surface defined by the first set of inequalities for the first size of the linear electric machine; the second surface defined by the second set of inequalities for the second size of the linear electric machine; the set defined as containing all points lying on line segments having a first end point on the first surface and a second end point on the second surface; and the first set of inequalities is C3 and the second set of inequalities is D3.",
    "29. The linear electric machine of claim 1 in which the region is defined by a union of the surface as defined by set of inequalities D1 and a corresponding set of all points with size greater than the surface but with pole pitch and post height corresponding to points within the surface.",
    "30. The linear electric machine of claim 1 in which the region is defined by a union of the surface as defined by set of inequalities D2 and a corresponding set of all points with size greater than the surface but with pole pitch and post height corresponding to points within the surface or the region is defined by a union of the surface as defined by set of inequalities D3 and a corresponding set of all points with size greater than the surface but with pole pitch and post height corresponding to points within the surface."
  ],
  "description_excerpt": "Electric machines.\n\nIn the design of electric machines, it is known to select structural parameters such as slot number depending on the intended application and desired performance characteristics of the machine. However, not all values of the structural parameters are used in practice. There is room for improved performance of electric machines, particularly in robotics.\n\nElectric machines typically use electrically conductive wire turns wrapped around soft magnetic stator posts (teeth) to generate flux. The manufacturing process for this type of motor construction can be time consuming and expensive. As well, such motors typically have a torque to mass ratio that makes them relatively heavy for mobile actuator applications such as in robotics where the weight of a downstream actuator must be supported and accelerated by an upstream actuator.\n\nThe inventor has proposed an electric machine with a novel range of structural parameters particularly suited for robotics, along with additional novel features of an electric machine. The features for example relate to improved heat dissipation resulting from the structure of electromagnetic elements as well as features that relate to rigidity of the electric machine, conductor design, cooling, rotor design, stator design and operating parameters.\n\nIn an embodiment, an electric machine comprises a first carrier having an array of electromagnetic elements and a second carrier having electromagnetic elements defining magnetic poles, the second carrier being arranged to move relative to the first carrier. An airgap is provided between the first carrier and the second carrier.",
  "cpc": [
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  "ipc": [
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  ],
  "assignees": [
    "Genesis Robotics LLP"
  ],
  "inventors": [
    "James Brent Klassen"
  ],
  "filing_date": "2016-08-11",
  "publication_date": "2017-08-22",
  "grant_date": "2017-08-22",
  "priority_date": "2015-08-11",
  "application_number": "US-201615235095-A",
  "family_id": "57982842",
  "cited_by_count": 3,
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