Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
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BACRGROUND OF THE INVENTION
This invention relates to a magnetically actuated
eccentric motion motor having an armature which rolls within
a stator.
Electric motors typically consist of a fixed stator and
a rotatable armature, between which electromagnetic forces
are produced to cause the armature to rotate. The armature
is mounted or carried by bearings to maintain a certain
spacing between the armature and the stator and this, of
course, gives rise to friction. Also, the further the
spacing between the armature and stator, the weaker are the
electromagnetic forces.
A number of proposals have been made for a motor or
actuator in which an armature or roller rolls inside a
cylindrical cavity as a result of electromagnetic forces.
The electromagnetic forces are produced in some sequence
along the perimeter of the cavity to attract the armature
which is made of a ferromagnetic material. See, for example,
U. S. Patent Nos. 2,561,890, 4,728,837 and 4,482,828, German
Patent No. DAS 1132229 and Swiss Patent No. 159,716.
Disadvantages of such prior art mechanisms are that the
mechanisms are generally quite bulky and heavy, are not
easily miniaturized, and have low energy densities. This
bulkiness and weight arises from the need of mechanism
components capable of developing sufficient electromagnetic
forces to properly operate the mechanism.
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Electrostatic motors likewise generally include a stator
and armature mounted to rotate near or within the stator,
where the ~orces of attraction therebetween are electrostatic
rather than electromagnetic. Examples of electrostatic
motors are shown in U. S. Patent Nos. 735,621, 3,297,888,
3,517,225 and 4,225,801. In a recently issued U. S. Patent
No. 4,922,164, an eccentric motion, electrostatic motor is
described in which a cylindrical armature is disposed in
rolling engagement with a hollow cylindrical stator.
Elongate conductive strips are disposed in the inside wall of
the hollow of the stator and are circumferentially spaced
about the hollow. The conductive strips successively receive
electrical charges to thereby attract the armature and cause
it to roll in the hollow of the stator.
Electrostatic motors are generally lighter in weight and
potentially smaller in size than electromagnetic motors, but
the attractive forces are generally weaker.
SUNMARY OF THE INV~ ON
It is an object of the invention to provide an
electromagnetic motor which may be easily miniaturized
without sacrificing the strength of the attractive forces
needed for the desired operation.
It is another object of the invention to provide such a
motor in which both magnetic attractive forces and magnetic
repelling forces can be utilized to operate the motor.
It is a further object of the invention to provide such
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a motor in which frictional forces between the stator and
armature are minimized.
It is also an object of the invention to provide such a
motor which has a high energy density at high gear ratios.
It is an additional object of the invention to provide
such a motor which is simple in design and easy to construct
and utilize.
The above and other objects of the invention are
realized in a specific illustrative embodiment of a magnetic
eccentric-motion motor which includes a stator defining a
continuous closed surface pathway, an armature composed of a
permanent magnet rollably disposed on the closed surface
pathway, a series of electromagnetic elements disposed in the
stator at the closed surface, where the elements are
selectively energizable to alternately attract and repel the
armature to cause it to roll along the closed surface
pathway, and a circuit for selectively energizing the
electromagnetic elements. A coupling mechanism may be used
to couple the rotation of the armature to a utilization
device where the mechanical power output of the motor may be
put to practical use.
In accordance with one aspect of the invention, the
electromagnetic elements include elongate electromagnets
disposed in the stator at spaced-apart locations along the
pathway, with the electromagnets being generally parallel
with one another so that respective poles of the
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,
electromagnets are in alignment. Also, the armature includes
an elongate, generally cylindrical bar whose poles are
positioned to roll in pathways adjacent respective aligned
poles of the electromagnets. The energizing circuit includes
commutator circuitry for successively supplying electrical
current to the electromagnets to alternately cause the
electromagnets to attract and repel the armature as it rolls
along the pathway.
BRIEF DESCRIPTION OF THE DRAWINGS
The above and other objects, features and advantages of
the invention will become apparent from a consideration of
the following detailed description presented in connection
with the accompanying drawings in which:
FIG. 1 is a perspective view of a magnetic eccentric-
motion motor made in accordance with the principles of the
present invention;
FIG. 2 is a side, cross-sectional view of the motor of
FIG. l;
FIGS. 3A, 3B and 3C graphically illustrate successive
positions of an armature rolling in a stator as
electromagnets of the stator are variously energized;
FIG. 4 is a perspective and cross-sectional view of
another embodiment of a magnetic eccentric-motion motor made
in accordance with the principles of the present invention;
FIG. 5 is a perspective, partially fragmented.view of
one configuration of an eccentric motion motor of the present
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invention which can be utilized as a pump;
FIG. 6 is a perspective, partially fragmented view of a
magnetic eccentric-motion motor having a stator with a
generally square cross-section and an armature with a
generally triangular cross-section;
FIG. 7 is a perspective, partially fragmented view of a
magnetic eccentric-motion motor having a stator with a
pentagonal cross-section and an armature with a square cross-
section;
FIG. 8 is a perspective, partially fragmented view of a
magnetic eccentric-motion motor having a stator and armature
formed with a gear track and gear teeth respectively;
FIG. 9 is a perspective and cross-sectional view of
another embodiment of a magnetic eccentric-motion motor made
in accordance with the principles of the present invention in
which the armature is formed as an electromagnet;
FIG. 10 is a perspective, partially fragmented view of
another embodiment of a magnetic eccentric-motion motor in
which two armatures, one disposed within the hollow of the
other, are employed;
FIGS. llA and llB show perspective and side, cross-
sectional views respectively of an electromagnet wound with a
strip conductor made in accordance with the principles of the
present invention;
FIG. 12 is a perspective, partially fragmented view of a
magnetic, eccentric-motion motor utilizing four stators and
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four armatures to balance the lateral forces produced during
operation of the motor;
FIG. 13 is a perspective, partially cross-sectional view
of a magnetic eccentric-motion motor in which dampening
elements connect the stator of the motor with a motor housing
to dampen the lateral forces produced by operation of the
motor;
FIG. 14 is a perspective, cross-sectional view of a
magnetic eccentric-motion motor which includes a balancing
element attached to the armature to balance the lateral
forces produced by operation of the motor;
FIG. 15 is a side, perspective, partially cross-
sectional view of a magnetic eccentric-motion mechanism for
converting rotational movement into translational movement;
FIG. 16 is a front view of still another embodiment of
an electromagnet suitable for use as a stator in the magnetic
eccentric-motion motor of the present invention;
FIG. 17 is a front view of the electromagnet of FIG. 16
but with the electromagnet coils wound about different parts
of the structure;
FIG. 1~ is a front view of an electromagnet constructed
similar to the electromagnets of FIGS. 16 and 17 but with an
essentially square rotor pathway;
FIGS. l9A and l9B show respectively a top view of a
flexible coupling and a side, cross-sectional view of a
magnetic eccentric-motion motor whlch utilizes an inverted
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conical rotor;
FIGS. 20A and 20B show respectively a side, cross-
sectional view and a top view of another embodiment of a
magnetic eccentric-motion motor which utilizes a conical
rotor;
FIGS. 21A and 21B show respectively a side, cross-
sectional view and a top, perspective, partially fragmented
view of still another embodiment of a conical rotor magnetic
eccentric-motion motor;
FIGS. 22A and 22B show respectively a top view and a
side, cross-sectional view of a further embodiment of a
conical rotor magnetic eccentric-motion motor;
FIG. 23 is a perspective view of a coupling between a
conical rotor and a rotor drive shaft of an eccentric-motion
motor;
FIG. 24 is a perspective view of another embodiment of
a coupling between a conical rotor and a rotor drive shaft of
an eccentric-motion motor;
FIG. 25 is a side, cross-sectional view of a further
embodiment of a conical rotor magnetic eccentric-motion motor
with a non-wobble shaft configuration;
FIG. 26 is a side, cross-sectional view of a magnetic
eccentric-motion motor gear coupling mechanism made in
accordance with the principles of the present invention;
FIGS. 27A and 27B show respectively a side, cross-
sectional view and an end view of a flexible coupling
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mechanism for use with magnetic eccentric-motion motors of
the present invention;
FIG. 28 is a side, cross-sectional view of a magnetic
eccentric-motion motor having an adjustable gear ratio;
FIG. 29 is a perspective side, cross-sectional view of a
magnetic eccentric-motion motor with one embodiment of a
commutation arrangement; and
FIG. 30 is a top view of a magnetic eccentric-motion
motor with another embodiment of a commutation arrangement.
DETATT.~ DESCRIPTION
Referring to FIG. 1, a magnetic eccentric-motion motor
made in accordance with the present invention is shown. The
motor includes a stator 4 formed from four electromagnets 8a,
8b, 8c and 8d. Each elèctromagnet includes end pieces 12 and
16 mounted on opposite ends of a core rod 20, all made of a
ferromagnetic material. Wound about each of the core rods is
an electrically conductive coil wirer such as wire 24. The
coils wound about each of the core rods are coupled to a
commutator current source 28 which, in response to signals
from a control unit 32, supplies electrical current to the
coils in a predetermined order and with a predetermined
polarity, as will be discussed momentarily. That is, the
current source 28 supplies electrical current to the coils
either in one direction or the opposite direction, or simply
supplies no current to the coils, all under control of the
control unit 32.
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The end pieces, such as end pieces 12 and 16 of the
electromagnet 8d, are formed in the shape of arcs having an
inner arcuate surface area, such as surface area 36 of end
piece 12, which defines a portion of an arcuate pathway,
along with the other end pieces, over which an elongate,
generally cylindrical armature 40 may roll. Armature 40,
which serves as the armature of the motor, constitutes a
permanent magnet having a north pole and south pole as
illustrated in FIG. 2. Obviously, the armature 40 is made of
a suitable magnetic material well known in the art.
The inner arcuate surface areas of the end pieces of the
electromagnets, such as surface area 36, might advantageously
be coated with a wear resistant material such as silicon
nitride, to prevent wear from occurring between the armature
40 and the surfaces of the end pieces.
A position sensor circuit 44 is coupled by conductors 48
to sensing elements 52 positioned between respective end
pieces of the electromagnets 8a, 8b, 8c and 8d and in the
pathway defined by the inner arcuate surfaces of the end
pieces, as shown in FIG. 1. These sensing elements might
illustratively be field effect transistor devices which
receive a current from the position sensor circuit 44 and
whose current flow therethrough varies depending upon the
position of the armature 40 and the known prescribed applied
voltage. In this manner, position sensor circuit 44 can
determine the location of the armature 40 in the stator 4.
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The position sensor circuit 44 signals the control unit
32 identifying the position of the armature 40, and the
control unit 32 in turn signals the commutator current source
28 to supply electrical current to the appropriate
electromagnet to produce both magnetic attraction and
magnetic repulsion between selected ones of the
electromagnets and the permanent magnet armature 40. A
graphic representation of an exemplary sequence for
energizing the electromagnets 8a, 8b, 8c and 8d to cause the
armature 40 to roll within the stator is shown in FIGS. 3A
through 3C. Only one end of each of the electromagnets is
shown in FIGS. 3A through 3C, with the instantaneous
polarities of those ends being illustrated by the letters "N"
(representing a north polarity), "S" (representing a south
polarity), and "O" (representing a neutral or null polarity).
In FIG. 3A, the armature 40, which shows a north pole end in
FIG. 3A, is positioned against the end piece of armature 8b
which exhibits a south polarity. The end piece of
electromagnet 8a exhibits a north polarity, and the end piece
of electromagnet 8c exhibits a south polarity. The armature
40 is thus being repelled by the end piece of the
electromagnet 8a and being attracted by the end pieces of
electromagnets 8b and 8c. This forces the armature 40 to
move in the counter-clockwise direction in the stator 4. In
FIG. 3B, three of the end pieces of the electromagnets have
changed polarities as illustrated so that the armature is now
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.
attracted toward the end pieces of electromagnets 8c and 8d,
but is repelled by the end piece of electromagnet 8b, so that
the armature continues its movement in the counter-clockwise
direction. Finally, in FIG. 3C, three of the end pieces of
the electromagnets have again changed polarities so that the
armature 40 is now being repelled by the end piece of
electromagnet 8c, and being attracted by the end pieces of
electromagnets 8d and 8a, to continue rolling movement of the
armatu~e 40 in the counter-clockwise direction. The magnetic
forces produced at the opposite end of the motor from that
shown in FIGS. 3A through 3C would likewise cause the
armature 40 to roll in the direction indicated in FIGS. 3A
through 3C.
Because the armature 40 is in rolling contact, or in
close proximity, with the arcuate inner surfaces of the end
pieces of the electromagnets 8a, 8b, 8c and 8d, the magnetic
forces developed between the armature and electromagnets are
quite strong. Also, less friction results from the armature
movement because it is in rolling contact with the stator and
is not supported by bearings. Further, as described in U. S.
Patent No. 4,922,164, gear reduction is intrinsically
achieved without requiring special gearing.
Referring to FIG. 2, the armature 40 is shown coupled by
a flexible coupling mechanism or shaft 56 to a utilization
unit 60 which is driven by the rotation of the armature. In
this manner, the energy of the motor of FIGS. 1 and 2 is
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harnessed and used. Various constructions of coupllng
mechanlsms are fully dlscussed ln U.S. Patent No. 4,922,164.
The control unlt 32 might lllustratlvely be a
microprocessor or other stored program control unit currently
available on the market such as DEC VAX-LAB or IBM PC. The
commutator current source 28 might lllustratlvely be a motor
driven rotary switch including a wiper element which
slmultaneously connects a current source of proper polarlty to
selected ones of the wire coils 24 ln the proper sequence as
the wiper element is caused to rotate. Alternatlvely, the
commutator current source 28 might be a conventional
electronlc commutator capable of energlzlng the electromagnets
ln the proper sequence and with the proper polarity.
The posltion sensor 44 might illustratlvely be a
current source for supplying current to each of the senslng
elements 52 and a current detector or bank of detectors for
determlnlng the current level, i.e., the magnitude of the
current being conducted by each of the sensing elements, and
then a slgnalllng clrcult for slgnalling the control unit 32
in a manner to identlfy which sensing element 36 the armature
40 is closest to.
Alternative armature position senslng arrangements
mlght include optical senslng ln whlch the armature 40 is
disposed to roll in a hollow cylindrical casing positioned
centrally
.,,~
- 13 -
69912-197
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among the electromagnets, and in which the interior of the
casing is illuminated. Light passing through openings
positioned circumferentially about the casing would be
monitored to determine the position of the armature 40.
Obviously, when the armature were in a position to cover
certain of the openings, no light would pass therethrough
thereby identifying the location of the armature.
FIG. 4 shows a perspective, partially cross-sectional
view of another embodiment of the present invention in which
a generally cylindrical hollow casing or housing 104 is
provided. At both ends of the casing 104, tracks 108 and 112
are formed to allow rolling thereover of respective disks 116
and 120 which are mounted on respective ends of an armature
124. A pair of ridges or ribs 128 and 132 are formed on the
interior surface of the casing 104 to prevent axial m~ovement
of the armature 124 since the interior diameter of the ridges
is less than the diameter of the disks 116 and 120. Disposed
on the interior of the casing 104 and spaced
circumferentially thereabout are a plurality of
electromagnets 136. Each electromagnet 136 includes end
pieces 140 and 144, a core (in the form of a bar) 148 and a
wire coil 152 wound about each core 148.
The armature 124 in the embodiment of FIG. 4 may either
be a permanent magnet, as with the FIGS. 1 and 2 embodiment,
or it may be made simply of a magnetically attractable
material. If the armature 24 is a permanent magnet, then the
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sequence of alternately attracting and repelling the
armature, as described in connection with FIGS. 3A through
3C, could be employed to drive the armature and cause the
disks 116 and 124 to roll over the tracks 108 and 112
respectively. If the armature 124 is made of a magnetically
attractable material, then the electromagnets 136 would
simply be energized and de-energized in succession to attract
the armature 124 (not repel) and again cause the disks 116
and 120 to roll on tracks 108 and 112. Provision of a
permanent magnet armature allows for production of greater
attractive forces (as well as repulsive forces) than are
possible if the armature is simply made of magnetically
attractable material.
FIGS. 5, 6, 7 and 8 all show end perspective, partially
fragmented views of various alternative configurations for
armature and stator designs for the motor of the present
invention. FIG. 5 shows a stator 204 having a type of
hexagonal interior cavity 208 in which is disposed an
armature 212 having a star-shaped cross-section. The
sidewalls of the interior cavity 208 are formed in
conjunction with the armature 212 so that points or ribs 216
of the armature are maintained in continuous sliding contact
with the sidewalls of the interior cavity as the armature
rotates. The stator 204 and cavity 208 walls shaped as shown
to allow such continuous contact as the armature rotates is
known as a gyrator. Again the armature 212 is a permanent
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magnet and the stator 204 is composed of a plurality of
electromagnets 220 (windings, current source, etc. are not
shown to maintain the simplicity of the drawing, but
provision of such structure could be similar to that shown in
FIG. 1).
The FIG. 5 motor configuration of the present invention
could be utilized as a pump in which fluid would be
introduced into the interior of the stator 204 at some
location between the ridges 216 of the armature 212 and then
as the armature were caused to rotate, such fluid could be
forced out of the stator at another location. For example,
fluid could be introduced in opening 224 as the armature 212
were rotated with ridge 216a moving towards the opening.
Then, as ridge 216a rotated away from opening 224 towards
opening 228, the fluid would be forced from the interior of
the stator 204.
FIG. 6 shows a stator 234 defining an interior hollow
238 which has a square cross section. Disposed in the hollow
238 is an armature 242 having a triangular cross section.
The stator 234 includes four electromagnets 246 positioned
about the hollow 238 to alternately attract and repel the
armature 242 to cause it to incrementally rotate (or roll)
within the hollow. Disposed at the corners at the hollow 236
are pairs of armature location sensors 250 and 254 for being
contacted as the armature 242 moves within the hollow 238.
When the armature 242 contacts the respective pairs of
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.
sensors, a circuit between corresponding conductors 258 and
260 is closed and this condition is sensed by a position
sensing circuit to provide information to a control unit
which in turn controls the application of electrical current
from a commutator current source to the electromagnets 246,
as previously described.
FIG. 7 shows still another motor configuration of the
present invention in which a stator 304 defines a pentagonal
hollow 306 in which an armature 308, having a generally
square cross section, is disposed to roll. The stator 304
includes five electromagnets 312 disposed circumferentially
about the hollow 306 for selective energization to cause the
armature 308 to move in a stepwise fashion about the hollow
308. Armature location sensors (not shown) could also be
lS provided between the electromagnets 312 to complete or close
a circuit when the sensors were contacted by a corner of the
armature, as described for the FIG. 6 embodiment.
FIG. 8 shows an embodiment of the motor of the present
invention in which the interior hollow 324 formed by a stator
328 includes a series of splines 332 and grooves 336 formed
on the interior sidewall thereof to extend longitudinally in
the stator and spaced circumferentially on the sidewall. An
armature 340 is disposed in the hollow of the stator and
includes gear teeth 344 which extend longitudinal along the
armature and are spaced circumferentially thereabout, with
the teeth being dimensioned to fit into the grooves 336 and
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allow the splines 332 to be received in the spaces between
the teeth. In the manner already described, the armature 340
is caused to roll in the hollow 324 of the stator as
electromagnets 348 are selectively energized.
FIG. 9 shows an embodiment of the motor of the present
invention in which a stator 354 is formed from a plurality of
elongate permanent maqnets 358 disposed generally parallel
with one another and circumferentially about a hollow 362.
Enlarged end pieces 358a and 358b are formed in the
electromagnets 358 and are positioned adjacent one another to
define interior, arcuate tracks 366 and 370. Disposed in the
hollow 362, to roll on the tracks 366 and 370 is an elongate,
cylindrical armature 374 made of a ferromagnetic material. A
coil of wire 378 is helically wound about the hollow 362 so
as to be out of contact with the armature 374 as it rolls on
the tracks 366 and 370. The permanent magnets 358 are
positioned so that adjacent end pieces 358a and 358b of the
different permanent magnets exhibit different polarities.
For example, end pieces 358b show a north polarity in the
topmost permanent magnet and then show a south polarity in
the next permanent magnet, proceeding clockwise about the
stator, followed by a north polarity again, etc.
The motor of FIG. 9 is operated by supplying current of
selectively alternating polarity to successively reverse the
polarity of the armature 374 and thereby successively attract
and repel the armature from the different permanent magnets
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358 to cause the armature to roll within the hollow 362. In
the embodiment shown in FIG. 9, the armature is shown being
attracted toward the uppermost permanent magnet 358. Upon
switching polarities of the armature 374, the armature would
then be attracted toward the next permanent magnet,
proceeding clockwise, and would be repelled by the topmost
permanent magnet, etc. In this manner, the armature 374
would be caused to roll on the tracks 366 and 370 within the
hollow 362 as desired.
Although not shown, the armature 374 could be formed
with disks, such as shown in FIG. 4, to roll on special
tracks formed in a hollow casing, such as also shown in FIG.
4. This, of course, would inhibit wear from occurring
between the permanent magnets and the armature-374.
The FIG. 9 motor also utilizes a simpler commutator
current source since only one wire coil 378 need be switched
between polarities, i.e., from one to the other and then back
to the one, etc. Of course, when multiple electromagnets are
used, as with other embodiments of the invention, multiple
coils are required and each of these coils must be
selectively energized.
FIG. 10 shows an electromagnetic eccentric-motion motor
having a hollow cylindrical armature 404 disposed within a
hollow 408 of a stator 412 formed from a plurality of
circumferentially positioned electromagnets 416. Disposed in
the hollow armature 404 is a solid cylindrical armature 420
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having a diameter less than the inside diameter of the
armature 404 to allow the armature 412 to roll within the
armature 404. The armatures 404 and 420 are made o~ a
magnetically attractable material so that as the
electromagnets 416 are successively energized, the armatures
404 and 420 are caused to roll--armature 404 within the
hollow 408 of the stator 412, and the armature 420 within the
hollow of armature 404. Both armatures 404 and 420 would be
attracted toward the same electromagnets at the same time,
but armature 404, having a larger diameter than armature 420,
would roll at a different angular velocity to thus provide
two sources of power having different torques and speeds.
Armature 404 is coupled by way of a coupling shaft 424
to a utilization unit 428 which is driven by rotation of the
armature 404 and thus the shaft 424. The shaft 424 might
illustratively be connected directly to the armature 404 or
it might be connected to a cross piece 432 (shown by dotted
line) which bridges the end of the armature. Armature 420 is
coupled by way of a coupling shaft 436 to a utilization unit
440 as shown in FIG. 10.
FIGS. llA and llB illustrate one embodiment of a
conductor coil which may be utilized with the electromagnets
of the present invention. The coil is comprised of a flat
strip of conductive material 504 formed to extend in a
helical fashion, as best seen in FIG. llB (side, cross-
sectional view) about a core 508 of an electromagnet. Such a
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coil structure is fairly compact and yet capable of carrying
substantial amounts of current. The coil strip 504 would
include a coat of insulation to prevent shorting in the coil,
with electrical access to the conductive strip being gained
by simply making an angular cut 512 to expose an end of the
conductive strip through the insulation.
FIGS. 12, 13 and 14 show, in perspective, partially
fragmented views, motor arrangements for dampening or
balancing the lateral forces produced by the eccentric motion
of the motor armatures. FIG. 12 shows a housing 520 in which
are disposed four eccentric-motion motors 524 at the corners
of the housing. The electromagnets of the motors 524 are
energized to cause the armatures thereof to move in
symmetrically opposite directions for each pair of diagonally
opposed motors, so that the lateral forces created by the
motors are effectively cancelled. For example, the armatures
of the motors S24 are all shown in positions closest to the
corners of the housing 520; from this position, the armatures
would be caused to move to a position closest to the center
of the housing and then again return to positions closest to
the corners, etc. to allow cancellation of the lateral forces
produced by movement of the armatures.
FIG. 13 shows an alternative arrangement for dampening
the lateral forces produced in an eccentric motion motor made
in accordance with the present invention. In this
embodiment, a housing 540 is again provided and a motor 544
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is held in place in the housing by springs S48 or other
suitable shock absorbing elements. With this arrangement,
the lateral forces produced by operation of the motor 544 are
not balanced but rather are simply dampened by the springs
548. Simple coil springs or more sophisticated shock
absorbers, similar to those used in vehicles, could be
employed.
FIG. 14 is a perspective, partially fragmented view of
another embodiment of a balancing arrangement according to
the present invention. Here shown is a hollow 556 of a
stator circumscribed by a generally cylindrical casing 560.
Electromagnets (not shown) would be disposed
circumferentially about the casing 560 to selectively attract
and/or repel a cylindrical armature 564 disposed in the
casing. Mounted on each end of the armature 564 are
balancing bodies, one of which is shown at 568, with the
balancing bodies being pivotally mounted at a location
coincident with the axis of rotation 572 of the armature.
The balancing bodies are thus free to pivot or rotate about
the axis 572 as required to provide the desired balancing for
the armature. As shown, balancing body 568 extends from the
axis of attachment 572 laterally of the armature 564 to a
location on the side of the casing 560 opposite that occupied
by the armature 564. The balancing bodies could take a
variety of shapes, but advantageously would have an arcuate
upper end to just fit within the casing 560 so that any
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~ e.~nt of the armature 564 would cause the balancing
bodies to slide against the inside surface of the casing and
move in a direction to maintain their positions on the
opposite of the side casing from the armature. For example,
as the armature 564 were caused to roll in the counter-
clockwise direction, the balancing body 568 would also move
in a counter-clockwise direction (since the interior surface
of the casing 560 would force the balancing body in that
direction) to thereby maintain the armature 564 and balancing
body on opposite sides of the casing. The movement of the
armature 564 would thus be balanced, assuming that the
combined weights of the balancing bodies was about the same
as the weight of the armature, and lateral forces effectively
cancelled.
FIG. 15 shows a perspective, partially cross-sectional
view of an actuator for converting rotational movement of a
cylindrical armature 604 into translational movement of two
annular fixtures 608 and 612. The armature 604 includes
threads 616 and 620 at each of its ends, with the two sets of
threads being formed with different sizes. A stator (not
shown) would be disposed to circumscribe the armature 604 and
cause it to roll on threaded tracks 624 and 628 formed in the
interior walls of the annular fixtures 608 and 612
respectively. As the armature 604 roll~, the threads 616 ~nd
620 of the armature mesh with threads 624 and 62~
respectively of the annular fixtures 608 and 612 to cause the
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annular fixtures to move longitudinally relative to the
armature as determined by the direction of the meshing
threads and by the direction of rolling of the armature.
Annular fixture 612 is shown coupled by a coupling rod
632 to a utilization unit 636 into which the rod may be moved
or out of which the rod may be pulled. In this manner, the
rolling movement of the armature 604 is converted to a
translational movement of the annular fixture 608 and 612 and
such translational movement may be used to power the
utilization unit 636.
FIGS. 16, 17 and 18 show front views of stator
constructions which may be utilized in the motor of the
present invention. Each of the stator constructions includes
an outer annular frame or annulus 704 made of a ferromagnetic
material. Projecting radially inwardly from the annulus 704
at circumferentially spaced-apart locations are a plurality
of posts 708, and formed on the inner termination of each
post of the structures of FIGS. 16 and 17 is an arc section
712 which defines an arcuate surface area 716 which, along
with the other arc sections, defines a generally circular
pathway interior of the annulus. In the FIG. 18 structure,
the inner terminations of the posts 708 are formed with right
angle corner sections 714 which define a square pathway 718.
A generally cylindrical magnetically-attractable armature 720
is disposed to roll on the pathway formed by the arcuate
sections 712 of FIGS. 16 and 17 when attracted in the manner
24
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previously described. In FIG. 18, an armature 722 having a
triangular cross-section is disposed to "flop" in a stepwise
fashion about the pathway 718.
Magnetic forces for attracting and/or repelling the
armature 720 are produced in FIG. 16 by providing conductor
windings on the annulus 704 at locations between each
adjacent pair of posts 708. For the FIG. 16 embodiment,
there are four posts 708 and thus four windings 724. By
selectively energizing the windings 724, the arcuate sections
712 can be magnetically polarized to alternately attract the
armature 720 to cause it to roll in the pathway defined by
the arcuate sections. Exemplary polarities are illustrated
in FIG. 16 with "S" representing a south polarity and "N"
representing a north polarity.
In FIG. 17, a different winding arrangement is provided
in which the windings 724 are wound about the posts 708 to
allow for selectively varying the magnetic polarity of the
arcuate section 716.
The FIG. 18 annulus 704 is wound similar to that of FIG.
16, and the polarity of the posts 708 and thus corner
sections 714 are successively changed to cause the triangular
armature 722 to successively ~walk~ about the square pathway
718.
Referring now to FIGS. l9A and l9B, there is shown
respectively a top view of a flexible coupling 804 and a
side, cross-sectional view of a magnetic eccentric-motion
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previously described. In FIG. 18, an armature 722 having a
triangular cross-section is disposed to '~flop" in a stepwise
fashion about the pathway 718.
Magnetic forces for attracting and/or repelling the
armature 720 are produced in FIG. 16 by providing conductor
windings on the annulus 704 at locations between each
adjacent pair of posts 708. For the FIG. 16 embodiment,
there are four posts 708 and thus four windings 724. By
selectively energizing the windings 724, the arcuate sections
712 can be magnetically polarized to alternately attract the
armature 720 to cause it to roll in the pathway defined by
the arcuate sections. Exemplary polarities are illustrated
in FIG. 16 with "S" representing a south polarity and "N"
representing a north polarity.
In FIG. 17, a different winding arrangement is provided
in which the windings 724 are wound about the posts 708 to
allow for selectively varying the magnetic polarity of the
arcuate section 716.
The FIG. 18 annulus 704 is wound similar to that of FIG.
16, and the polarity of the posts 708 and thus corner
sections 714 are successively changed to cause the triangular
armature 722 to successively ~walk~ about the square pathway
718.
Referring now to FIGS. l9A and l9B, there is shown
respectively a top view of a flexible coupling 804 and a
side, cross-sectional view of a magnetic eccentric-motion
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,
motor which utilizes an inverted conical armature 808. That
is, the armature 808 has a generally planar top surface 812
and a concave conical bottom surface 816. The armature 808
is made of a ferromagnetic material as discussed earlier for
the armatures of the other embodiments. The coupling 804 is
made of a flexible material such as spring steel, and is
formed in the shape of a disk with a plurality of partially
concentric openings 820 which allow for greater flexibility
of the material. The coupling 804 is attached at the
perimeter of its underside to an upwardly projecting ridge
824 formed on the top side 812 of the armature 808 at the
perimeter thereof.
The armature 808 is disposed to gyrate or rotate on the
top of a stator 828 which has a convex conical top surface
830 and which includes a cylindrical housing 831 in which are
disposed four electromagnets 832A, 832B, 832C and 832D (see
FIG. l9A). The electromagnets 832 are successively energized
to thereby successively attract the armature 808 and cause it
to gyrate and roll on the stator surface 830 in a
circumferential fashion. Each electromagnet 832 includes a
core 836 (FIG. l9B) about which is wound a coil 840 for
periodically receiving an electric current to there~y develop
a magnetic force for attracting the armature 808. An iron
end plate 844 i8 disposed in the bottom of the housiny 831 to
hold the cores and coils in place.
Disposed to rotate in the stator 828 is a drive shaft
26
' 2064~29
848. Mounted about the shaft 848 at the upper end thereof is
a hub 852 to which the flexible coupling 804 is attached as
shown in FIG. l9B. The shaft 848 is rotatably contained
within an elongate bearing 856 disposed in the center of the
stator 828. A retainer ring 860 is disposed at the bottom of
the stator housing 831 to circumscribe the shaft 848 and
contact the end plate 844.
As the electromagnets 832 are successively energized,
the armature 808 is successively attracted to the
electromagnets to gyrate and roll on the stator 828 and carry
with it the flexible coupling 804. The flexible coupling
804, in turn, is joined to the hub 852 to cause the hub and
thus the shaft 848 to rotate as the armature rotates. The
armature 808 gyrates in a wobble-type action which is
accommodated by the flexible coupling 804, but the shaft 848
is held in place in the stator housing to rotate about a
fixed axis. In this manner, a gyrating armature 808 drives
the shaft 848 via the flexible coupling 804.
Commutation of the motor of FIG. l9B is carried out by
the armature 808 successively contacting conductive contact
elements 864, in the form of leaf springs, circumferentially
spaced about the stator housing 831 in the path of gyration
of the armature. As the contact elements 864 are
successively contacted, electrical current is supplied to the
next electromagnet in the sequence in the direction of
gyration of the armature so that electromagnet produces a
.. .
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force of attraction for the armature causing it to gyrate in
that direction, etc., as will be discussed more fully
thereafter.
FIGS. 20A and 20B show an alternative embodiment of a
conical magnetic eccentric-motion motor in which a stator 904
is again provided with four electromagnets 908A, 908B, 908C
and 908D (see FIG. 20B). ~isposed to gyrate and roll on the
top of the stator housing 904 on a generally flat upper plate
910 is an armature 912 formed with a generally planar top
surface 916 and a convex conical bottom surface 920. A
central tubular axle 924 is disposed to extend through the
center of the armature 912, generally perpendicularly
thereto. The lower end of the tubular axle 924 extends below
the armature 912 and into an opening 928 formed in the upper
plate 910 of the stator housing 904. An angled drive shaft
932 extends through the center of the axle 924 and then bends
at the lower end of the axle to extend downwardly through the
center of the stator 904. The drive shaft 932 is rotatable
within the axle 924 and is rotatably held in place by
bearings 936 and 940.
As with the embodiment of FIGS. l9A and l9B, as the
electromagnets 908 are successively energized, the armature
920 is attracted theretoward so that the armature gyrates and
rolls on the upper plate 910 in a circular motion, and with
such gyration, the drive shaft 932 is thereby caused to
rotate (at the same speed as the gyration speed of the
28
206~S29
-
armature). The armature 920 would be made of a
ferromagnetic material, the upper plate 910 of a non-maqnetic
material such as brass or plastic, the axle 924 of a
material such as brass or plastic, and the drive shaft 932 of
a metal or metal alloy (to serve as a bearing).
Spaced circumferentially about the exterior of the
stator 904 are four contact clips 944 which, when contacted
by the armature 912 receive current therefrom (from a current
source not shown) and, cause energization of a next one of
the electromagnets in succession, to thereby cause successive
attraction of the armature so that it gyrates and rolls on
the upper plate 910. Various other commutation arrangements
will be discussed in greater detail later.
FIGS. 21A and 21B show respectively a side, cross-
sectional view and a perspective, partially fragmented viewof another embodiment of an magnetic eccentric-motion motor
which utilizes a conical armature 1004. Here, the armature
1004 again includes a generally planar upper surface 1008 and
a convex conical bottom surface 1012, but the apex of the
conical surface being formed with a pivot ball 1016. The
spherical pivot ball 1016 is disposed and held rotatably in
place in a spherical pocket 1020 formed in the upper surface
of a top wall 1024 of a stator 1028. Formed on the conical
surface 1012 of the armature 1004 at the perimeter thereof is
a ring gear 1032 which circumscribes the armature. The ring
gear 1032 is formed to mate with and successively roll on
29
2064~h~
,
four partial ring gear segments 1036 spaced apart and
disposed about the upper perimeter of the stator 1028. Also
disposed on the upper wall 1024 of the stator is a conductor
ring 1040 which maintains constant contact with the conical
bottom surface 1012 of the armature 1004 as the armature
gyrates and rotates on the stator as will be described
momentarily. Four electromagnets 1044 are disposed in the
stator 1028 as with the conical armature motors previously
described.
A drive shaft 1048, in the form of a crank, is pivotally
coupled at its lower end to the top surface 1008 of the
armature 1004 and is held in a generally fixed vertical
alignment at its upper end by bearings 1052 and 1056.
In operation, the electromagnets 1044 are successively
energized to thereby attract the armature 1004 to cause it to
pivot on the pivot ball 1016 and gyrate and roll successively
over partial ring gears 1036. That is, the ring gear 1032
successively contacts and rolls over the partial ring gears
1036 as corresponding electromagnets 1044 are energized. As
the armature 1004 rotates, it causes the drive shaft 1048 to
rotate to provide the desired drive power.
Commutation of the electromagnets 1044 is provided by
supplying electrical current to the conductor ring 1040 which
current is then supplied via the armature 1004 (which is in
constant rolling contact with the conductor ring) to
successive ones of the partial ring gears 1036 as those
2064529
partial ring gears are contacted by the ring gear 1032. The
partial ring gears 1036, in turn, supply current to
respective electromagnets 1044 to energize those magnets and
cause rotation of the armature 1004.
FIGS. 22A and 22B show respectively a top plan view and
a side, cross-sectional view of a further embodiment of a
magnetic eccentric motion motor. Again, four electromagnets
1060A, 1060B, 1060C and 1060D are provided in a housing 1062
on the top of which a conical rotor or armature 1064 is
disposed to gyrate. Gear teeth 1066 are formed on the bottom
perimeter of the armature 1064 to intermesh with gear teeth
1068 formed on the upper perimeter of the housing 1062,
similar to those conical armature embodiments described
earlier. A downwardly projecting annulus 1070 is formed on
the bottom surface of the armature 1064 to be received into
and gyrate in a cavity 1072 formed in the top of the housing
1062. A drive shaft 1074 is pivotally coupled at its upper
end to the armature 1064 and is rotatably held in place by
bearings 1076 and 1078. Two exemplary arrangements for
coupling the drive shaft 1074 to a conical armature are shown
in FIGS. 23 and 24.
Referring to FIG. 23, there is shown a conical armature
1080 coupled to a drive shaft 1082. An elongate cavity 1084
is formed in the top of the armature 1080 with a center
portion 1084A extending all the way through the armature to
receive the upper end of the drive shaft 1082. A cross piece
~ u ~
1086 is disposed in a transverse opening in the drive shaft
1082 and is received in the cavity 1084 to prevent the drive
shaft from sliding out of the central section 1084A while
allowing the drive shaft to pivot about the axis of the cross
piece and about an axis orthogonal to the cross piece. The
cavity 1084 is formed to be large enough to allow pivoting
movement of the drive shaft 1082 in the directions indicated
so that as the armatures 1080 were caused to gyrate on a
stator housing, the drive shaft could remain in a
substantially fixed vertical position in the stator housing.
FIG. 24 shows an alternative coupling arrangement
between an armature 1090 and a drive shaft 1091, in the form
of a U-joint. The drive shaft 1091 extends through an
opening 1092 in the armature 1090 and is rigidly attached to
a cross bar 1093 which diametrically bridges across and is
pivotally mounted on a ring 1094 which circumscribes the
armature. The cross piece 1090 is mounted to pivot on pins
1095A and 1095B which extend in diametrically opposite
directions from the ring 1094 to thus allow pivoting of the
drive shaft 1091 relative to the ring 1094. The ring 1094,
in turn, is pivotally mounted to the armature 1090 on pins
1096A and 1096s which extend in diametrically opposite
directions from the armature. The pivotal mounting of the
ring 1094 to the armature 1090 allows the drive shaft 1091 to
pivot about an axis defined by the linear axis of the pins
1096A and 1096B, as well as about an axis defined by the
32
~U~4~
linear axis of the pins 1095A and 1095B. Thus, the drive
shaft 1091 may be maintained generally vertical while the
armature 1090 is gyrating on the upper surface of a stator
housing as earlier described.
FIG. 25 shows a side, cross-sectional view of another
conical armature magnetic motor embodiment made in accordance
with the present invention. In this embodiment, a bi-conical
armature 1104 (concave conical top and bottom surfaces with
gear teeth) is provided to gyrate and rotate on the conical
upper surface 1108 (with gear teeth) of a stator 1112.
Again, successive energization of electromagnets 1116 cause
the armature 1104 to gyrate and rotate on the stator surface
1108 and as it does so, the upper conical surface of the
armature simultaneously contacts a conical gear 1120 to cause
it to rotate. The conical gear 1120 is coupled at its upper
surface to a drive shaft 1124 which is held in a fixed
rotatable position by bearings 1128, and is coupled at its
lower surface to another drive shaft 1132 which is rotatably
held in place by bearings 1136. The bearings 1128 and 1136,
and the stator 1112 are housed in a housing 1140.
FIG. 26 shows a gear coupling arrangement for coupling
an armature 1204 (which moves in an eccentric-motion fashion
on tracks 1208 of a stator 1212), to a drive shaft 1216. The
drive shaft 1216 is ~oined to a coupling ring 1220 on the
inside surface of which is formed a ring gear 1224. The
coupling ring 1220 is disposed to rotate in a ring bearing
2064529
.
1228 disposed in a housing 1232 of the stator 1212. Meshing
gears 1236 and 1240 are formed respectively on the tracks
1208 and on disks 1244 of the armature 1204. Similarly, a
ring gear 1248 is formed about a forwardly projecting
cylinder 1252 to mesh with the ring gear 1224. As the
armature 1204 is caused to move on tracks 1208 (by
electromagnets as previously described but not shown in FIG.
3), the ring gear 1248 on the projecting cylinder 1252 of the
armature meshes with and drives the ring gear 1224 of the
coupling ring 1220 causing the coupling ring to rotate. As
the coupling ring 1220 rotates, the drive shaft 1216 is
caused to rotate in a fixed ~non-orbiting~ position. In this
manner, the eccentric-motion motor of FIG. 23 drives the
drive shaft 1216 via a unique gear-coupling mechanism.
FIGS. 27A and 27B show another eccentric-motion motor
coupling arrangement for coupling an eccentrically rotating
armature 1304 to a drive shaft 1308. The drive shaft 1308 is
rotatably held in a fixed position by bearing 1312 disposed
in a housing 1316. The armature 1304 includes a hollow bore
1320 through which extends a rod 1324 fixed at one end to the
center of a flexible disk 1328 which is attached at several
points on its perimeter to the armature 1304. The other end
of the rod 1324 is joined to the center of a flexible disk
1332 which is attached at several points on its perimeter to
a rigid the drive shaft 1308. The disk 1332 and ring 1334
are ~oined by a plurality of circumferentially spaced apart,
34
~ 206~529
rigid fingers 1336. The flexible disks 1328 and 1332 may be
constructed similar to the flexible coupling 804 of FIGS. l9A
and 19B. As the armature 1304 rotates in a stator 1348, the
disk 1328 is caused to rotate, causing the rod 1324 to
S rotate. As the rod 1324 rotates, disk 1332 rotates, and thus
the coupling ring 1334 connected to the drive shaft 1308 is
caused to rotate to thereby drive the drive shaft 1308 as
desired. Since the disks 1328 and 1332 are flexible, the rod
1324 is allowed to pivot and process relative to the drive
shaft 1308 to thus transfer rotational power of the armature
via the rod to the drive shaft.
FIG. 28 is a side, cross-sectional view of an eccentric-
motion motor having an adjustable gear ratio feature. A
fr~sto-conical rotor 1404 is disposed to rotate in an
eccentric motion within a stator 1408 as earlier described.
One end of the rotor 1404 is coupled to a flexible drive
shaft 1412 which is slidably and rotatably held in place by
bearings 1416.
The drive shaft 1412 may be moved longitudinally (as
indicated by the arrow 1420) to vary the depth of the rotor
1404 in the stator 1408, and thus vary the speed of rotation
of the rotor. That is, as the drive shaft 1412 is moved to
the right, looking down at FIG. 28, the speed of rotation of
the rotor 1404 is increased, whereas when the drive shaft
1412 is moved to the left, the rotor 1404 moves further into
the stator 1408 and the speed of rotation is caused to
2064529
decrease. In this manner, the gear ratio may be adjusted by
simply moving the drive shaft 1412 longitudinally.
FIG. 29 illustrates one illustrative commutation
arrangement for the eccentric-motion motors of the present
invention. In this embodiment, a source of current 1504 is
coupled to a conductive track 1508 in which one end of an
armature 1512 rolls. Current supplied to the track 1508
flows into the conductive armature 1512 and then to
successive ones of track segments 1516 over which the other
end of the armature 1512 rolls. Current received by one of
the track segments 1516 flows to a respective electromagnet
1520 to cause the electromagnet to attract the armature 1512
and cause it to roll within the tracks 1508 and 1516. As the
armature 1512 rolls out of contact with one of the track
segments 1516 and into contact with another of the track
segments, a next successive electromagnet 1520 is then
energized to attract the armature in the direction of that
electromagnet causing the armature to continue to roll. In
this manner, commutation of the electromagnets 1520 is
automatically provided as the armature 1512 is caused to
roll.
FIG. 30 shows a schematic of a commutation arrangement
for bi-directional rotation of a rotor 1604 within four
conductive segments 1608 of a stator. Electromagnets 1612
are positioned adjacent each of the segments 1608 to
successively attract the rotor 1604 and cause it to roll in
36
2061529
the stator. The electromagnets 1612 may be successively
energized in either direction by a current source 1616
supplying current to the conductive rotor 1604 which, in
turn, supplies the current to which ever stator segment 1608
S the rotor is presently contacting. From that stator segment,
the current flows to the electromagnet lS12 adjacent to the
stator segment 1608 toward which the rotor 1604 is rolling.
For example, assume the rotor 1604 is rolling in the counter-
clockwise direction and is in contact with stator segment
1608a. In this position, current flows from the rotor 1604
through stator segment 1608a and through a diode 1620 to the
electromagnet 1612b. The electromagnet 1612b, is thus
energized to attract the rotor 1604 to cause it to continue
its counter clockwise movement. For movement of the rotor
1604 in the clockwise direction, the polarity of the current
source 1616 is simply changed.
Coupling of the current source 1616 to the rotor 1604
could be carried out by first coupling the current source to
a conductive ring in which the rotor rolls and maintains
continuous contact therewith. Alternatively, wiper contact
elements could interconnect the current source to the rotor.
It is to be understood that the above-described
arrangements are only illustrative of the application of the
principles of the present invention. Numerous modifications
and alternative arrangements may be devised by those skilled
in the art without departing from the spirit and scope of the
2064529
present invention and the appended claims are intended to
cover such modifications and arrangements.
38
