Electromechanical limited rotation rotary actuator
An electromechanical limited rotation rotary actuator comprises a stator having an aperture extending axially therein and at least two teeth having arcuate end portions forming an aperture. A rotor includes a diametral magnetized magnet bidirectionally operable with the stator and extending into the aperture. A non-uniform gap is formed between the magnet and the end portions of the teeth, and wherein the shape of the gap provides a restoration torque resulting in a spring-like return-to-center action of the rotor. An electrical coil extends around at least a portion of one tooth and is excitable for magnetizing the tooth and providing bidirectional torque to the rotor.
1. An electromechanical limited rotation rotary actuator comprising:
a stator having an oval shaped aperture extending axially therein and at least two teeth having arcuate end portions forming at least a portion of the aperture, wherein a long axis of the oval shaped aperture is aligned with a longitudinal axis of opposing teeth;
a rotor having a shaft and at least one diametral magnetized magnet operable in a limited bidirectional rotation with the stator and extending into the aperture thereof, wherein the at least one diametral magnetized magnet includes flux lines generally extending in one direction therethrough, resulting in a sinusoidal flux versus angle profile with respect to the magnet, and wherein a non-uniform gap is formed between the at least one diametral magnetized magnet and the arcuate end portions of the teeth, and wherein the shape of the gap provides a restoration torque resulting in a spring-like return-to-center action of the rotor; and
an electrical coil extending around at least a portion of one tooth of the at least two teeth, wherein the electrical coil is excitable for magnetizing the tooth and providing bidirectional torque to the rotor having a generally linear mechanical angle of rotation of the rotor shaft versus input voltage profile when current is applied to the electrical coil.
2. The actuator according to claim 1 , wherein the at least one diametral magnetized magnet comprises a cylindrical shape having a generally circular cross section so as to result in the gap having widest gap portions on opposing first sides of the aperture and narrowest gap portions on opposing second sides thereof.
3. The actuator according to claim 2 , wherein the widest gap portions are aligned radially with opposing radially aligned teeth.
4. The actuator according to claim 2 , wherein the narrowest gap portions on the opposing second sides of the aperture are proximate portions of the at least two teeth closest to each other, there being a separation between free ends thereof.
5. The actuator according to claim 1 , wherein the at least two teeth are comprise only two radially aligned teeth.
6. The actuator according to claim 1 , wherein each tooth includes a slot longitudinally extending therein toward and open ended at the aperture, and wherein a length dimension of the slot is sufficient for at least one of reducing hysteresis and reducing induction modulation.
7. The actuator according to claim 6 , wherein a width dimension of the slot is approximate a length dimension of the separation between the free ends of the opposing teeth.
8. The actuator according to claim 1 , wherein the stator comprises multiple laminations.
9. The actuator according to claim 8 , wherein each tooth comprises a slot extending longitudinally therein, and wherein a width dimension of the slot is at least approximate a thickness dimension of each lamination.
10. The actuator according to claim 1 , further comprising a conductive sleeve within a stator portion covering the electrical coil, the sleeve dimensioned for providing a preselected damping effect to the rotor during operation of the actuator.
11. The actuator according to claim 1 , further comprising;
a housing having opposing first and second electrically conductive face portions, wherein the stator is carried therebetween;
an electrically conductive strut extending between the face portions, wherein the electrical coil extends around each of the at least two teeth, and wherein the strut is positioned between the coils and thus within a magnetic circuit created thereby; and
elongate elements adjustably securing at least one of the opposing face portions to the strut sufficient to provide a shorted turn.
12. The actuator according to claim 1 , wherein the at least one diametral magnetized magnet comprises at least one of Neodymium Iron Boron material and Samarium Cobalt material.
13. The actuator according to claim 1 , wherein the shaft comprises first and second shaft portions and a magnetic portion carried axially therebetween.
14. The actuator according to claim 1 , wherein the gap comprises an air-gap generally free of material.
15. The actuator according to claim 1 , wherein the rotor is aligned to have a maximum torque when the electrical coil is not excitable for magnetizing the tooth.
16. An electromechanical limited rotation rotary actuator having a generally linear mechanical angle of rotation of a rotor shaft versus voltage response characteristic during operation thereof, the actuator comprising:
a stator having an oval shaped aperture extending axially therein and at least two teeth having arcuate end portions forming at least a portion of the aperture, wherein the oval shaped aperture has a long axis aligned with the longitudinal axes of the radially opposing teeth;
a rotor having a shaft and a cylindrical diametral magnetized magnet operable in a limited bidirectional rotation with the stator and extending into the aperture thereof, wherein the diametral magnetized magnet includes flux lines generally extending in one direction therethrough, resulting in a sinusoidal flux versus angle profile with respect to the magnet, wherein a non-uniform gap is formed between the cylindrical diametral magnetized magnet and the arcuate end portions of the opposing teeth, and wherein the non-uniform gap provides a restoration torque resulting in a spring-like return-to-center action of the rotor; and
an electrical coil extending around at least a portion of one tooth of the at least two teeth, wherein the electrical coil is excitable for magnetizing the tooth and providing bidirectional torque to the rotor having a generally linear mechanical angle of rotation of the rotor shaft versus input voltage profile when exciting the coil by applying current thereto and the spring-like return-to-center action of the rotor without exciting the coil.
17. The actuator according to claim 16 , wherein widest gap portions of the non-uniform gap are aligned radially with opposing radially aligned teeth.
18. The actuator according to claim 16 , wherein narrowest gap portions of the non-uniform gap are aligned on the opposing second sides of the aperture and are proximate portions of the at least two teeth closest to each other, there being a separation between free ends thereof.
19. The actuator according to claim 16 , wherein opposing teeth are radially aligned.
20. The actuator according to claim 16 , wherein each tooth includes a slot longitudinally extending therein toward the aperture, and open ended at the aperture, and wherein a length dimension of the slot is sufficient for at least one of reducing hysteresis and reducing induction modulation.
21. The actuator according to claim 20 , wherein a width dimension of the slot is approximate a length dimension of the separation between the free ends of the opposing teeth.
22. An electromechanical limited rotation rotary actuator comprising:
a stator having an aperture extending axially therein and at least two teeth having arcuate end portions forming at least a portion of the aperture;
a rotor having a shaft and at least one diametral magnetized magnet, the rotor having a generally circular cross section, wherein the at least one diametral magnetized magnet is operable in a limited bidirectional rotation with the stator and extends into the aperture thereof, wherein the at least one diametral magnetized magnet includes flux lines generally extending in one direction therethrough, resulting in a sinusoidal flux versus angle profile with respect to the magnet, wherein a non-uniform gap is formed between the at least one diametral magnetized magnet and the arcuate end portions of the teeth, so as to result in the gap having a widest gap portions on opposing first sides of the aperture and narrowest gap portions on opposing second sides thereof, and wherein the shape of the gap provides a restoration torque resulting in a spring-like return-to-center action of the rotor; and
an electrical coil extending around at least a portion of one tooth of the at least two teeth, wherein the electrical coil is excitable for magnetizing the tooth and providing bidirectional torque to the rotor having a generally linear mechanical angle of rotation of the rotor shaft versus input voltage profile during excitement of the coil by applying current thereto, and the spring-like return-to-center action of the rotor when the coil is not electrically excited.
23. The actuator according to claim 22 , wherein the widest gap portions are aligned radially with opposing radially aligned teeth.
24. The actuator according to claim 22 , wherein the narrowest gap portions on the opposing second sides of the aperture are proximate portions of the at least two teeth closest to each other, there being a separation between free ends thereof.
25. The actuator according to claim 22 , wherein each tooth includes a slot longitudinally extending therein toward and open ended at the aperture, and wherein a length dimension of the slot is sufficient for at least one of reducing hysteresis and reducing induction modulation.
26. The actuator according to claim 25 , wherein a width dimension of the slot is approximate a length dimension of the separation between the free ends of the opposing teeth.