# US 10,320,263 B2 · High force rotary actuator

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- Number: US 10,320,263 B2
- Document ID: US10320263B2
- Status: Granted
- Kind: B2
- Application number: 15/384,046
- Filed: 2016-12-19
- Published: 2017-04-06
- Granted: 2019-06-11
- Earliest claimed: 2010-04-16
- Assignees: QM Power, Inc.
- Applicants: QM Power, Inc.
- Inventors: Charles J. Flynn
- Web page: https://patentgrep.com/patent/US10320263B2

## CPC

- H02K 7/06: Means for converting reciprocating motion into rotary motion or vice versa
- H01F 7/122: by permanent magnets {(H01F7/1615, H01F7/1646 take precedence)}
- H01F 7/145: {Rotary electromagnets with variable gap (with fixed gap or torque motors H02K26/00)}
- H02K 1/146: {consisting of a generally annular yoke with salient poles}
- H02K 3/18: Windings for salient poles
- H02K 33/12: with armatures moving in alternate directions by alternate energisation of two coil systems
- H02K 41/06: Rolling motors, i.e. motors having the rotor axis parallel to the stator axis and following a circular path as the rotor rolls around the inside or outside of the stator {; Nutating motors, i.e. having the rotor axis parallel to the stator axis inclined with respect to the stator axis and performing a nutational movement as the rotor rolls on the stator}
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})
- H01F: MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES

## Abstract

An actuator includes a first stator with four first poles and a second stator with four second poles aligned with the four first poles. A permanent magnet is attached to the first stator and the second stator. Four moving armatures are positioned at terminal ends of the four first poles and the four second poles. Coils are wrapped around the first stator and the second stator. A controller selectively applies current to the coils to migrate flux created by the permanent magnet through selective poles of the first stator and the second stator and thereby alter the size of air gaps associated with the four moving armatures.

## Claims

### Claim 1

An actuator, comprising:
a first stator with a first plurality of poles defining a first linear axis and a second linear axis;
a second stator with a second plurality of poles aligned with the first plurality of poles to form aligned poles including first linear axis aligned poles and second linear axis aligned poles;
a permanent magnet between the first stator and the second stator;
a plurality of moving armatures, each moving armature separated from one of the aligned poles by an air gap;
first coils wrapped around the first plurality of poles and second coils wrapped around the second plurality of poles;
a controller to selectively apply current to the coils to control a size of a first air gap between a first moving armature and a first end of the first linear axis aligned poles to form a first linear motion and to control a second size of a second air gap between a second moving armature and a first end of the second linear axis aligned poles to form a second linear motion; and
a shaft to translate the first linear motion and the second linear motion to rotary motion of the shaft.

### Claim 2 (depends on 1)

The actuator of claim 1 wherein the controller applies current to one or more of the coils to decrease an air gap between a controlled moving armature and controlled aligned poles and produce a divided force between remaining moving armatures and remaining aligned poles.

### Claim 3 (depends on 1)

The actuator of claim 1 wherein the controller applies current to one or more of the coils to increase an air gap between a controlled moving armature and controlled aligned poles and produce a multiplied force between remaining moving armatures and remaining aligned poles.

### Claim 4 (depends on 1)

The actuator of claim 1 wherein the shaft has a crank arm.

### Claim 5 (depends on 4)

The actuator of claim 4 further comprising a first slotted slider positioned along the first linear axis to receive the first linear motion and a second slotted slider positioned along the second linear axis to receive the second linear motion and thereby manipulate the crank arm.

### Claim 6 (depends on 5)

The actuator of claim 5 further comprising guide bearings engaging the first slotted slider and the second slotted slider.

### Claim 7 (depends on 1)

The actuator of claim 1 wherein the controller sequentially applies current to the coils in an ordered manner to impart a continuous rotary motion on the shaft.

### Claim 8 (depends on 1)

The actuator of claim 1 wherein the controller sequentially applies current to the coils in a clockwise manner to impart a continuous rotary motion on the shaft.

### Claim 9

An actuator, comprising:
a first stator with four first poles;
a second stator with four second poles aligned with the four first poles;
a permanent magnet between the first stator and the second stator;
four armatures positioned at terminal ends of the aligned four first poles and four second poles;
coils wrapped around the first stator and the second stator; and
a controller to selectively apply current to the coils to migrate flux created by the permanent magnet through selective poles of the first stator and the second stator to selectively alter air gap sizes associated with the four armatures.

### Claim 10 (depends on 9)

The actuator of claim 9 wherein the controller causes the flux to be divided between the selective poles and remaining poles of the first stator and the second stator.

### Claim 11 (depends on 9)

The actuator of claim 9 wherein the controller causes the flux to be multiplied between the selective poles and remaining poles of the first stator and the second stator.

### Claim 12 (depends on 9)

The actuator of claim 9 wherein the controller selectively applies current to the coils to move each of the four armatures in a respective linear direction.

### Claim 13 (depends on 9)

The actuator of claim 9 further comprising a shaft to translate linear forces created by the armatures to a rotary force.

### Claim 14 (depends on 13)

The actuator of claim 13 wherein the shaft has a crank arm, and the actuator further comprises a first slotted slider engaging the crank arm and a second slotted slider engaging the crank arm.

### Claim 15 (depends on 13)

The actuator of claim 13 further comprising guide bearings engaging the first slotted slider and the second slotted slider.

### Claim 16 (depends on 13)

The actuator of claim 13 wherein the controller sequentially applies current to the coils in an ordered manner to impart a continuous rotary motion on the shaft.

### Claim 17 (depends on 13)

The actuator of claim 13 wherein the controller sequentially applies current to the coils in a clockwise manner to impart a continuous rotary motion on the shaft.

### Claim 18 (depends on 1)

The actuator of claim 1 wherein:
the first plurality of poles comprises four first poles;
the second plurality of poles comprises four second poles linearly aligned with the four first poles; and
the plurality of moving armatures comprise four armatures positioned at terminal ends of the aligned four first poles and four second poles.

### Claim 19 (depends on 18)

The actuator of claim 18 wherein the controller selectively applies current to the coils to move each of the four armatures in a respective linear direction.