Electric machine, helicopter, autonomous spherical vehicle, and aircraft

Abstract

Proposed is an electric machine (1) comprising a housing (10), a stator (11), a rotor (12) and a set of control electronics (RE), the stator comprising a soft iron core (13) and a winding assembly (14) and defining a motor axis (x); the soft iron core (13) comprising soft iron segments (s1-sn) and a connecting element (133); the winding assembly (14) comprising a layered arrangement that has at least two carrier layers (b) and a binder; the carrier layers (b) being interconnected by the binder; at least one conductor track (e1-en) being arranged between the carrier layers (b); the at least one conductor track (e1-en) comprising a first end (f) and a second end (f') and being sealed off with respect to gases and liquids at least in parts by the layered arrangement in the region between the first end (f) and the second end (f'); the first ends (f), the second ends (f'), or the first ends (f) and second ends (f') being interconnected at least in parts by at least one phase bridge (p); the layered arrangement extending with the at least one conductor track (e1-en) between the first end (f) and the second end (f') around the motor axis (x) and forming a layer body (142); the layer body (142) having cells (c1-cn); the soft iron segments (s1-sn) extending through the cells (c1-cn) and together therewith defining the stator poles (j1-jn); the stator poles (j1-jn) forming a matrix (Q) having rows (m) and having at least one column (n); the rows (m) being offset with respect to one another in the circumferential direction; and the at least one column (n), if at least two columns (n) are present, being offset with respect to one another in the direction of the motor axis (x).

Description

[0001] Description

[0002] Electric machine, helicopter, autonomous spherical vehicle and airplane

[0003] The invention relates to an electric machine, a helicopter, an autonomous spherical vehicle and an aircraft.

[0004] The generic term "electrical machine" includes both generators that convert mechanical power into electricity, and electric motors that convert electrical power into mechanical power in the form of rotational or translational motion or in the form of free motion.

[0005] In a three-phase machine, the number of cells in the honeycomb of the excitation system is divisible by three, so that the frequency of a periodically changing voltage of the alternating current in the excitation fields, which are offset by 120 degrees from each other, defines the speed of the electrical machine.

[0006] Depending on the type of rotor, electrical machines are divided into asynchronous machines and synchronous machines. These can be designed as solid-pole or salient-pole rotors, or have a permanent-magnet motor or a brushless DC motor with a commutator, while asynchronous machines can be designed as slip-ring or squirrel-cage rotors. In a linear motor, which can also be referred to as a traveling-field machine, each layer of a film roll forms a complete excitation system for a rotor that is pulled and pushed over a distance by the magnetic field. The multi-layer honeycomb forms a self-supporting composite of base layers, conductor tracks, and an adhesive. The self-supporting honeycomb structure enables the implementation of thin-film technologies for coating the carrier films and / or the conductor tracks.One embodiment also relates to a lightweight construction for the excitation system with a soft iron package that is freed from its load-bearing function and is designed as a plug-in system in which the individual soft iron segments are inserted into the cells of the honeycomb and anchored in a common connecting element. Electrical machines can be manufactured in a power range from a fraction of a watt to several hundred kilowatts. The term matrix, borrowed from mathematics, describes a system for a plurality of elements that are arranged in horizontal rows and vertical columns so that different arithmetic operations can be carried out vertically, horizontally and diagonally across the main and counter diagonals of the matrix. In extreme cases, a matrix can have just one row or just one column. A matrix is ​​particularly suitable for determining the respective proportion orto precisely record the respective function of an individual element within a system consisting of a plurality of elements. Since each individual layer of a multi-layer honeycomb can be detected and controlled by a matrix, one embodiment also relates to programmable control electronics with which the current supply to the excitation system can be better adapted to the respective requirements and operating conditions of an electrical machine. The elements of the matrix are embodied by the cells and the individual soft iron segments of the soft iron package of a multi-layer honeycomb. In a rotary motor and a linear motor, the honeycomb is designed as a film roll or as a film stack, whereas the honeycomb for a spherical layer motor has a multi-layer, hollow spherical layered body.In one embodiment, only one layer of a support layer formed by three meandering strips, each with just one conductor track, is required to create a complete excitation system using the matrix circuit with phase bridges for alternating current. However, the excitation system can also be designed with several hundred layers of support layers for conductor tracks, with each individual layer being projectable onto a plane. Using the matrix, the electromagnetic forces within the three-dimensional magnetic field of an electrical machine can be recorded very precisely, layer by layer, and thus also controlled. In the case of a rotary motor, for example, the sum of all individual vectors from the number of elements in a vertical row or a horizontal column can be represented in a resulting row vector or in a column vector for each individual layer of a film roll.In an electrical machine operated with three-phase alternating current, such as a rotary or linear motor, the matrix circuit is designed as a star connection and / or delta connection. In the case of a spherical layer motor, magnetic circuits can be activated via the matrix circuit both across the rows and columns, as well as across the main and counter diagonals of a matrix, allowing the rotor to perform different movements. Embodiments therefore also relate to novel applications in the field of robotics, where the controllability of the magnetic field can be used for both programmable and sensor-controlled motion sequences for tools and gripping devices.In particular, application examples of the spherical layer motor for an autonomous spherical vehicle with an integrated battery storage system and the paired arrangement of two spherical layer motors for drones and helicopters as well as for aircraft in which at least one pair of the spherical layer motors is connected to a wing are also shown.

[0007] State of the art

[0008] Electric machines with a motor axis have a stator and a rotor arranged within a housing. In the case of a rotary motor, the stator's excitation system creates a magnetic field rotating around the motor axis, causing the rotor to rotate like a rotor around the motor axis. In the case of a linear motor, the stator's excitation system creates a traveling magnetic field along the motor axis, causing the rotor to move in a translational motion along the motor axis. Similarly, a generator converts rotary or translational motion into electrical power. Electric machines are characterized by very high efficiencies of up to 98% and will therefore be the preferred solution in the future to meet growing demand in the areas of drive, control, and movement on land, at sea, and in the air. In three-phase motors, the alternating current is carried in three separate conductors with a periodically alternating phase.The current in a first conductor is offset by 120° relative to the current in the other two conductors. The rotational speed is determined by the frequency. A periodic alternating current at 50 Hz, for example, creates a rotating magnetic field at 3,000 revolutions per minute. Depending on their design, electrical machines are divided into synchronous and asynchronous machines.

[0009] In synchronous machines, which can also be excited by permanent magnets, for example, the rotor rotates synchronously with the rotating field. A special case here is the brushless DC motor with integrated control electronics that converts direct current into alternating current. In generator mode, the rotor rotates faster than the magnetic field so that energy can be fed into the grid. Asynchronous three-phase generators can be designed as squirrel-cage rotors with a slip ring, as doubly fed asynchronous machines, or as cascade machines with two stators. In so-called squirrel-cage rotors, in which the current conductors are short-circuited in a so-called rotor cage, unwanted leakage currents can occur. In this respect, slip-ring rotors have the advantage that slip rings connect the current conductors to external control electronics, so that additional resistors in the rotor circuit make it possible to influence the operating behavior.In both designs, the rotating field of the stator induces a current flow in the conductor loops of the rotor, creating a resulting magnetic field that acts reciprocally to the excitation system. The radial distance of the rotor from the motor axis is a key factor in determining the rotor torque. The rotating excitation field of the stator attracts the induced magnetic field of the rotor, causing the rotor to follow the rotating magnetic field of the stator. This effect, known as "slip," creates the torque of an electric machine. If the direction of rotation of the excitation field on the stator is changed, the direction of rotation of the rotor also changes. The excitation system of an electric motor is assigned to the stator and consists of soft iron or laminated cores with a current-carrying winding, which is usually made of copper wire with an insulating coating applied using a dip coating process.If the stator is located on the outside and connected to the housing, the electrical machine is called an internal rotor. If the stator with the excitation system is located on the inside, the electrical machine is called an external rotor. While the stator is connected to an external power source, the rotor is formed either by two-pole permanent magnets or an induction system, which is also made of soft iron or of laminated cores and copper wire. Disadvantages of this design are the complex winding of the copper wire with movements that can still sometimes only be performed by hand, the tendency of the wire to curl, the complex dipping process for applying the protective varnish, and the low

[0010] Temperature resistance, which carries the risk of the electrical machine burning out. Compared to a construction made of solid material, so-called soft iron, laminated cores have the advantage of preventing eddy currents and thus improving efficiency. The individual sheets made of soft iron are coated with an insulator and are manufactured from strip material. The production of the laminated cores requires several work steps, starting with cutting the sheets to size, arranging them in stacks, joining them by welding, gluing or screwing and, as required, all necessary welding. Suitable manufacturing processes include laser or waterjet cutting and punching for series production. After punching, the individual sheets are coated with a lacquer, stacked and heated in an oven to bond the layers together and simultaneously insulate them from one another.The complex process involves insulating the components from each other and from each other, winding the excitation coils, and the subsequent impregnation and processing of the windings. Also complex is the installation of insulating paper between the laminated core and the windings to prevent voltage flashovers. Also complex is the production of the wire used for the coils using a drawing process and its subsequent coating with an insulating varnish layer, which also receives a sliding layer to facilitate winding. Fully automated production of the windings in series production requires expensive machinery that is only worthwhile in the case of large-scale production. Therefore, to this day, the installation of the winding into a laminated core is done by hand and requires a high level of craftsmanship, as the wires tend to curl.In adhesives, two-phase polymers create a frictional bond, while the adhesive's hardener acts as a catalyst for polymerization of the respective plastic. Plastic films coated with an acrylic adhesive can be made of polypropylene, polyvinyl chloride, or polyethylene with a temperature resistance of -40 to 150 degrees Celsius. They can be manufactured as very thin, flexible, and stretchable films with layer thicknesses starting at 0.05 mm and coated with an adhesive. Polyimide films with a temperature resistance of -50 to 160 degrees Celsius and polytetrafluoroethylene films, so-called PTFE films, with exceptional thermal stability are also available.

[0011] Temperature resistance from -200 to 300 degrees Celsius. Common adhesive tapes have up to 200 layers, with the outer layer having a release layer to which the adhesive does not adhere. The adhesive forms an inseparable bond with the inner layer, which is roughened by an adhesion promoter. Depending on the material of the respective carrier layers, the following adhesives, each classified according to their chemical or physical mode of action, are suitable. Curing the adhesive by polymerization of instant adhesives such as cyanoacrylates, methyl methacrylates, and unsaturated polyesters is particularly advantageous.For bonding carrier films made of plastic, paper, or carbon fiber films, anaerobic-curing adhesives, radiation-curing adhesives, or adhesives that cure upon drying, solvent-based wet adhesives, diffusion adhesives, contact adhesives, and water-based dispersion adhesives, including colloidal systems, can be used. Glasses with a thickness between 0.4 mm and 1.1 mm are referred to as thin glass. Glasses less than 0.2 mm thick are referred to as ultra-thin glass. Depending on their chemical composition, thin and ultra-thin glasses are used in optics, biotechnology, optoelectronics, and sensor technology, as well as display technology and the semiconductor industry. The Mainz-based company Schott produces an ultra-thin borosilicate glass with the product name D 263 T with standard thicknesses of 30 μm.The product name AF 32-eco refers to a rollable, ultra-thin, and alkali-free aluminum borosilicate thin glass with a low thermal expansion coefficient, low microroughness < 1 nm, an application temperature of up to 650°C, and excellent coating properties. Soda-lime thin glass is a cost-effective alternative to the high-end products mentioned above and can be produced as an ultra-thin glass with a thickness of 0.2 mm. In sputter coating of glass, a point target, e.g., made of a metal, is bombarded with ions, so that the atoms ejected from the metal form a high-purity layer on an adjacent thin glass. High-temperature superconductors (HTSCs), whose transition temperature exceeds 23 degrees Kelvin, are known to be used for power lines. Ceramic HTSCs reach a transition temperature of 77 K, which corresponds to the boiling point of nitrogen.Yttrium barium copper oxide is a well-known example of this and, despite the brittleness of the ceramic material, has already been used as a high-temperature conductor. The literature (see A. Pawlak) describes a process for producing a flexible conductor material in which the ceramic material is filled into silver tubes and then rolled into flexible strips.

[0012] In 2017, a research team at the Massachusetts Institute of Technology led by Pablo Jarillo-Herrero demonstrated graphene's ability to conduct electricity without loss by superimposing two honeycomb-shaped monolayers of carbon atoms at an angle of 1.1 degrees and applying an electrical voltage to a rapidly cooled sample. It was also shown that the critical temperature can be increased under transverse pressure. A kagome pattern, inspired by a Japanese weaving technique for bamboo strips, is a lattice in which pentagonal stars with triangular tips form a regular grid. Recent publications in the field of quantum physics describe kagome metals, whose atomic lattices exhibit kagome patterns and have novel electromagnetic properties. One such kagome metal is, for example,An iron-tin compound with a kagome structure, which, according to theoretical physicist Ronny Thomale, could enable a new type of superconductivity. At the Swiss Paul Scherrer Institute, several extraordinary quantum phenomena were demonstrated for the first time using the kagome metal potassium vanadium antimony (KV3Sb5) at relatively high temperatures of around -190 degrees Celsius. Ideally, these phenomena could also function at room temperature as so-called high-temperature superconductors. In the field of plastics, organic molecules in the form of monomers, oligomers, and especially polymers can be applied to thin layers and form conductive pathways. Charge transfer through a process known as hopping is possible.The migration of chemical bonds along the entire length of a polymer chain makes it possible to form an electronic system, with transmission gaps being closed by appropriate doping, resulting in conductivity comparable to that of metals. The transfer of knowledge and developments from printing technology, as well as from organic and polymer chemistry, to electronics is fundamental for future manufacturing processes in electronics and electrical engineering. Dispersions and suspensions of electrically conductive materials for printed electronics are already available today. These also include inorganic materials that can be produced and processed in liquid form. So-called mass printing processes such as gravure, offset, and flexographic printing are relatively new in terms of surface throughput of many tens of thousands of square meters. 2 / h far superior to other printing processes, such as inkjet printing and screen printing, and particularly suitable for printing electrical conductors in thin layers. Offset and flexographic printing processes are suitable for inorganic and organic conductors. Inkjet printing can also be used on a laboratory scale with little effort. Screen printing is suitable for pasty materials that can be applied in thick layers to a support layer, especially for conductors made of inorganic metals. Other possible printing-related processes are so-called microcontact printing and nanoimprint lithography. Transfer processes, in which solid structured layers are transferred from a carrier to the substrate, are also considered printing processes for electronics. Electrically conductive adhesives are also already available.In the field of coating technologies, powder coating or powder painting is also worth mentioning. This involves coating an electrically conductive material with powder coating. The resulting powder coatings typically have layer thicknesses between 60 and 120 μm. Steel or aluminum substrates are suitable for powder coating. One coating process suitable for a variety of substrates is particle atomic layer deposition (PALD). This process uses a vapor-phase technique to deposit thin layers on a substrate. In the PALD and ALD processes, the surface of a substrate is alternately irradiated with so-called precursors, which are applied one after the other rather than overlapping.The PALD process can deposit a wide range of materials, including oxides, metals, sulfides and fluorides, and these coatings can exhibit a wide range of properties depending on the application.

[0013] DE 10 2012 009 268 A9 describes a permanently excited longitudinal flux linear motor in which the stator surface of the laminated core is arranged parallel and radial to the rotor axis.

[0014] DE 4 105 999 A1 discloses a conductor coil which is applied to the surface of an insulating substrate, wherein a plurality of insulating substrates and a plurality of conductor coils are alternately layered and are interconnected by a conductor material and can be rolled up into a foil coil.

[0015] EP 2 228 890 A1 discloses an electrodynamic machine which can be designed as an electric generator and comprises a plurality of conductor bars whose surfaces are formed with a non-wettable surface structure.

[0016] WO 2017215 786 A1 discloses a universally applicable inductance system for different types of electrical machines, in which the induction is achieved by means of a ladder rung system.

[0017] A. Pawlak: Superconductivity into the city center. Physics Journal, Volume 13, 2014, Issue 6, p. 6.

[0018] Mielke, C., Das, D., Yin, JX. et al.; "Time-reversal symmetry-breaking charge order in a kagome superconductor"; Nature; 602, pages 245-250 (2022)

[0019] Task

[0020] Based on the prior art presented, the invention is based on the object of providing a new electric machine, a new helicopter, a new autonomous spherical vehicle, and a new aircraft. These objects are achieved by the subject matter of the independent claims.

[0021] An electrical machine comprises a housing, a stator, a rotor, and control electronics. The stator comprises a soft iron core and a winding arrangement and defines a motor axis. The soft iron core comprises soft iron segments and a connecting element. The winding arrangement comprises a layer arrangement. The layer arrangement comprises at least two supporting layers and a binder. The supporting layers are connected to one another by the binder. Between the supporting layers, at least one conductor track is arranged. The at least one conductor track has a first end and a second end and is sealed against gases and liquids in the region between the first end and the second end, at least in some regions, by the layer arrangement. The first ends, second ends, or first ends and second ends are at least partially interconnected by at least one phase bridge.which layer arrangement with the at least one conductor track runs between the first end and the second end around the motor axis and forms a layered body, which layered body has cells, which soft iron segments extend through the cells and together with them define the stator poles, which stator poles form a matrix with rows and at least one column, which rows are offset from one another in the circumferential direction and which at least one column, if there are at least two columns, is offset from one another in the direction of the motor axis.

[0022] According to a preferred embodiment, the soft iron segments are anchored to the connecting element. This enables a good magnetic flux.

[0023] According to a preferred embodiment, the laminated body is designed as a film roll or as a film stack or as a hollow spherical laminated body.

[0024] According to a preferred embodiment, the soft iron segments comprise sheet metal laminations, soft iron pins, or soft iron screws. According to a preferred embodiment, the layer arrangement comprises at least four carrier layers, between each of which at least one of at least three conductor tracks is arranged.

[0025] According to a preferred embodiment, the layer arrangement with the at least one conductor track extends at least twice around the motor axis. This increases stability.

[0026] According to a preferred embodiment, the at least one conductor track is constructed at least in regions in a printing process with at least one metal on one side of one of the support layers or on both sides of one of the support layers (b), wherein preferably the at least one phase bridge (p) is also constructed in a printing process with at least one metal.

[0027] According to a preferred embodiment, the layer arrangement and the at least one conductor track are constructed, at least in regions, in a printing process with at least one plastic and with at least one metal, layer by layer, from several layers of the at least one plastic as a support layer and as a binder, and of the at least one metal as a conductor track.

[0028] According to a preferred embodiment, the soft iron segments are constructed from a metal in a printing process, wherein the soft iron segments are preferably printed onto one of the support layers.

[0029] According to a preferred embodiment, the base layer comprises at least one first material from a first material group consisting of:

[0030] - Carrier film made of acrylate film,

[0031] - Carrier film made of polyethylene film,

[0032] - Carrier film made of PTFE film,

[0033] - paper layer,

[0034] - Cellulose triacetate,

[0035] - fabric tape, and

[0036] - Glass, preferably with a thickness in the range of 0.05 mm to 0.20 mm. These materials provide good insulation.

[0037] According to a preferred embodiment, the binding agent comprises adhesive. Adhesive enables a good seal.

[0038] According to a preferred embodiment, the at least one conductor track comprises at least one second material from a second material group consisting of:

[0039] - inorganic conductor,

[0040] - organic conductor,

[0041] - Metal coated with a Kagome metal,

[0042] - metal coated with an adhesive film which carries a layer of graphene on its adhesive side facing the conductor track,

[0043] - steel band, and

[0044] - Steel strip coated with a ceramic high-temperature superconductor.

[0045] According to a preferred embodiment, the at least one conductor track is flat, rectangular, polygonal or oval in cross section.

[0046] According to a preferred embodiment, the at least one phase bridge is produced by soldering, by laser welding, by screwing, by an electrically conductive adhesive or by a printing process.

[0047] According to a preferred embodiment, the rotor has permanent magnets or an induction system on the rotor side that can be supplied with commutated alternating current.

[0048] According to a preferred embodiment, the electrical machine is designed as an internal rotor or as an external rotor.

[0049] According to a preferred embodiment, the soft iron segments are designed as radial segments or as axial segments.

[0050] According to a preferred embodiment, the electric machine is designed as a rotary motor, a linear motor, a spherical-layer motor, or an actuator with a locking device. According to a preferred embodiment, the electric machine is designed as an actuator 5) with a locking device, and the locking device is electromagnetically operated and establishes a frictional or positive connection with the interior of the electric machine.

[0051] According to a preferred embodiment, at least one of the support layers carries on a surface a plurality of spiral-shaped, preferably interconnected, conductor tracks, wherein preferably one of the spiral-shaped conductor tracks is assigned to one of the stator poles.

[0052] According to a preferred embodiment, the stator poles form a matrix with rows and columns. A full-fledged matrix with multiple rows and columns allows for a diverse range of influences on the magnetic flux generated by the stator.

[0053] According to a preferred embodiment, the control electronics comprises transistors and is designed to supply current to the winding arrangement in such a way that the individual stator poles can be supplied with current collectively, associatively, commutatively and distributively in accordance with the axioms for calculating with matrices.

[0054] According to a preferred embodiment, the layered body is formed as a cylindrical roll of the layer arrangement.

[0055] According to a preferred embodiment, the stator poles form a matrix with rows and columns, which is designed to enable a combined rotational and linear movement of the rotor.

[0056] According to a preferred embodiment, the layered body is formed as a spherical layered body from the layer arrangement.

[0057] According to a preferred embodiment, the stator poles form a matrix with rows and columns, and the control electronics are designed to generate a multidirectionally controllable magnetic field and to enable combined rotation and pivoting movements of the rotor.

[0058] According to a preferred embodiment, a larger equatorial ball bearing of the rotor is connected to a smaller meridional ball bearing of the stator by a pivot bearing and forms a cardanic suspension of the rotor on the stator such that the rotor can be pivoted in any direction within a defined pivoting range about the motor axis of the stator, wherein the rotor is preferably connected to a tool or to a gripping device or to an aircraft propeller or to a rigid helicopter rotor.

[0059] According to a preferred embodiment, the electric machine has a temperature control system that can be pressurized with a flow and a return for a heat transfer fluid, wherein the temperature control system forms a fluid bearing between the stator and the rotor, and either a pump for a heat transfer fluid or a compressor for air forms the flow of the temperature control system on several channels radially aligned with the center of the electric machine, wherein the heat transfer fluid enters the gap between the stator and rotor at an overpressure, wherein the stator as a heat source and the rotor as a heat sink continuously transfer heat from the interior of the electric machine to an outer rotor, wherein an outer shell of the electric machine has a surface enlargement formed by indentations and protrusions or by cooling fins in order to transfer the heat to the surrounding air,and wherein the rotor is preferably connected either to different tools for gripping or machining a workpiece or to propeller blades, and the rotor plane is preferably freely pivotable around the center of the spherical layer motor by means of the matrix circuit of the spherical layer motor within a pivoting range limited by the angle of inclination.

[0060] According to a preferred embodiment, the electrical machine has layer arrangements, and the layer body is disc-shaped with a stack of the

[0061] Layer arrangements are formed. According to a preferred embodiment, the layer arrangements are interconnected by means of a binding agent.

[0062] According to a preferred embodiment, the electric machine is designed as a wheel hub motor, and the winding arrangement can be energized by a rigid and hollow wheel axle with connections for three-phase alternating current in such a way that the three phases of the alternating current on the side facing the motor axle are carried via inner first ends of the spiral conductor tracks and the second ends are connected to one another in a star connection by means of three ring-segment-shaped phase bridges guided in separate planes and the hub forms the rotor of the wheel hub motor, wherein a plurality of permanent magnets of the rotor are arranged in a star shape on both sides of the stator.

[0063] A helicopter has rotors and an engine with two electric machines arranged on a common motor axis with a vertical distance from one another to drive the rotors, wherein the rotors are each rigidly connected to four rotor blades in an equatorial plane of one of the rotors and are articulated by means of a gimbal suspension formed by ball bearings on the two spherical layer-shaped stators in such a way that the planes of rotation of the helicopter rotors can assume any position independently of one another within a predetermined pivoting range and the aerodynamic forces caused by the two helicopter rotors balance one another out in such a way that in hovering flight the resulting lift force points vertically upwards and in straight flight is directed obliquely in the direction of flight, with the fuselage of the helicopter maintaining a horizontal position in every flight situation.

[0064] An autonomous spherical vehicle comprises an electric machine with a hollow spherical stator. The hollow spherical stator has an energy storage device formed by a plurality of accumulator cells in its lower half, and the hollow spherical rotor has a pneumatic tire with a rubber profile surrounding it on all sides. The individual layers of the hollow spherical laminated body, constructed from a plurality of support layers for conductor tracks, have a plurality of cells traversed by hollow soft iron segments aligned with the center of the spherical vehicle. The segments have shell-shaped extensions at their ends facing the rotor and are continuously supplied with compressed air from a compressor of the stator, so that the shell-shaped extensions form a fluid bearing for the rotor formed by a plurality of pressure chambers in the gap between the stator and the rotor.and wherein the rotor comprises permanent magnets and a connecting element made of soft iron, and the winding arrangement of the stator comprises a matrix with a plurality of elements in rows and columns, which can be excited by means of the matrix circuit in such a way that the rotor of the ball vehicle can be steered in any desired direction of travel.

[0065] An aircraft has a propeller engine with two counter-rotating electric machines arranged to the left and right of a cockpit of the aircraft, each of which is connected to a wing of the aircraft, wherein the rotors of the two electric machines are connected to a plurality of propeller blades of a fixed or variable pitch propeller and are gimbal-mounted on the spherical stators, so that the rotor planes of the two propellers can each be pivoted independently of one another into different positions within a pivot range defined by the angle of inclination relative to the motor axis about the centers of the two spherical layer engines, wherein the aircraft is preferably designed to take off and land vertically and to assume a horizontal position during flight.

[0066] Preferably, the supporting structure of an electrical machine is redesigned, and for the excitation system of an electrical machine, a material composite formed by supporting layers, conductor tracks, and a binder is found for a self-supporting, multi-layered, and void-free honeycomb structure of the excitation system of the electrical machine. Preferably, the structural weight of the soft iron core is reduced, and for this purpose, radial individual segments are identified to formulate a plug-in system for the soft iron core and to join the individual segments in a positive and non-positive connection with the honeycomb structure and with a common connecting element made of soft iron in at least one magnetic circuit.Preferably, an energizable matrix is ​​specified for a plurality of excitable elements arranged in the rows and / or columns of the matrix such that the current for each individual layer of the laminated body can be precisely calculated, controlled, and measured in order to better adapt an electrical machine powered by commutated direct current or multiphase alternating current to different operating conditions. The design of the respective electrical machine determines the layout of the matrix as a row or column vector for several elements formed by the soft iron segments in the case of a rotary or linear motor, or as a matrix with rows and columns in the case of a spherical layer motor, in which the possible movements of the rotor in three dimensions are theoretically unlimited.Furthermore, the specification of a honeycomb structure composed of several layers of supporting layers with flat conductor tracks and a shell body perforated by cells serves to generate a strong magnetic field for the excitation of the individual soft iron segments of the soft iron core with comparatively low current intensities. The specification of a layered body impervious to gases and liquids for the stator excitation system also serves to mutually insulate the conductor tracks and protect them from contamination and corrosion, and forms a positioning system for the conductor tracks in relation to the soft iron segments of the soft iron core. By specifying a modular and prefabricated construction system for electrical machines suitable for series production, manufacturing costs can be reduced.

[0067] An embodiment of the electric machine with an excitation system can be designed as a rotary motor, a linear motor, or a spherical layer motor and has a housing for a stator with a motor axis for a rotor and for control electronics for multi-phase alternating current or direct current. The excitation system is formed by a stable laminated body impermeable to gases and liquids, which is constructed from a plurality of mutually insulated support layers for at least one conductor track on at least one surface of the support layer, interconnected by adhesive, and designed as a honeycomb with a plurality of cells for accommodating a plurality of individual soft iron segments of a soft iron package.Each layer of the laminated body can be projected onto a surface, with at least one layer of the excitation system forming a matrix with rows and / or columns for elements embodied in the cells of the honeycomb by soft iron segments formed by sheet metal laminations or soft iron pins or soft iron screws. These elements can be anchored in a common soft iron connecting element, thus forming at least one magnetic circuit. The honeycomb can be designed as a foil roll, a foil stack, or a hollow spherical laminated body, and can be supplied with multiphase alternating current at first ends of the conductor tracks at an input of the housing.The second ends of the conductor tracks are interconnected in a matrix circuit with phase bridges such that, by means of the matrix and the control electronics, a rotating magnetic field can be generated in the case of the rotary motor, a traveling magnetic field in the case of the linear motor, and a multidirectionally controllable magnetic field in the case of the spherical layer motor. Further advantageous features and design variants are evident from the subclaims. Specifically, the embodiments have, at least in part, the following advantageous properties:

[0068] - Specification of a synchronously or asynchronously excited electrical machine as an internal rotor or external rotor, which can be designed as a rotary, linear or spherical layer motor,

[0069] - Specification of an electrical machine with an input for alternating current or direct current,

[0070] - Specification of electrical machines with a preferred phase angle of the alternating voltage of 120 degrees,

[0071] - Specification of a printed excitation system for the stator of an electric motor,

[0072] - Specification of a printed induction system for the rotor of an electric motor,

[0073] - Specifying a matrix circuit as a star circuit and / or as a

[0074] Triangular circuit for a rotary motor with a vector of the matrix formed by a row or a column,

[0075] - Specification of a control electronics for controlling the magnetic field by means of a matrix circuit of the energizable rows and columns and main and counter diagonals of the matrix with one of a plurality of transistors (MOSFET, metal-oxide semiconductor field-effect transistor) and sensors,

[0076] - Specification of an elemental soft iron package with sheet metal laminations for the rotary and linear motor and with soft iron pins or soft iron screws for the spherical layer motor,

[0077] - Specification of a connecting element for the individual soft iron segments of the soft iron package as a longitudinal section of a hollow cylinder or as a layer of a hollow sphere, each made of soft iron,

[0078] - Specification of a fluid bearing between the stator and the rotor, - Specification of a spherical layer motor with a cardanic suspension of the rotor on the stator,

[0079] - Specification of an electrical machine as an internal rotor, in which the base layers are prefabricated as meander belts and wound up in several layers of three individual meander belts on a reel to form a film roll,

[0080] - Specification of an electrical machine as an axial flux motor with a disc-shaped honeycomb with radial cells,

[0081] - Specification of a rotary motor with an induction system for a rotor with a soft iron package and meandering strips with the conductor tracks short-circuited to each other in endless loops and having an angle of inclination of five to fifteen degrees relative to the motor axis,

[0082] - Specification of punched, flat metal conductor tracks,

[0083] - Specification of meander bands made of aluminium as a replacement for copper,

[0084] - Specification of a base layer with two adhesive surfaces as a substrate for conductor tracks and / or for a binder,

[0085] - Specification of an adhesive film with adhesive strips on the edges and between the conductor tracks for sealing the conductor tracks within the honeycomb,

[0086] - Specification of a flexible and rigid base layer made of plastic or ultra-thin glass,

[0087] - Specification of a temperature-resistant and coatable base layer made of polyethylene, polyimide, polyamide or PTFE,

[0088] - Specification of a mass printing process for printing the conductor tracks from roll to roll,

[0089] - Specification of an inkjet printing or a screen printing process for printing on a flat base layer or a base layer that can be unrolled from a roll,

[0090] - Specification of a carbon fibre fabric tape as a supporting layer with a strip-shaped Velcro connection as a binding agent on the edges of the tape and with intermediate conductor tracks made of sheet metal and with a two-phase polymer as an adhesive for the laminated body,

[0091] - Specification of an electrical machine in which the supporting layers carry electrically conductive tracks with several independent parallel tracks, - Specification of an abrasive process in which the conductor tracks are removed from a supporting layer coated on at least one side with electrically conductive material, e.g. in an etching process,

[0092] - Specification of a base layer that can be coated with electrically conductive organic polymer chains,

[0093] - Specification of a conductor track made of a superconducting ceramic material, in particular yttrium-barium-copper oxide, which is filled into silver tubes and rolled out into a strip-shaped conductor track that can be connected to a supporting layer,

[0094] - Specification of flexible strips made of aluminium or steel for electrostatic powder coating with a ceramic high-temperature superconductor,

[0095] - Specification of a PALD (Particle Atomic Layer Deposition) process for coating the adhesive films with a superconducting, atomic layer of a Kagome metal,

[0096] - Specification of an adhesive film with a layer of graphene for the sheathing of the conductor tracks,

[0097] - Specification of a 3D printing process with three materials for the conductor tracks, the support layers and the soft iron segments,

[0098] - Specification of a rolling process for the production of a sealed film roll from adhesive film on a reel,

[0099] - Specification of heated calenders for the production of a monolithic composite of the support layers of the film roll,

[0100] - Specification of an actuator with a locking device, especially for trackable PV modules suspended from a cable net,

[0101] - Specification of an electromagnetic lock for a rotary motor, a linear motor or a spherical layer motor.

[0102] Manufacturing process for a multilayer honeycomb

[0103] An advantageous manufacturing process for the honeycomb laminated body involves a 3D printing process for three different materials, in which the laminated body is produced continuously and layer by layer from several layers of a plastic as a binder for the supporting layers and conductor tracks made of metal,including the matrix circuit between the first and second ends of the conductor tracks and including the individual cells of the honeycomb with the soft iron segments of the soft iron package and the connecting element. In the case of the rotary motor and the linear motor, the honeycomb laminate can be formed as a foil roll with at least one layer or up to several hundred layers of support layers for conductor tracks. The foil roll is produced on a reel with adjustable gauges as spacers and dimension holders for the subsequent installation of the individual soft iron segments of the soft iron package into the honeycomb cells. The support layers are formed as single- or double-sided coated, stretch-resistant and flexurally soft foil strips or as flexible carbon fiber strips, each of which has a coating substrate for the conductor tracks and for an adhesive on at least one surface.so that the individual layers of the carrier layers form a self-supporting composite body that is impervious to gases and liquids. For carrier layers that are already coated or printed with conductive tracks, both chemically curing or physically curing adhesives, as well as adhesives with a combined effect, are suitable as binders for the production of a single- or double-sided coated electrically conductive adhesive tape. Curing of the adhesive by polymerization is particularly advantageous for instant adhesives such as cyanoacrylates, methyl methacrylates, and unsaturated polyesters. Anaerobic-curing adhesives, radiation-curing adhesives, or adhesives that cure by drying are suitable binders for the mutual bonding of carrier films, which can be made of plastic, thin glass, paper, or carbon fiber films. Solvent-based wet adhesives, diffusion adhesives, and contact adhesives are also suitable for paper carrier films.as well as water-based dispersion adhesives, including colloidal systems. For ultra-thin glass substrates, UV- and heat-curing adhesives are particularly suitable, while for attaching metal conductors to carbon fiber tapes, pressure-sensitive adhesives that can be designed as hook-and-loop or plug-and-snap connections are suitable. Epoxy adhesives, polyurethane adhesives, and silicones are used to bond the carbon fiber tapes to each other. With a combined physical-chemical action principle of the binder, a high temperature resistance of the adhesive bond for the carrier films can be achieved through polycondensation of phenolic resins, polyimides, polysulfides, or silane-modified polymers. If the substrate consists of a carbon fiber tape,A two-phase polymer is applied as a binding agent during winding onto the reel. The individual layers of the carbon fiber tape's base layer are bonded to one another by means of the two-phase polymer to form a self-supporting laminated body that is impermeable to gases and liquids and can be cured in an autoclave. A base layer printed with conductor tracks on both sides is particularly advantageous. The first surface of the base layer is coated with the first component and the second surface with the second component of a two-component adhesive, so that a monolithic bond between the individual layers of the laminated body is created during winding onto the reel. If the base layer with the conductor tracks is passed over heated calenders immediately before winding onto the reel,The foil composite can be manufactured using a melt-bonding process. In a rotary motor and a linear motor, the multi-layer honeycomb is designed as a foil roll with a plurality of cells, which cells accommodate a corresponding number of individual soft iron segments interconnected in a magnetic circuit of the soft iron package. In each individual layer of the foil roll, the soft iron segments can be represented as elements of a matrix in a row or column vector. While in a spherical layer motor, the multi-layer honeycomb has a hollow spherical shell body, and in a combined linear and rotary motor, a multi-layer foil roll, each with a plurality of cells for accommodating a corresponding number of soft iron segments of the soft iron package, each individual layer of the honeycomb projectable onto a surface forms a matrix with rows and columns.in which magnetic circuits in each individual layer can be switched across the rows or columns or across the main and counter diagonals of the matrix, so that the electromagnetic field forces can be directed in different directions by means of programmable or sensor-controlled control electronics for the matrix switching. The adhesive forms a binding agent for the individual layers of a gas- and liquid-tight laminated body with a plurality of matrices corresponding to the number of layers. At least one of the two surfaces of the support layer of the film roll or of the hollow spherical laminated body has a plurality of spiral-shaped, interconnected conductor tracks corresponding to the number of cells in the laminated body, wherein the conductor tracks in the individual layers of the laminated body can be energized with multiphase alternating current in such a way thatthat the magnetic field generated by the individual soft iron segments of the soft iron package is multidirectionally controllable by means of control electronics of the matrix circuit formed by a plurality of transistors. The rotor of the combined linear and rotary motor can perform a combined reciprocating and rotary motion, while the rotor of a spherical layer motor can perform a combined rotary and pivoting motion within a radial sector around the center of the motor defined by an inclination angle.

[0104] Support layers for conductor tracks

[0105] In an advantageous embodiment, the support layers form a shell for metal conductor tracks, wherein the conductor tracks are flat, rectangular, polygonal, or oval in cross-section, and the electrical contacts at the first ends and at the second ends of the conductor tracks are produced by soldering, laser welding, screwing, or using an electrically conductive adhesive. The support layer preferably consists of a rigid and flexible plastic film or of ultra-thin glass with a layer thickness of 0.05-0.2 mm and forms, on at least one of the two surfaces, a coating substrate for the conductor tracks and for a binder as a filling between the conductor tracks and the support layers, wherein a plurality of layers of the support layers form the laminated body impermeable to gases and liquids. The support layer can be printed with conductor tracks on at least one of the two surfaces, preferably using a mass printing process.Alternatively, the conductor tracks can be sputtered, sintered, or glued onto the support layer, with conductor tracks arranged on both surfaces of the support layer being separated from each other by a double-sided adhesive film. Adhesive strips between the conductor tracks and at the edges of an adhesive film create a force-fitting connection between the individual layers of a honeycomb. From a support layer coated with metal on both sides, the conductor tracks can be etched or cut out of both surfaces using an abrasive process. Conductor tracks arranged on both surfaces of the support layer can be combined to form a two-wire conductor track, with both wires generating a common magnetic field and a plurality of transistors and sensors of the control electronics configured to control the current flow of the excitation system.In a particularly advantageous embodiment, the conductor tracks are coated with an electrically chargeable, ceramic high-temperature superconductor in powder form. As a cured layer, this ceramic high-temperature superconductor is designed to increase the conductivity of the conductor tracks formed by thin, flexible steel strips. Alternatively, the ceramic high-temperature superconductor is filled as powder into hollow profiles, which are then rolled out flat and can be connected to the supporting layer as flat strips. In another advantageous embodiment, atomic layers of a kagome metal with a superconducting kagome structure, which are applied to metal conductor tracks using a PALD (Particle Atomic Layer Deposition) process, form a superconducting layer on the surface of the conductor tracks, thus increasing the conductivity of the conductor tracks even at ambient temperature.Support layers formed by adhesive films also appear promising. These films carry a layer of graphene on their surfaces facing the metal conductor tracks and form a shell for flat conductor tracks, e.g. made of aluminum or copper, wherein the conductivity of the conductor tracks is increased even at ambient temperature. The support layer preferably forms a coating substrate for a mass printing process on at least one surface. Furthermore, within the scope of one embodiment it is provided that the conductor tracks are either sputtered, sintered or glued onto at least one of the surfaces of the support layer, wherein conductor tracks on the two surfaces of the support layer are separated from one another by an intermediate layer, or that adhesive strips are provided between the conductor tracks and at the edges of an adhesive film for connecting the individual layers of the honeycomb.The individual layers of the honeycomb can be secured using pole pieces on the soft iron segments of the soft iron stack. The support layers, rolled into a foil roll or stacked into a foil stack, form a positioning system for the individual soft iron segments of the soft iron stack and for the conductor tracks themselves. An electrically conductive adhesive is suitable for creating electrical connections between the conductor tracks. Organic conductor tracks made of doped polymer chains are proposed for support layers made of cellulose triacetate, whose conductivity is in no way inferior to metals. The associated weight and cost savings can be utilized for future drive and control systems.The incorporation of superconductors into electrical machines has the potential to establish itself as a new lightweight construction technology, particularly for vehicle and aircraft engines, since a single superconducting layer can replace a conventional winding. One embodiment therefore proposes a temperature control system using liquid nitrogen for a vehicle to cool ceramic high-temperature superconductors to their critical temperature.

[0106] The electric machine as an internal rotor

[0107] A first advantageous embodiment of the electric machine relates to an internal rotor, in which the honeycomb is designed as a cylindrical film roll with a plurality of cells for accommodating a corresponding number of individual

[0108] Soft iron segments of the soft iron package are inserted into the cells from the inside to the outside and anchored in grooves of an outer guide element formed by a tube. The conductor tracks are arranged on three meander strips and are each supplied with three phases of alternating current at their first ends at three inputs of the housing, while the second ends are connected to phase bridges for a star connection in order to generate a rotating magnetic field for the rotor. The longitudinal sections of the three meander strips are spaced apart from the motor axis in radial planes by a radius and have transverse sections aligned perpendicular to the motor axis, wherein the three meander strips, which are coated on at least one side with at least one conductor track, are each supplied with one phase of the alternating current.During the production of the cylindrical foil roll, the three meandering strips are placed on top of each other in a single plane and wound onto a reel to form the stator's excitation system together with the soft iron core. The internal rotor is either a squirrel-cage rotor or is permanently excited by a plurality of alternately poled permanent magnets, the number of which is greater or smaller than the number of cells in the honeycomb. The rotor of an asynchronously excited three-phase machine can be a squirrel-cage rotor.In the advantageous embodiment of an asynchronous electric machine designed as an internal rotor, the rotor has an induction system in which a row or column of the matrix is ​​inclined at an angle of 5 to 15 degrees relative to the motor axis, so that the honeycomb is formed with a plurality of inclined cells for accommodating inclined soft iron segments of the soft iron core, which form an inductance by means of a plurality of interconnected conductor tracks in several layers of the support layer. The rotor is separated from the stator by a gap.While the conductor tracks in a squirrel-cage rotor are short-circuited, and in a slip-ring rotor the operating behavior of the electric machine in motor mode can be controlled by additional resistors introduced into the rotor via slip rings, in generator mode the electric machine uses the rotor's slip rings to divert alternating current from the electric machine to the outside. In an advantageous design variant, three meandering strips are printed with a plurality of conductor tracks and, together with the soft iron core, form the rotor's induction system. Alternatively, the inner rotor can be designed as a permanent magnet machine, in which the rotor has a plurality of alternately poled permanent magnets, the number of which is greater or smaller than the number of cells in the honeycomb to prevent blockages of the machine.

[0109] The electric machine as an external rotor

[0110] A second advantageous embodiment of an electrical machine relates to an external rotor in which the honeycomb has three meandering strips with longitudinal sections aligned parallel to the motor axis and with transverse sections aligned transversely to the motor axis. At least one meandering strip coated on one side with conductor tracks is provided for each phase of the alternating current. Three meandering strips placed one above the other in a plane form the excitation system of the stator in such a way that the longitudinal sections of the three meandering strips are placed one above the other in a plane and wound onto a reel to form a film roll. The longitudinal sections of the three meandering strips lie in radial planes and are spaced from the motor axis by radii for the individual layers of the film roll.The foil roll is designed as a cylindrical honeycomb with a plurality of cells for accommodating a corresponding plurality of individual soft iron segments with pole pieces, which are inserted from the outside inwards into the cells of the honeycomb and then anchored in grooves of a guide element formed by a tube made of soft iron. The conductor tracks of the three meandering strips are each supplied with three phases of alternating current at their first ends at three terminals of the housing, while the second ends are connected to phase bridges for a star connection to generate a rotating magnetic field for an external rotor. The electrical machine as an external rotor can be designed as a permanent magnet machine, in which the rotor has a plurality of alternately poled permanent magnets, the number of which is greater or smaller than the number of cells in the honeycomb to prevent blockages of the machine.Alternatively, an asynchronously excited electrical machine can be designed in which the rotor is designed either as a squirrel-cage rotor or as a honeycomb with an induction system constructed analogously to the excitation system, wherein the individual soft iron segments of the soft iron core are inclined relative to the motor axis at an angle of 5 to 15 degrees. A further advantageous embodiment of the electrical machine relates to a rotary motor designed as an axial flux motor with an external rotor. In this case, the honeycomb comprises a film roll with a plurality of layers of a support layer aligned tangentially to the motor axis, which layers are printed with a plurality of spiral-shaped conductor tracks. Cells of the honeycomb, spaced radially from the motor axis, are provided for the positive connection to a plurality of soft iron segments of the soft iron core arranged parallel to the motor axis.The first ends of the spiral conductors are connected to the housing terminals for alternating current, while the second ends, on the side of the conductors facing the motor axis, have a star connection with ring-segment-shaped phase bridges to generate a rotating magnetic field for an outer rotor. The axial flux machine is either permanently excited, with the rotor equipped with alternatingly poled permanent magnets, or the axial flux machine is designed as a non-salient-pole rotor, with the rotor equipped with an induction system. A particularly advantageous embodiment relates to a wheel hub motor in which several layers of annular support layers are connected to form a foil stack, forming a disk-shaped, bending-, shear-, and torsion-resistant honeycomb with a plurality of cells for accommodating a corresponding number of individual soft iron segments of the soft iron package.The honeycomb has an excitation system for a permanently excited axial flux motor, in which the number of spiral conductor tracks on at least one surface of the support layer of the foil stack corresponds to the number of cells of the disc-shaped honeycomb, which is supplied with current by a rigid and hollow wheel axle with connections for three-phase alternating current in such a way that the three phases of the alternating current on the side facing the motor axle are carried via inner first ends of the spiral conductor tracks, while the second ends are connected to one another in a star connection by means of three ring-segment-shaped phase bridges guided in separate planes.The hub forms the rotor of the wheel hub motor, with a plurality of permanent magnets of the rotor arranged in a star shape on both sides of the stator, the number of which is greater than the number of cells in the excitation system, so that blockages of the three-phase motor are avoided and the rotating magnetic field of the stator causes a rotary movement of the hub.

[0111] The electric machine as a linear motor

[0112] A third advantageous embodiment relates to a linear motor in which the stator has a honeycomb formed by a foil roll with a plurality of cells, which are diametrically opposed to one another in radial planes with respect to the motor axis, for receiving the soft iron segments of the soft iron package, which cells are arranged in a row parallel and at a radial distance from the motor axis, and both surfaces of the support layer have a plurality of spiral conductor tracks corresponding to the number of cells for receiving the soft iron segments of the soft iron package, so that in each case two soft iron segments of the soft iron package, which are opposite one another in a radial plane, together with the foil roll form a plurality of bipoles and a plurality of support layers, which are insulated from one another by means of separating layers and are wound up on a reel to form the foil roll.The first ends of the conductor tracks of a plurality of supporting layers are then interconnected in parallel and connected to the three phases of the alternating current at the terminals of the housing. The second ends of the conductor tracks are interconnected with a phase bridge in a star connection such that a plurality of excitation modules corresponding to the number of layers is formed. The rotor of the permanent-magnet machine, in the form of a synchronously excited linear motor, is excited by an electromagnetic traveling field such that it performs a translational movement parallel to the motor axis. The rotor or actuator therefore has a number of bipoles that is greater or smaller than the number of bipoles in the excitation system.

[0113] Electric machines for combined movement sequences of the rotor

[0114] A fourth particularly advantageous design variant relates to electrical machines in which the rotor can execute combined motion sequences by directing the electromagnetic field using an energizable matrix with rows and columns, as well as main and counter diagonals. The elements of the matrix are embodied by a plurality of cells in a multi-layered composite body for accommodating the individual soft iron segments of the soft iron core. Projected onto a surface, this creates a grid in tabular form, which contains a matrix and can be transferred to the individual layers of a cylindrical or spherical composite body.At least one of the two surfaces of the support layer has a plurality of spiral, interconnected conductor tracks corresponding to the number of cells of the laminate, which can be supplied with multi-phase alternating current in the individual layers of the laminate either via the rows or via the columns as well as via the main and counter diagonals in such a way that the magnetic field caused by the soft iron segments of the soft iron package can be controlled by means of control electronics of the matrix circuit formed by a plurality of transistors.The rotor of a rotary and linear motor can therefore optionally perform a translational or rotary movement and also a combined translational and rotary movement, while the spherical layer-shaped rotor of a spherical layer motor can perform a rotational or pivoting movement as well as a combined rotational and pivoting movement within a radial sector predetermined by the angle of inclination around the center of the spherical layer motor.In a first advantageous embodiment of the spherical layer motor, the excitation system of the stator has a stepped connecting element for a plurality of film rolls with different radii and a constant number of cells for accommodating the soft iron segments of the soft iron package. The rotor is designed as a hollow spherical layered body, the concave inner surface of which faces the stator and carries alternately poled permanent magnets that are separated from one another by gaps along longitude and latitude circles, and whose number is greater than the number of cells of the honeycomb. The rotor is gimballed to the stator by means of a first equatorial ball bearing and a second meridional ball bearing such that the motor axis of the external rotor can be pivoted in any direction at an inclination angle of 20 to 30 degrees within a radial pivot range.The rotor is intended to be connected either to a tool, a propeller, or a rigid helicopter rotor. In a second advantageous embodiment for the excitation system of the stator of a spherical layer motor, the cells of a spherical layer-shaped honeycomb each accommodate a soft iron segment of the soft iron stack formed by a soft iron screw, whereby the head of the soft iron screw forms a pole piece and the shaft of the soft iron screw is aligned with the center of the spherical layer motor and anchored by a thread in the connecting element formed by a spherical soft iron body. Alternatively, bundles of hexagonal soft iron pins can be designed as soft iron segments of the soft iron stack and radially aligned with the center of the spherical stator, so that the individual layers radially traverse the stack in the cells of a spherical layer-shaped honeycomb.The hexagonal soft iron pins are anchored in a connecting element formed by a soft iron sphere in such a way that magnetic circuits can be formed in each layer of the laminated body, both across the rows and columns, as well as across the main and counter diagonals of the matrix. At least one surface of a layer of the supporting layer bears a plurality of spiral conductor tracks corresponding to the number of cells, which repeatedly circumnavigate a soft iron segment of the soft iron package. Thus, by means of the matrix circuit, an internal or external, permanently excited, hollow spherical layer-shaped rotor rotates around the center of the spherical layer motor and can assume any inclined position within a pivoting range limited by the angle of inclination. In a third particularly advantageous embodiment, the spherical layer motor has a pressurizable temperature control system with a supply and a return line for a heat transfer fluid.The pressurizable heat transfer fluid forms a fluid bearing between the stator and the rotor of the spherical layer motor. Either a pump for a liquid heat transfer fluid, e.g. a thermal oil, or an air compressor traverses the spherical layer body of the honeycomb by means of several channels radially aligned towards the center of the spherical layer motor and introduces the heat transfer fluid at overpressure into the gap between the stator and the rotor. The stator forms the heat source and the rotor the heat sink of the temperature control system. The outer shell of the rotor has an enlarged surface formed by indentations and protrusions or by cooling fins so that heat can be continuously transferred from the interior of the spherical layer motor to the surrounding air. The rotor can be connected either to different tools for gripping or machining a workpiece or to propeller blades.

[0115] The electric machine as an actuator

[0116] If the electrical machine is used for control tasks or for step-by-step tracking, the design of an actuator with a locking device is particularly advantageous because the locking device enables force to be absorbed without current flowing. It is therefore advantageous for a rotary motor or a spherical layer motor to be designed as an actuator with a locking device that enables different periodic adjustment movements of the rotor, whereby the rotor is held in the respective working position. One example of this is trackable PV modules, which, for example, track the current position of the sun every fifteen minutes. By releasing the locking device, the solar module can then be assumed in a new, temporarily effective position. Since no force is required between the individual phases, the releasable locking device is particularly advantageous.

[0117] Two spherical layer engines as helicopter engines

[0118] A particularly advantageous embodiment relates to an electric helicopter engine comprising an upper and a lower spherical layer motor. The two spherical layer motors are arranged on a common motor axis of the hollow spherical layer stators at a vertical distance from each other such that two counter-rotating hollow spherical layer rotors are each rigidly connected to four rotor blades in an equatorial plane and are articulated to the two stators by means of a gimbal suspension formed by two ball bearings.The rotation planes of the helicopter's rotors can be independently pivoted into any desired position within a pivoting range determined by the tilt angle. The aerodynamic forces exerted by the two rotors balance each other out. The resulting lift force is directed vertically upwards when the helicopter is hovering and diagonally in the direction of flight when flying straight ahead. The helicopter's fuselage maintains a horizontal position in every flight situation.

[0119] Spherical layer motor for an autonomous spherical vehicle

[0120] Another possible application involves an autonomous spherical vehicle powered by a spherical layer motor. The stator of the spherical layer motor comprises a honeycomb with a multitude of cells, with a hollow soft iron screw with a hexagon socket traversing each cell of the multi-layered, hollow spherical structure. The ends of the soft iron screws facing the permanent magnets of the rotor have plastic extensions that rest against the concavely curved inner surface of the rotor and form pressure chambers for compressed air. This fluid bearing is created between the stator and the rotor of the spherical vehicle. This fluid bearing is continuously supplied with compressed air in a circulation system with supply and return from a compressor arranged in the upper half of the stator. The lower part of the stator accommodates an energy storage device formed by a multitude of accumulator cells.The weight of the energy storage unit, in conjunction with an on-board computer, constantly oscillates the stator's motor axis orthogonally to a drivable surface. The autonomous all-terrain vehicle can move on any surface, including water, using a hollow spherical rotor. Depending on the size of the vehicle, the matrix has any number of elements for rows and columns, which are embodied by the cells for accommodating the soft iron segments of the soft iron package. While the matrix can be projected onto a surface, the profiling of the outer rubber tire follows a triangulated grid on the outer surface of the rotor. The spherical vehicle can be manufactured in various sizes with a diameter of, for example, 10 cm up to several meters and can be designed, for example, as an autonomous courier vehicle.A cargo compartment in the upper half of the hollow spherical stator is accessible through openings at the equatorial vertices of the stator. Features for autonomous driving and dimensions compatible with road traffic regulations allow the vehicle to participate in road traffic.

[0121] Spherical layer engines for aircraft

[0122] Another particularly advantageous embodiment relates to an electric propeller engine for aircraft that can be connected to the aircraft's wing. For example, two counter-rotating spherical layer motors arranged to the left and right of the aircraft's cockpit can be connected to an aircraft's wing. The rotors of the two spherical layer motors are connected to a plurality of propeller blades of a fixed-pitch or variable-pitch propeller and are gimbal-mounted on the spherical stators in such a way that the rotor planes of the two propellers can each be pivoted independently of one another into different positions around the centers of the two spherical layer motors within a pivot range defined by an angle of inclination relative to the motor axes of the two stators.This makes it possible to build a vertical takeoff and landing aircraft with just two electric engines, which can precisely maintain its position while hovering. Control is achieved via both the propeller speed and the adjustable pitch angle of the two counter-rotating propellers. Further advantageous developments and variants of the invention are apparent from the figures.

[0123] They show:

[0124] Fig. 1 the electric machine as an internal rotor, top left with a circuit diagram for direct current and top right in schematic cross-section, in the middle as a layer of the stator's induction system formed by three meander bands in the isometric cut-out view and below the three meander bands in the developed view,

[0125] Fig. 2 five layers of meander bands of the induction system of an electrical machine as an internal rotor, which bind a winding arrangement with twelve cells, in the isometric overview and above with a detailed section of the supporting layer and a circuit diagram for alternating current,

[0126] Fig. 3 shows the installation of twelve soft iron segments of the soft iron package into the winding arrangement according to Fig. 2, above in a cross-section and below in a development of the three meander bands,

[0127] Fig. 4 above the production of the winding arrangement according to Fig. 1-3 on a reel with adjustable gauges in schematic cross-section and below in the isometric overview,

[0128] Fig. 5 shows a rotor of the electrical machine according to Fig. 1-4, above as a developed view of the three meander bands with phase bridges for a star connection and below in a functional unit with the soft iron segments of the soft iron package in the isometric overview, Fig. 6 shows the electrical machine as an external rotor, above with a circuit diagram for direct current and below with a representation of a permanently excited rotor in cross-section, Fig. 7 shows the electrical machine according to Fig. 6, above with the developed view of the support layer and below with the induction system of the stator in the isometric overview, Fig. 8 shows the electrical machine as an external rotor and as a wheel hub motor in the isometric cut-out view,

[0129] Fig. 9 shows the wheel hub motor according to Fig. 8 in the isometric exploded view, Fig. 10 shows the electric machine as a linear motor with a traveling field, in which the winding arrangement is designed as a film roll with 36 cells, in the exploded isometric view,

[0130] Fig. 11 the circuit diagram of the linear motor according to Fig. 10 with the beginning of the film roll in a development,

[0131] Fig. 12 the electric machine as a combined rotary and linear motor in exploded isometry,

[0132] Fig. 13 the circuit diagram of the electrical machine according to Fig. 12 with a development of the first layer of the film roll with rows and columns,

[0133] Fig. 14 shows the electrical machine according to Fig. 12-13 with a permanent magnet rotor in a schematic cross-section, Fig. 15 shows the electrical machine as a spherical layer motor, in which the winding arrangement is designed as a cylindrical film roll with 36 cells for a matrix circuit, in isometric view,

[0134] Fig. 16 the spherical layer motor according to Fig. 15, above in a schematic cross-section and below with a circuit diagram of the matrix in a schematic cross-section,

[0135] Fig. 17 the circuit diagram of the spherical layer motor according to Fig. 15-16 with the circuit diagram of the matrix circuit at the beginning of the film roll in a developed view,

[0136] Fig. 18 the electric machine as a spherical layer motor and as an external rotor with a temperature control system in a schematic cross-section,

[0137] Fig. 19 the electrical machine with a stepped stator in a schematic cross section,

[0138] Fig. 20 the electric machine as a spherical layer motor and as an external rotor with a cardanic suspension of the rotor on the stator in an isometric cut-out view,

[0139] Fig. 21 the spherical layer motor according to Fig. 20 in a detailed section above and in an overview section below,

[0140] Fig. 22 Paired spherical layer engines on a helicopter, top and middle in hovering flight and bottom in straight flight, in a perspective view in the middle and in the view below and above,

[0141] Fig. 23 a spherical layer motor for an autonomous spherical vehicle in an equatorial cross-section,

[0142] Fig. 24 the spherical vehicle according to Fig. 23, above in an isometric view and below in a section isometric view.

[0143] Fig. 25 a vertical take-off small aircraft, the wing of which is connected to two spherical layer engines, top in the front view, in the middle in the isometric view of straight flight and below in a take-off formation in the view.

[0144] Fig. 1 shows the electric machine 1 as a rotary motor 2 with control electronics RE for a radial flux motor at the top left. Twelve stator poles j1-j12 are aligned radially to the motor axis x, while the rotor poles i1-i12 of a rotor 12 shown in Fig. 5 are arranged in the circumferential direction with an offset from the motor axis x. The combination of the stator 11 of the radial flux motor shown here with the induction system A' for a rotor 12 shown in Fig. 5 enables the construction of an electric machine that does not require permanent magnets 121. The induction system A of the stator 11 for the rotor 12, formed by three meander bands k1-k3, is shown in the schematic cross-section at the top right, while the cut-out isometry in the middle shows the induction system A of the stator 11 and a developed view of the three meander bands k1-k3 is shown below.The matrix Q of the induction system A formed by the winding arrangement 14 consists of a row m with twelve elements formed by twelve soft iron segments s1-s12 of the soft iron core 13. This row m can be represented in the developed diagram as a rotationally active row vector and can be controlled by means of a matrix circuit q formed by a star connection for three phases u, v, w of alternating current AC. The soft iron segments s1-s12 can also be referred to as radial segments. The individual soft iron segments s1-s12 of the elemented soft iron core 13 are inserted from the outside inwards into the twelve cells c1-c12. Dovetail joints in a connecting element 133 formed by a tube with grooves 111 made of soft iron serve to anchor the soft iron segments s1-s12, each of which is composed of a plurality of sheet metal laminations 130 and spaced from the motor axis x by a constant radius r1. An anchorage can be either a two-part anchorage (e.g.B. with a dovetail joint) or as a one-piece anchoring (one-piece design). As shown in the schematic cross-section top right, a gap y is provided between the stator 11 and the rotor 12. Rectangular conductor tracks e1 made of aluminum are coated with a kagome metal, so that the conductivity of the conductor tracks e1 arranged on three meandering strips k1-k3 is significantly increased even at ambient temperature. The support layers b formed by adhesive films 143 insulate the three meandering strips k1-k3 from one another and form a sheath for the three meandering strips k1-k3, which are designed to be rigid in the current direction and flexible in the field direction and can be wound up on a reel 15 as shown in Fig. 4.The conductor tracks e1 are insulated from one another by the film sheath formed by the adhesive films 143 and, with just one of several possible layers L1-Ln of the three meander strips k1-k3, form a complete induction system A in which the first ends f of the conductor tracks e1 are connected to the housing 10 of the electrical machine 1 by three terminals 100. The upstream control electronics RE requires six transistors t1-t6 to produce three phases u, v, w of alternating current AC from the direct current DC. The second ends f of the three meander strips k1-k3 are interconnected in a matrix circuit q formed by a star connection with phase bridges p. The film roll 140 can, as shown in Fig. 2, be formed with any number of layers L1-Ln.The individual soft iron segments s1-s12 of the soft iron package 13 are inserted in a radial movement from the outside to the inside into the twelve cells c1-c12 of the winding arrangement 14 and are then anchored in a translational movement in undercut grooves 111 of an outer connecting element 133 formed by a tube made of soft iron.

[0145] Fig. 2 shows a winding arrangement 14 with five layers L1-L5 of three meandering strips k1-k3, each carrying a conductor track c1 as a film roll 140 with twelve cells c1-c12 for receiving twelve soft iron segments s1-s12 of the elemented soft iron package 13. The circuit diagram at the top right shows the rotary motor 2 designed as a three-phase machine with a housing 10 and three inputs 100 for alternating current AC in three phases u, v, w showing a phase angle of 120°. As shown at the top left, the support layers b are designed as adhesive films 143 and consist, for example, of polyethylene with adhesive layers on both sides for adhesive strips on the edges of the adhesive films 143 and for conductor tracks e1 made of aluminum, so that the film roll 140 forms a stable, airtight and waterproof laminated body 142. The adhesive forms a filling between the conductor tracks e1 and the supporting layers b. As shown in Fig.4, the film roll 140 is wound onto a reel 15 with twelve adjustable gauges 150. In contrast to the exemplary embodiment described in Fig. 1, the first ends f of the conductor track e1 at the input 100 of the housing 10 are, as shown top right, directly connected to three phases u, v, w of the alternating current AC, while the second ends f of the conductor tracks e1 are interconnected by means of a star connection with phase bridges p. In contrast to the example shown in Fig. 1, in which the induction system A has only one layer L1 of the meander bands k1-k3, in this example there are five layers L1-L5 between the first ends f and the second ends f. The advantage of this arrangement is that a strong rotating magnetic field for the rotor 12 shown in Fig. 3 can be generated with a low current intensity.

[0146] Fig. 3 above shows the radial flux motor according to Fig. 1, 2 with twelve stator poles j1-j12 aligned with the motor axis x in a schematic cross section and below a development of the film roll 140 according to Fig. 2. The film roll 140 has, as shown in Fig. 2, five layers L1-L5 of support layers b as adhesive films 143 for conductor tracks e1, wherein the adhesive forms a filling between the five layers L1-L5 and the conductor tracks e1. The twelve soft iron segments s1-s12 of the soft iron package 13 are inserted from the outside to the inside into the twelve cells c1-c12 of the winding arrangement 14, wherein a row vector with twelve elements in a row m of the matrix Q is embodied by twelve soft iron segments s1-s12 of the soft iron package 13 in twelve radial planes j1 -j12 and the soft iron segments s1-s12 are anchored in an outer tube made of soft iron with grooves 111 for dovetail joints.The film roll 140 has five layers L1-L5 of a support layer b formed by an adhesive film 143, which are spaced apart from the motor axis x by radii r1-r5. The twelve soft iron segments s1-s12 formed by sheet metal laminations 130 are inserted into the twelve cells c1-c12 of the film roll 140 and then anchored in an outer connecting element 133 formed by a soft iron tubular section, thus forming a magnetic circuit. The unwinding of the three meandering bands k1-k3 below shows how the three meandering bands k1-k3 are placed one above the other and then wound onto the reel 15, as shown in Fig. 4.

[0147] Fig. 4 schematically shows a rolling process for the production of a film roll 140 with a plurality of layers L1-Ln of the support layers b, which are designed as meandering belts k1-k3 and each carry three conductor tracks e1-e3 and, as shown top left, are wound onto a reel 15. Twelve adjustable gauges 150 serve as placeholders and representatives for the subsequent installation of the individual soft iron segments s1-s12 of the soft iron package 13 into the twelve cells c1-c12 of the film roll 140. Three or more conductor tracks e1-e3 on a support layer b offer the possibility of generating a strong rotating magnetic field for the rotor 12 of the electrical machine 1 shown in Fig. 5 with a low current intensity.The cross-section at the top right through the reel 15 shows twelve gauges 150 which can be adjusted from the inside to the outside and which are successively adjusted to the increasing layer thickness of a film roll 140 which can be formed with more than one hundred layers L1-Ln.

[0148] Fig. 5 shows an induction system A' for the rotor 12 of the rotary motor 2 according to Fig. 1-4, which is formed by five layers L1-L5 of support layers b, each with three conductor tracks e1-e3. In contrast to the exemplary embodiments shown in Fig. 1 and Fig. 4 for an induction system A of the stator 11, in the induction system of the rotor 12 the three meandering bands k1-k3 are short-circuited to one another at their first and second ends f,f. In this case, five layers L1-L5 of support layers b, printed on both sides with three conductor tracks e1-e3, are designed as a double-sided coated adhesive film 143 and, as shown in Fig. 4, are wound up as a film roll 140 on a reel 15. Twelve cells c1-c12 of a winding arrangement 14 accommodate twelve individual soft iron segments s1 -s12 of the soft iron package 13 and, together with a row m, form twelve elements of a row vector of the matrix Q' of the induction system A'.The soft iron segments s1-s12 are inserted from the outside inward into the cells c1-c12 and then anchored with a soft iron core in grooves 111 of the rotor 12. While in the induction system A shown in Fig. 1-4, the cells c1-c12 with length h are arranged parallel to the motor axis x, the cells c1-c12 with length h in the induction system I have an inclination angle a', thus preventing the rotor 12 from coming to a standstill. The unrolled view of the meander bands k1-k3 above shows this inclination angle a', which can range from five to fifteen degrees. At their respective ends f,f, the three conductor tracks e1-e3 of the three meander bands k1-k3 are short-circuited in such a way that the current induced by the induction system A of the stator 11 is conducted in five layers L1-L5 of the induction system I through three conductor tracks e1-e3, so that with a comparatively low current intensity a high torque of the rotor 12 on the motor axis x is achieved.

[0149] Fig. 6 shows the electric machine 1 as a rotary motor 2 designed as an external rotor. The induction system A of the stator 11 has, as shown above, a control electronics unit RE with six transistors t1-t6 designed to convert the input-side direct current DC into alternating current AC with three phases u, v, w. The soft iron core 13 of the stator 11 has twelve soft iron segments s1-s12 anchored by means of a dovetail joint in an internal soft iron tube with grooves 111, with twelve stator poles j1-j12 oriented radially to the motor axis x. Between the soft iron segments s1-s12, each of which has pole shoes 132, are arranged eight layers L1-L8 of the supporting layer b, which, as shown in Fig. 4, were previously wound onto a reel 15 with adjustable gauges 150 to form a film roll 140. As the magnetic field strength increases, the foil roll 140 expands towards the pole pieces 132.A gap y is provided between the outer rotor 12 and the stator 11. The receiver field 120 of the rotor 12 has fourteen alternatingly poled permanent magnets 121, which are anchored to an outer connecting element 133 of the rotor 12, formed by a guide tube. The number of permanent magnets 121 is greater than the number of radial segments s1-s12 of the soft iron core 13, so that the different number of stator poles j1-j12 and rotor poles i1-i14 ensures that the external rotor can start automatically.

[0150] Fig. 7 shows the induction system A of the rotary motor designed as an external rotor according to Fig. 6, above in a section of the support layer b printed with a plurality of spiral-shaped conductor tracks e1 and below with twelve stator poles j 1 -j 12 of the twelve soft iron segments s 1 - s 12. The printing template for the film roll 140 takes into account the increasing width of the conductor tracks e1 for seven layers L 1 - L 7. The support layer b consists, for example, of polyethylene or of ultra-thin glass, which is applied to the film roll 140 formed from ultra-thin glass using a sputtering process. Ultra-thin glass is highly temperature-resistant and is ideally suited for a single-material coating with aluminum, copper, or silver. Such layers have better conductivity than rolled or drawn metal. The illustration below shows the stator 11 of the external rotor 3 according to Fig.6 with twelve cells c1-c12 for accommodating twelve soft iron segments s1-s12 in an isometric overview. The matrix Q has twelve rows m and a matrix circuit q for twelve elements formed by the soft iron segments s1-s12. While the first ends f, as shown in the circuit diagram in Fig. 6, are directly connected to the three phases u, v, w of the alternating current, the second ends f of the spiral conductor tracks e1-e12 are connected in parallel and interconnected by phase bridges p of a star connection. The external rotor 3 is also particularly suitable as a wheel hub motor for various vehicles and its performance can be adapted to different power ranges by adjusting the number of layers L1-Ln and the radius r1 of the foil roll 140.

[0151] Fig. 8 shows the electric machine 1 as an axial flux motor designed as a wheel hub motor, in which the winding arrangement 14 of the stator 11 has a flat foil stack 141 with twelve cells c1-c12 for receiving twelve individual soft iron segments s1-s12 of the soft iron core 13, each consisting of a plurality of laminations 130. The foil stack 141 is energized via inputs 100 on a hollow and rigid wheel axle 101. The three phases u, v, w of the alternating current AC are interconnected on the side facing the motor axis x by means of three phase bridges p, each arranged in separate planes. In the wheel hub motor, the hub 102 and the housing 10 form the rotor 12. Permanent magnets 121 of the rotor 12 are arranged on both sides of the stator-side soft iron package 13 and are set in rotation by the magnetic field of the stator 11.The sensor field 110 of the stator 11 and the receiver field 120 of the rotor 12 are separated by a gap y. The six layers L1-L6 of the support layers b printed with the conductor tracks e1 form a matrix Q with rows m arranged parallel to the motor axis x and columns n arranged radially to the motor axis x.

[0152] Fig. 9 shows the induction system A of the wheel hub motor according to Fig. 8 in an exploded isometric view. By means of an inner ring, alternating current AC with the phases u, v, w is introduced into the foil stack 141 at the first and second ends f, f of the conductor tracks e1, which are spirally guided around the twelve cells c1-c12 with twelve soft iron segments s1-s12 of the soft iron package 13, on the side facing the motor axis x. As shown in Fig. 8, the power supply is provided through the hollow and rigid wheel axle 101. The first and second ends f, f of the spiral conductor tracks e1 are connected in phases to ring-segment-shaped phase bridges p. In this way, as shown in Fig. 8, a two-sided magnetic field is generated for the permanent magnet rotor 12 formed by the hub 102.The support layers b consist of flat, disc-shaped support layers b coated with the twelve spiral conductor tracks e1, alternating rows m and columns n of the matrix Q. Twelve stator poles j1-jn are arranged radially offset from fourteen rotor poles i1-i14.

[0153] Fig. 10 shows the electric machine 1 as a linear motor 4, in which the winding arrangement 14 has a cylindrical laminated body 142 with thirty-six cells c1-c36 for thirty-six soft iron segments s1-s36, which form thirty-six stator poles j1-j36 aligned radially to the motor axis x, wherein the induction system A of the stator 11 generates an electromagnetic traveling field. The film roll 140 consists of nine layers L1-L9 of a support layer b printed on both surfaces a, a' with 36 spiral conductor tracks e1-e36 and forms, with six rows m and six columns n arranged parallel to the motor axis x and of length h, a matrix Q with 36 cells c1-c36 for the installation of thirty-six soft iron segments s1-s36 of a soft iron package 13, which is subdivided into six individual connected modules.The spiral-shaped conductor tracks e1-e36 are energized with the three phases u, v, w of alternating current AC on the rear surface a' of the support layer b, with the individual spirals connected in series and both surfaces a, a' being contacted at the upper edge with the conductor tracks e1-e3 in phases. Double-sided adhesive films 143 are provided between the individual layers L1-L9 of the support layer b to form the stable laminated body 142. As shown in Fig. 14, the 36 soft iron segments s1-s36 are anchored in a connecting element 133 formed by an external soft iron tube with grooves 111 after installation in the 36 cells c1-c36.

[0154] Fig. 11 shows a layer L1 of the film roll 140 of the induction system A of the linear motor 3 shown in Fig. 10 in the developed view, as well as the circuit diagram of the linear motor 4 designed as a longitudinal flux motor. For the translational movement of the rotor 12 of the linear motor 3, one row or column vector is sufficient for 36 elements of the soft iron package 13 formed by the soft iron segments s1-s36, which in the developed view have six rows m and six columns n of a square matrix Q in each layer L1. The power supply of the column vector is provided by control electronics RE with only six transistors t1-t6, while, as shown in Fig. 13, eighteen transistors t1-t18 are required to supply current to the matrix Q via the rows m, the columns n and the main and counter diagonals in order to enable a combined rotary and linear movement.With three conductor tracks e1-e3 on the surface a' of the nine layers L1-L9 of the film roll 140, the matrix circuit q of the linear motor 3 can be energized in such a way that the 36 soft iron segments s1-s36 of the soft iron package 13 are excited by the spiral-shaped conductor tracks e1-36 on both surfaces a, a' of the supporting layer b. The phase bridges p at the upper end of the supporting layer b are controlled by the control electronics RE with six transistors t1-t6 in such a way that a traveling field parallel to the motor axis x is generated via the phases u, v, w. The foil roll 140 can be supplied with alternating current AC in three phases u, v, w by means of the six transistors t1-t6 in three independent circuits, wherein 36 spiral conductor tracks e1-e36 are arranged on both surfaces a, a' of the nine layers L1-L9 of the foil roll 140 in order to generate a magnetic traveling field parallel to the motor axis x.At the points marked as black dots, the support layer b has point-shaped openings so that the 36 spiral conductor tracks e1-e36 on both surfaces a, a' of the support layer b can be interconnected and connected in series in a printing process, wherein the first and second ends f, f of the conductor tracks e1-e36 are connected to the control electronics RE.

[0155] Fig. 12 shows the electric machine 1 as a rotary and linear motor 2, 3, in which the matrix circuit q of the induction system A enables a combined rotary and translational movement of the rotor 12. The matrix Q is embodied by the winding arrangement 14 of the stator 11 and, in the developed configuration, as shown in Fig. 13, has a square matrix Q with six rows m and six columns n, as well as main and counter diagonals, in each of the nine layers L1-L9. The electromagnetic field can be controlled by means of this matrix Q. The surfaces a, a' of the support layer b each carry a plurality of spiral conductor tracks e1-e36, corresponding to the number of cells c1-c36, connected in series with one another, and are separated from one another by adhesive films 143 coated on both sides. The current supply to the spiral conductor tracks in the nine layers L1-L9 of the film roll 140 takes place, as shown in Fig.13, with eighteen star circuits and transistors t1-t18, in order to excite the individual elements of the matrix Q embodied by the soft iron segments s1-s36 with the matrix circuit q optionally via the rows m and the columns n or via the main and counter diagonals, so that the rotor 12 shown in Fig. 14 can perform a combined translational and rotary movement.

[0156] Fig. 13 shows the circuit diagram for the combined rotary and linear motor 2, 3 according to Fig. 12 with control electronics RE formed by eighteen transistors t1-t18 of the induction system A, which can be supplied with direct current DC at the first ends f. The developed view of the innermost layer L1 of the film roll 140 shows the surface a of the support layer b at its beginning. As shown in Fig. 14, the nine layers L1-L9 of the film roll 140 are spaced from the motor axis x by radii r1-r9, whereby the film roll 140 can be constructed from any number of layers L1-Ln. Each of the nine layers L1-L9 shown in Fig. 12 has six rows m and six columns n, which form a matrix Q with main and counter diagonals, whereby the elements in the rows and columns m,n have thirty-six soft iron segments s1-s36 of the elemented soft iron package 13 and are formed by sheet metal laminations 130.While in each layer L1-L9 of the nine matrices Q, thirty-six spiral conductor tracks e1-e36 encircle the cells c1-c36 and are connected in series with each other, the back of the support layer b with the surface a' has a matrix circuit q, shown in dashed lines, with nine parallel conductor tracks e1-e9 formed at the upper edge of the support layer b for the phase bridges p. With the control electronics RE, each of the nine matrices Q can be controlled in such a way that, in the simplest case, either the row vector caused by the rows m causes a rotation of the rotor 12, or the column vector caused by the columns n enables a traveling field for a translational movement of the rotor 12. With the square matrix Q, alternating current with the phases u, v, w can also be conducted via the main and counter diagonals of the matrix Q, so that the rotor 12 can perform a combined rotational and rotary movement.Since the matrix Q can be formed with any number of rows m and columns n, different applications are possible in the field of robotic tool and gripper guidance but also in the field of drive technology.

[0157] Fig. 14 shows the electrical machine 1 according to Fig. 10 to Fig. 13 in a schematic cross-section of the stator 11 and a rotor formed by permanent magnets 121 with eight rotor poles i1-i8, which are opposite six stator poles j1-j6 at the gap y. The winding arrangement 14 of the stator 11 formed by the foil roll 140 has thirty-six cells c1-c36 for receiving thirty-six soft iron segments s1-s36 of the soft iron core 13, which are each spaced apart from the motor axis x by a radius. The surfaces a,a' of the support layer b carry in each individual layer L1-L9 of the foil roll 140, as shown in Fig. 13 in the developed view, a plurality of spiral conductor tracks e1-e36 corresponding to the number of cells c1-c36.To execute a combined translational and rotary motion of the rotor 12, the soft iron segments s1-s6 of the soft iron stack 13 in the six columns n of the matrix Q and 36 soft iron segments of the soft iron stack 13 in the rows m of the matrix are alternately excited by the matrix circuit q in the radial planes j1-j6 in such a way that diametrically opposed bipoles in the columns n generate an electromagnetic traveling field for the linear motion component of the rotor 12, and that a rotating magnetic field for the rotary motion component of the rotor 12 is generated in the rows m with the phases u, v, w of the alternating current AC. The rotor 12 itself carries eight alternately poled permanent magnets 121. Double-sided coated adhesive films 143 insulate the nine layers L1-L9 of the base layer b with the spiral conductor tracks e1-e36 from each other and connect the base layers b to each other to form the inherently stable film roll 140.

[0158] Fig. 15 shows a spherical layer motor 4 designed as an internal rotor. The induction system A of the stator 12 has a cylindrical foil roll 140 with thirty-six cells c1-c36 for accommodating thirty-six soft iron segments s1-s36 with thirty-six stator poles j1-j36 of the soft iron core 13. The soft iron segments s1-s36 are combined into twelve modules formed by sheet metal laminations 130. The rotor 12 shown in Fig. 16 is spherical. The winding arrangement 14 formed by the cylindrical foil roll 140 embodies a matrix Q with three rows m and twelve columns n as well as with main and counter diagonals and can be unwound in a flat manner, as shown in Fig. 17 using one of nine layers L1-L9 as an example.Both surfaces a,a' of the support layer b rolled up in nine layers L1-L9 carry 36 spiral conductor tracks e1-e36, which are insulated from each other by adhesive films 143 coated on both sides and are connected to each other to form the layered body 142 which is impermeable to liquids and gases.

[0159] Fig. 16 shows the spherical rotor 12 of the spherical layer motor 4 according to Fig. 15 in a meridional cross-section at the top and an equatorial cross-section at the bottom, each showing the induction system A formed by the cylindrical foil roll 140 for the external stator 11 of the internal rotor, which is operated with direct current DC and a control electronics RE with three phases u, v, w. The spherically shaped and permanently excited rotor 12 carries on its convexly curved outer side eighty-four alternately poled permanent magnets 121 arranged in parallel lines of latitude and longitude, which are separated from the stator 11 by the gap y. The sheet metal laminations 130 of the soft iron segments s1-s36 of the stator 11 facing the spherical rotor 12 each have concavely curved pole shoes 132 at their ends facing the convex spherical surface of the rotor 12 for bundling the magnetic field.

[0160] Fig. 17 shows the matrix circuit q of the spherical layer motor 4 according to Fig. 15-16 using the example of the first of nine matrices Q as the beginning of a development of the first of a total of nine layers L1-L9 of the film roll 140. With the help of thirty-six transistors t1-t36 of the control electronics RE, the matrix Q can be energized via the rows m and columns n as well as via the main and counter diagonals, so that a rotating magnetic field can be controlled such that, for example, a spherical rotor 12 connected to a propeller can rotate in variable rotation planes within a radial sector defined by an inclination angle α relative to the motor axis x, as shown in Fig. 19 to Fig. 22. The rear surface a' of the support layer b has eighteen parallel conductor tracks c1-c18 for supplying current to the three rows m and twelve columns n of the nine layers L1-L9 of the matrix Q.The embodiment shows that each individual matrix Q can be controlled individually.

[0161] Fig. 18 shows a spherical layer motor 4 as an internal rotor in a meridional cross-section. The schematic cross-section of the spherical layer motor 4 shows fourteen stator poles j1-j14 formed by permanent magnets 121, which are opposite ten rotor poles i1-i10 of the spherical rotor 12 at the gap y. The spherical layer motor 4 has a temperature control system T with a supply line z and a return line z' for a heat transfer fluid, wherein several channels arranged between the cells c1-cn and radially aligned with the center point M of the spherical layer motor 4 traverse the layer body 142 and form the supply line z of the temperature control system T and are connected to a pump for the heat transfer fluid.The gap y between the stator 11 and the rotor 12 is designed as a fluid bearing 104 that can be pressurized and serves as the return line z' of the temperature control system T, in which the stator 11 is the heat source and the rotor 12 is the heat sink, so that heat is continuously transferred from the inner stator 11 to the outer rotor 12. The outer shell of the rotor 12 has an enlarged surface formed by indentations and protrusions (not shown in detail) or by cooling fins, so that the heat is transferred to the surrounding air. In the exemplary embodiment shown here, the heat transfer fluid consists, for example, of a thermal oil, which is introduced in the supply line z by means of an oil pump under pressure and evenly distributed into the gap y between the stator 11 and the rotor 12 and collects in the return line z' in an oil sump at the lower vertex of the spherical layer motor 4, in order to be circulated back into the supply line by means of the oil pump.A shaft seal is provided on the upper cap of the stator, which seals the gap y between the stator and the rotor. The rotor 12 has a soft iron connecting element 133 for the alternately poled permanent magnets 121 of the rotor 12 on its concave inner side and can be connected to a tool or to the propeller blades of a fixed-pitch propeller or a controllable-pitch propeller on its convex outer side. Fig. 19 shows a spherical layer motor 4 as an external rotor in a meridional cross-section in which the receiver field 120 of the rotor 12 is separated from the transmitter field 110 of the stator 11 by a gap y. The schematic cross-section of the spherical layer motor 4 shows twenty rotor poles i1-i20, which are opposite ten stator poles j1-j10 of the spherical rotor 12 at the gap y.At the top right, a rotorcraft as a drone with a propeller engine formed by two spherical layer motors 4, which has two counter-rotating propellers, is shown in the overview, while the cut-out isometry below shows a meridional cross-section of the lower of the two spherical layer motors 4 of the drone, and at the top left an exemplary soft iron segment s1-s192 showing a soft iron pin 131 with pole piece 132, which crosses a foil roll 140 of the induction system A perpendicular to the motor axis x and is anchored by means of a soft iron screw 134 in a step-shaped connecting element 133 of the stator 11. In contrast to the spherical layer motor 4 shown in Fig. 15 to 17, which is designed as an internal rotor, an external rotor is shown here, in which the induction system A of the stator 11 is formed by a total of six film rolls 140 with the radii r1-r3, which are interconnected by the matrix circuit q.A total of 72 radial segments s1-s72 of the elemental soft iron package 13, formed by soft iron pins 131, are aligned perpendicularly and radially to the motor axis x and traverse a total of six foil rolls 140 and are connected to each other via the stepped connecting element 133 made of soft iron, so that meridional, equatorial, and diagonal magnetic circuits between the stator 11 and the rotor 12 can be activated by means of the matrix circuit q. Accordingly, the induction system A of the stator 11 has twelve meridional columns n and six equatorial rows m for a matrix Q with 72 elements formed by 72 soft iron pins 131 with flat pole pieces 132 inclined relative to the shaft. A gap y is provided between the stator 11 and the rotor 12, with the concave inner side of the outer hollow sphere having more than 72 alternately poled permanent magnets 121.The pivoting range of the rotors 12, defined by the angle of inclination a, which rotate in opposite directions around the center point M of the upper and lower spherical layer motors 4, enables independent adjustability of the two six-bladed propellers. Fig. 20 shows the upper of the two spherical layer motors 4 for the rotorcraft shown top right as a drone, and top left a bundle of hexagonal soft iron pins 131 of the soft iron package 13 using the example of a cell c1 of the induction system A of the stator 11 of the drone, formed by a hollow spherical layer body 142. The detailed isometry below shows the gimbal suspension with an equatorial ball bearing 103 of the rotor 12 on the stator 11 with a meridional ball bearing 103 and with a swivel joint connecting the two ball bearings 103 to each other.Within a pivoting range specified by the angle of inclination a, the rotor 12 can be freely pivoted about the center point M of the spherical layer motor 4 relative to the stator 11 with the motor axis x. The motor axis x of the stator 11 is tubular as part of the housing 10 and forms the input 100 for the first and second ends f,f of the alternating current-energizable conductor tracks e1-e192 of the induction system A, so that the variable mobility of the rotor 12 is enabled by means of the matrix circuit g for 192 elements, the matrix Q with eight rows m and twenty-four columns n. The matrix Q has 192 cells c1-c192, each for receiving a bundle of hexagonal soft iron pins 131, as shown top left.

[0162] Fig. 21 shows the lower of the two spherical layer motors 4 for the helicopter engine shown in overviews in Fig. 22, above in a detailed section of the induction system A of the stator 11 formed by eight layers L1-L8 of support layers b for spiral conductor tracks e1 on the surfaces a of the support layers b as a section of a winding arrangement 14 with three exemplary cells c1-c3 of a layered body 142 for receiving the soft iron screws 134, which are designed as hexagon socket screws with heads formed by pole shoes 132 and threaded shafts aligned radially to the center point M of the spherical layer motor 4 and are anchored in a connecting element 133 formed by a soft iron ball.The meridional overview section of stator 11 and rotor 12 of the spherical layer motor 4 below shows several layers L1-Ln of spherical support layers b of a hollow spherical layered body 142, which, as shown in the detailed section above, are coated on both surfaces a, a' with spiral conductor tracks e1-e192 in order to excite the soft iron screws 134 by means of a matrix circuit q, as shown in Fig. 17. The hollow spherical rotor 12 carries on its concave inner side facing the center M of the sphere a plurality of alternately poled permanent magnets 121, the number of which exceeds the number of cells c1-c192 of the winding arrangement 14 and is separated from the stator 11 by a gap y.The electrical connection of the upper and lower halves of the winding arrangement 14, each of which comprises two hollow spherical layered bodies 142 of the induction system A, is made within the stator 11 with a matrix circuit q for 192 elements of the matrix Q, arranged in eight rows m and twenty-four columns n. With the equatorial and meridional ball bearings 103, the rotating rotor 12 has a pivoting range around the center M of the spherical layered motor 4, defined by the angle of inclination α of 20 to 40 degrees. The outer surface of the rotor 12 can be connected to various tools or to four inherently rigid radial rotor blades of the helicopter shown in Fig. 22.The two halves of the two-part winding arrangement 14 of the stator 11, including the spiral conductor tracks e1 and the 192 soft iron segments s1-s192 of the soft iron package 13, can be manufactured in a continuous 3D printing process for three different materials.

[0163] Fig. 22 shows a helicopter with two spherical layer engines 4 on a common engine axis x, in which the two rotors 12 can be moved independently of one another within a pivoting range defined by the angle of inclination a in such a way that the resulting lift force is inclined vertically upwards in hovering flight, as shown above and in the middle, and in straight flight, as shown below, in the direction of flight, wherein the fuselage of the helicopter is designed as a gliding vehicle which assumes an unchanged horizontal position in all flight positions of the helicopter.The rotation plane of each of the four rotor blades of the two spherical layer motors 4, which are rigidly connected to the rotor 12, is arranged perpendicular to the motor axis x in the basic position and can be rotated independently of one another into any position within the pivoting range defined by the inclination angle α, so that the aerodynamic forces caused by the rotor balance one another out in such a way that the fuselage of the helicopter, formed by a gliding vehicle, assumes a horizontal position in all flight situations, whereby the aerodynamic forces resulting from the rotors can be directed either vertically upwards or in the respective direction of flight. The mobility of the rotor, which is rigidly connected to the stator 12, is achieved by the matrix circuit q, shown for example in Fig. 17, for each layer L1-Ln of a layered body 142 with the spiral conductor tracks e1-en for each soft iron segment s1-sn of the soft iron package 13, as shown in Fig.19-21, is made possible by the fact that magnetic circuits can be activated in the rows m and columns n as well as in the main and counter diagonals of the matrix Q by means of the matrix circuit q.

[0164] Fig. 23 shows a meridional cross-section of an autonomous spherical vehicle driven by a spherical layer motor 4. The stator 11 of the spherical layer motor 4 has a multi-layer, hollow spherical winding arrangement 14 with 216 cells c1-c216 arranged in nine rows m and twenty-four columns n. The cells c1-c216 of the induction system A each accommodate, as shown in the detailed section above, a hollow soft iron screw 134 with a hexagon socket. The ends of the soft iron screws 134 facing the permanent magnets 120 of the rotor 12 each have a pressure chamber for compressed air, so that a fluid bearing 104 is formed between the stator 11 and the rotor 12 of the spherical vehicle, which is continuously supplied with compressed air in a circulation system with flow z and return z' from a compressor arranged in the upper half of the stator 11.The hatched lower part of stator 11 houses an energy storage unit formed by a multitude of accumulator cells. The weight of the energy storage unit, in conjunction with an on-board computer, always aligns the motor axis x of stator 11 orthogonally to a drivable surface.

[0165] Fig. 24 above shows the autonomous spherical vehicle according to Fig. 23 as an autonomous all-terrain vehicle, above in an isometric view on a drivable surface and below in a partial isometric view showing the hollow spherical stator 11 and the hollow spherical rotor 12. While the soft iron segments s1-s216 arranged in nine rows m and twenty-four columns n each have the same number of elements in each row m and each column n and form a matrix Q with a matrix circuit q, the profiling of the outer rubber tire follows a triangulated grid on the outer surface of the rotor 12. The spherical vehicle can be manufactured in different sizes with a diameter of ten centimeters up to several meters and can, for example,be designed as an autonomous courier vehicle, wherein access to a cargo space in the upper half of the hollow spherical stator 11 is provided via openings at the equatorial vertices of the stator 11.

[0166] Fig. 25 above shows an arrangement of two spherical layer motors 4, which are connected to the wing of an aircraft to the left and right of the cockpit. The housing 10 and the stator 11 of the two spherical layer motors 4 are rigidly connected to the wing of the aircraft, while the rotors 12 of the two spherical layer motors 4 are connected to six propeller blades of a variable-pitch propeller and are each gimbal-mounted on the two spherical stators 11, so that the rotor planes of the two propellers can be pivoted independently of one another into different positions around the center point M of the two spherical layer motors 4 within a pivot range defined by an inclination angle α relative to the motor axis x. The aircraft, which takes off and lands vertically, assumes a horizontal position during flight.In straight flight, lift is generated by the wing, making the aircraft far superior to a helicopter in terms of range. A special feature of the aircraft is its rotating cockpit, which allows for convenient passenger entry and exit during takeoff and landing. The tail unit is connected to the landing gear and is attached to the wing by two telescopic struts.

[0167] Fig. 26 (top) shows the cross-section of an electrical machine 1 with a spherical layer motor 4, which is further developed into an actuator 5 with a locking device 6, and below a schematic sectional view through the motor axis x of the electrical machine 1. The spherical housing 10 of the actuator 5 has two clamping pieces for a cable net CN. The two clamping pieces accommodate cable sleeves (not shown in more detail) for deflecting the cable forces. The actuator 5, which is operated with direct current (DC), is used to track a PV module 16, which is rotatable about the motor axis x and additionally has a pivoting range shown in Fig. 27. The actuator 5 is equipped with an electromagnetically operated locking device 6, which enables a detachable, positive friction connection on the inside of the housing 10. A flexible rubber cap (not shown in more detail) on the side of the PV module 16 prevents the ingress of water.

[0168] Fig. 27 shows the actuator 5 according to Fig. 26 in three views, each with different angles of inclination of the PV module. As shown in Fig. 26, the spherical housing 10 of the spherical layer motor 4 is further developed into a clamping node for the cable network CN. Fig. 28 shows a plurality of actuators 5 in a grid arrangement predetermined by the cable network CN with a representation of the PV modules 16 in a schematic plan view. The actuators 5 are suitable for forming a sun protection system in that the PV modules 16 are adjusted to the current position of the sun. The geometry of the current-carrying cable network CN allows the formation of both flat and curved surfaces. The locking device 6 of the actuator 5 shown in Fig. 26 ensures that the motor power is only called up every fifteen minutes, for example, in order to gradually adjust the PV surface to the current position of the sun.

[0169] Naturally, numerous variations and modifications are possible within the scope of the present invention. In a three-phase electric machine 1, the motor excitation system can be connected as a delta connection or a star connection.

[0170] In a delta connection, for example, the first end f of each track is connected to a second end f of another track, and the connection points are connected to the control electronics.

[0171] In a star connection, for example, the second ends f of the conductor tracks are connected to each other to form a star point, and the first ends f of the conductor tracks are connected to the control electronics.

[0172] The soft iron segments s1-sn can also be produced by a printing process, and preferably they are printed on one of the supporting layers b.

[0173] The induction systems are designed with a mutually offset grid arrangement of the magnetic axes of the transmitter field and the magnetic axes of the receiver field and can each be excited by means of conductor tracks on support layers in several layers of a winding arrangement for excitable cells made of soft iron in such a way that the cells can each be individually supplied with commutated alternating current at first and second ends of the conductor tracks using a matrix circuit both via rows and via columns and / or via main and counter diagonals of matrices opposite one another at the gap, so that linear, rotational and translational movements of the carriage can be carried out and combined with one another for a large number of transistors on the travel path by means of control electronics of the matrix circuit.The axioms of a vector space apply to the two matrices, each representing the stator's sensor field and the rotor's receiver field, which are located opposite one another with multiple layers, and these can be used by the computer-aided control electronics of the electrical machine. The elements of the matrix formed by the stator poles are either positively or negatively magnetized, or neutral, and, with neutral and inverse elements, correspond to the rules for calculating with matrices. Therefore, for the energization of a plurality of elements, the matrices of the sensor field and the receiver field of the electrical machine, which are located opposite one another with an offset, the commutative law, the associative laws, the distributive laws, and the neutrality of the elements can be applied analogously to the arithmetic operations with matrices for holistic control of the magnetic field in a vector space.The energization of the elements of the matrices in the vector space is not singular but preferably collective, associative, commutative, and distributive, including addition and multiplication.

Claims

Patent claims 1. An electrical machine (1) comprising a housing (10), a stator (11), a rotor (12), and control electronics (RE), which stator comprises a soft iron core (13) and a winding arrangement (14) and defines a motor axis (x), which soft iron core (13) comprises soft iron segments (s1-sn) and a connecting element (133), which winding arrangement (14) comprises a layer arrangement, which layer arrangement comprises at least two supporting layers (b) and a binder, which supporting layers (b) are connected to one another by the binder, between which supporting layers (b) at least one conductor track (e1-en) is arranged, which at least one conductor track (e1-en) has a first end (f) and a second end (f) and is sealed against gases and liquids at least in regions between the first end (f) and the second end (f) by the layer arrangement, which first ends (f), second ends (f'),or first ends (f) and second ends (f ) are at least partially interconnected by at least one phase bridge (p), which layer arrangement with the at least one conductor track (e1-en) runs between the first end (f) and the second end (f ) around the motor axis (x) and forms a layered body (142), which layered body (142) has cells (c1-cn), which soft iron segments (s1-sn) extend through the cells (c1-cn) and together with them define the stator poles (j1 -jn), which stator poles (01 -jn) form a matrix (Q) with rows (m) and at least one column (n), which rows (m) are offset from one another in the circumferential direction and which at least one column (n), if there are at least two columns (n), are offset from one another in the direction of the motor axis (x).

2. Electrical machine (1) according to claim 1, wherein the soft iron segments (s1 - sn) are anchored to the connecting element (133).

3. Electrical machine (1) according to claim 1 or 2, wherein the laminated body (142) is designed as a film roll (140) or as a film stack (141) or as a hollow spherical laminated body (142).

4. Electrical machine (1) according to one of the preceding claims, in which the soft iron segments (s1-sn) have sheet metal laminations (130), soft iron pins (131) or soft iron screws (134).

5. Electrical machine (1) according to one of the preceding claims, in which the layer arrangement has at least four carrier layers (b), between each of which one of three conductor tracks (e1-en) is arranged.

6. Electrical machine (1) according to one of the preceding claims, in which the layer arrangement with the at least one conductor track (e1-en) runs at least twice around the motor axis (x).

7. Electrical machine (1) according to one of the preceding claims, in which the at least one conductor track (e1-en) is constructed at least in regions in a printing process with at least one metal on one side of the support layer (b) or on both sides of the support layer (b), wherein preferably the at least one phase bridge (p) is also constructed in a printing process with at least one metal.

8. Electrical machine (1) according to one of the preceding claims, in which the layer arrangement and the at least one conductor track (e1-en) are constructed at least in regions in a printing process with at least one plastic and with at least one metal layer by layer from several layers (L1-Ln) of the at least one plastic as a support layer (b) and as a binder and of the at least one metal as a conductor track (e1-en).

9. Electrical machine (1) according to one of the preceding claims, in which the soft iron segments (s1-sn) are constructed from a metal in a printing process, wherein the soft iron segments (s1-sn) are preferably printed on one of the support layers (b).

10. Electrical machine (1) according to one of the preceding claims, in which the support layer (b) comprises at least a first material from a first material group consisting of: - Carrier film made of acrylate film, - Carrier film made of polyethylene film, - Carrier film made of PTFE film, - paper layer, - Cellulose triacetate, - fabric tape, and - Glass, which preferably has a layer thickness in the range of 0.05 mm to 0.20 mm.

11. Electrical machine (1) according to one of the preceding claims, wherein the binding agent comprises adhesive.

12. Electrical machine (1) according to one of the preceding claims, in which the at least one conductor track (e1-en) comprises at least one second material from a second material group consisting of: - inorganic conductor, - organic conductor, - Metal coated with a Kagome metal, - metal coated with an adhesive film (143) which carries a layer of graphene on its adhesive side facing the conductor track (e1-en), - steel band, and - Steel strip coated with a ceramic high-temperature superconductor.

13. Electrical machine (1) according to one of the preceding claims, in which the at least one conductor track (e1-en) is flat, rectangular, polygonal or oval in cross section.

14. Electrical machine (1) according to one of the preceding claims, in which the at least one phase bridge (p) is produced by soldering, by laser welding, by screwing, by an electrically conductive adhesive or by a printing process.

15. Electrical machine (1) according to one of the preceding claims, in which the rotor (12) comprises either permanent magnets (121) or a rotor-side magnet with induction system (A) that can be powered by commutated alternating current (AC).

16. Electrical machine (1) according to one of the preceding claims, which is designed as an internal rotor or as an external rotor.

17. Electrical machine (1) according to one of the preceding claims, in which the soft iron segments (s1-sn) are designed as radial segments or axial segments.

18. Electrical machine (1) according to one of the preceding claims, which is designed as a rotary motor (2), as a linear motor (3), as a spherical layer motor (4) or as an actuator (5) with a locking device (6).

19. Electrical machine (1) according to one of the preceding claims, which is designed as an actuator (5) with a locking device (6), and in which the locking device (6) is electromagnetically operated and establishes a frictional or positive connection with the inside of the electrical machine (1).

20. Electrical machine (1) according to one of the preceding claims, in which at least one of the support layers (b) carries on a surface (a, a') a plurality of spiral-shaped, interconnected conductor tracks (e1-en), wherein preferably one of the spiral-shaped conductor tracks (e1-en) is assigned to one of the stator poles (j1 - jn).

21. Electrical machine (1) according to one of the preceding claims, in which the stator poles (O1 -jn) form a matrix (Q) with rows (m) and columns (n).

22. Electrical machine (1) according to claim 21, in which the control electronics (RE) comprises transistors (t1-tn) and is designed to supply current to the winding arrangement (14) in such a way that the individual stator poles (01 - jn) can be supplied with current collectively, associatively, commutatively and distributively in accordance with the axioms for calculating with matrices (Q, Q').

23. Electrical machine (1) according to one of the preceding claims, in which the layered body is designed as a cylindrical roll of the layer arrangement.

24. Electrical machine (1) according to claim 23, wherein the stator poles (j1 -jn) form a matrix (Q) with rows (m) and columns (n), and which is designed to enable a combined rotational and linear movement of the rotor (12).

25. Electrical machine (1) according to one of claims 1 to 22, wherein the layered body is formed as a spherical layered body from the layer arrangement.

26. Electrical machine according to claim 25, in which the stator poles (j1 -jn) form a matrix (Q) with rows (m) and columns (n), and in which the control electronics are designed to generate a multidirectionally controllable magnetic field and to enable a combined rotational and pivoting movement of the rotor (12).

27. Electrical machine (1) according to claim 25 or 26, in which a larger equatorial ball bearing (103) of the rotor (12) is connected to a smaller meridional ball bearing (103) of the stator (11) by a pivot bearing and forms a cardanic suspension of the rotor (12) on the stator (11) such that the rotor (12) can be pivoted in any direction within a defined pivot range about the motor axis (x) of the stator (11), wherein the rotor (12) is preferably connected to a tool or to a gripping device or to an aircraft propeller or to a rigid helicopter rotor.

28. Electrical machine (1) according to one of claims 25 to 27, which has a temperature control system (T) which can be subjected to overpressure and has a supply line (z) and a return line (z') for a heat transfer fluid, wherein the temperature control system (T) forms a fluid bearing (104) between the stator (11) and the rotor (12) and either a pump for a heat transfer fluid or a compressor for air on several channels radially aligned with the center point (M) of the electrical machine (1) forms the supply line (z) of the temperature control system (T), wherein the heat transfer fluid reaches the gap (y) between the stator (11) and the rotor (12) at an overpressure, wherein the stator (11) as a heat source and the rotor (12) as a heat sink continuously transfer heat from the interior of the electrical machine (1) to an outer rotor (12), wherein a The outer shell of the electrical machine (1) has an enlarged surface formed by indentations and protrusions or by cooling fins in order to transfer the heat to the surrounding air, and wherein the rotor (12) is preferably connected either to different tools for gripping or for machining a workpiece or to propeller blades, and the rotor plane is preferably freely pivotable about the center point (M) of the spherical layer motor (4) by means of the matrix circuit (q) of the spherical layer motor (4) within a pivoting range limited by the angle of inclination (a).

29. Electrical machine (1) according to one of claims 1 to 22, which has layer arrangements, and in which the layer body is disc-shaped with a stack of the layer arrangements.

30. Electrical machine (1) according to claim 29, wherein the layer arrangements are interconnected by means of a binding agent.

31. Electrical machine (1) according to claim 29 or 30, which is designed as a wheel hub motor, and in which the winding arrangement (14) can be supplied with current by a rigid and hollow wheel axle (101) with connections (100) for three-phase alternating current (AC) in such a way that the three phases (u, v, w) of the alternating current (AC) on the side facing the motor axis (x) are carried by inner first ends (f) of the spiral conductor tracks (e1-en) and the second ends (f) are connected to one another in a star connection by means of three ring-segment-shaped phase bridges (p) guided in separate planes and the hub (102) forms the rotor (12) of the wheel hub motor, wherein a plurality of permanent magnets (120) of the rotor (12) are arranged in a star shape on both sides of the stator (11).

32. Helicopter, which has rotors and an engine with two electrical machines according to one of claims 25 to 28, arranged on a common motor axis (x) with a vertical distance from one another, for driving the rotors, wherein the rotors are each rigidly connected to four rotor blades in an equatorial plane of one of the rotors (12) and are articulated by means of a cardanic suspension formed by ball bearings (103) on the two spherical layer-shaped stators (12) in such a way that the rotational planes of the helicopter rotors are within a can assume any position independently of each other within a given swivel range and the aerodynamic forces caused by the two helicopter rotors balance each other out in such a way that in hovering flight the resulting lift force points vertically upwards and in straight flight it is directed diagonally in the direction of flight, with the fuselage of the helicopter maintaining a horizontal position in every flight situation.

33. An autonomous spherical vehicle comprising an electric machine (1) according to any one of claims 25 to 28, having a hollow spherical stator (11), in which the hollow spherical stator (11) has, in its lower half, an energy storage device formed by a plurality of accumulator cells, and the hollow spherical rotor (12) has, on its outer side, a pneumatic tire with a rubber profile surrounding it on all sides, wherein the individual layers (L1-Ln) of the hollow spherical laminated body (142), constructed from a plurality of support layers (b) for conductor tracks (e1-en), have a plurality of cells (c1-cn) traversed by hollow soft iron segments (134) aligned with the center point (M) of the spherical vehicle, which have shell-shaped extensions at their ends facing the rotor (12) and are supplied with compressed air from a compressor of the stator (11),such that the shell-shaped extensions in the gap (y) between the stator (11) and the rotor (12) form a fluid bearing (104) for the rotor (12) formed by a plurality of pressure chambers, and wherein the rotor (12) has permanent magnets (120) and a connecting element made of soft iron (133), and the winding arrangement (14) of the stator (12) has a matrix (Q) with a plurality of elements in rows (m) and columns (n), which can be excited by means of the matrix circuit (q) such that the rotor (12) of the spherical vehicle can be steered in any desired direction of travel.

34. Aircraft having a propeller engine with two counter-rotating electrical machines (1) according to one of claims 25 to 28, arranged to the left and right of a cockpit of the aircraft, each of which is connected to a wing of the aircraft, wherein the rotors (12) of the two electrical machines (1) are connected to a plurality of propeller blades of a fixed or variable pitch propeller and are suspended gimbal-like on the spherical stators (11), so that the rotor planes of the two propellers can each be rotated independently of one another within a pivoting range defined by the angle of inclination (a) relative to the motor axis (x) about the Center points (M) of the two spherical layer motors (4) can be pivoted into different positions, wherein the aircraft is preferably designed to take off and land vertically and to assume a horizontal position during flight.

Images