CN112886789B - Magnetism-gathering Halbach small-range-difference magnetic gear reducer - Google Patents

Magnetism-gathering Halbach small-range-difference magnetic gear reducer Download PDF

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CN112886789B
CN112886789B CN202110123637.XA CN202110123637A CN112886789B CN 112886789 B CN112886789 B CN 112886789B CN 202110123637 A CN202110123637 A CN 202110123637A CN 112886789 B CN112886789 B CN 112886789B
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rotor
halbach
input shaft
gear reducer
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CN112886789A (en
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李辉
戴太阳
卢敏
袁彬
殷毅
周豪
张爱博
李博文
何蓓
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Chongqing Taoke Electric Research Institute Co ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K49/00Dynamo-electric clutches; Dynamo-electric brakes
    • H02K49/10Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
    • H02K49/102Magnetic gearings, i.e. assembly of gears, linear or rotary, by which motion is magnetically transferred without physical contact
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K49/00Dynamo-electric clutches; Dynamo-electric brakes
    • H02K49/10Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
    • H02K49/104Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element
    • H02K49/106Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element with a radial air gap

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Abstract

本发明属于磁齿轮传动技术领域,具体涉及一种聚磁Halbach少极差磁齿轮减速器,包括机壳、端盖及输入轴,机壳的内壁上设有并排间隔布置的两个定子磁钢,输入轴上套装有并排间隔布置并空间相位互差180°的两个转子盘,两个转子盘上分别套设有一个转子磁钢,输入轴上并位于单个转子磁钢的两侧分别设有一个非导磁挡板,两个转子盘上还共同串设有曲柄轴,曲柄轴的两端分别与两个端盖连接,定子磁钢和转子磁钢均成聚磁Halbach阵列布置结构。本发明的磁齿轮减速器突破机械齿轮“摩擦游隙”等瓶颈,相比机械式减速器,磁齿轮减速器具有低噪声,无摩擦,高效率,高耐久等优势。

Figure 202110123637

The invention belongs to the technical field of magnetic gear transmission, and in particular relates to a Halbach magnetic gear reducer with few pole differences, which includes a casing, an end cover and an input shaft, and two stator magnets arranged side by side and at intervals are arranged on the inner wall of the casing , the input shaft is set with two rotor disks arranged side by side at intervals and with a spatial phase difference of 180°. The two rotor disks are respectively sleeved with a rotor magnet, and the input shaft is located on both sides of a single rotor magnet. There is a non-magnetic baffle, and a crankshaft is arranged in series on the two rotor disks. The two ends of the crankshaft are respectively connected with the two end covers. Both the stator magnet and the rotor magnet are arranged in a magnetically concentrated Halbach array. The magnetic gear reducer of the present invention breaks through bottlenecks such as "frictional clearance" of mechanical gears. Compared with mechanical reducers, the magnetic gear reducer has the advantages of low noise, no friction, high efficiency, and high durability.

Figure 202110123637

Description

一种聚磁Halbach少极差磁齿轮减速器A Magnetic Concentration Halbach Magnetic Gear Reducer with Less Pole Difference

技术领域technical field

本发明属于磁齿轮传动技术领域,具体涉及一种聚磁Halbach少极差磁齿轮减速器,是利用磁性齿轮实现无接触传动。The invention belongs to the technical field of magnetic gear transmission, and in particular relates to a Halbach magnetic gear reducer with few pole differences, which uses magnetic gears to realize non-contact transmission.

背景技术Background technique

在工业应用领域往往需要实现变速变扭矩传动,比如:风力发电和水力发电领域需要将极低转速且可变的风能、水的势能转换成高转速的发电用机械动能,电动汽车和潜艇驱动领域又需要将驱动电机的高速机械功率变换成转速很低而力矩很大的机械功率。现有常规方法是借助机械齿轮变速传动技术来实现变速变转矩传动的要求,但是机械齿轮也带来了一些不可消除的问题,如机械疲劳、摩擦损耗、震动噪音等,尽管可以采用油脂润滑技术,但以上问题依旧无法根除,导致使用维护极其繁琐。In the field of industrial applications, it is often necessary to realize variable speed and variable torque transmission. For example, in the field of wind power generation and hydropower generation, it is necessary to convert the potential energy of extremely low-speed and variable wind energy and water into high-speed mechanical kinetic energy for power generation. In the field of electric vehicles and submarine drives It is also necessary to transform the high-speed mechanical power of the driving motor into a mechanical power with a very low rotational speed and a large torque. The existing conventional method is to use the mechanical gear variable speed transmission technology to achieve the requirements of variable speed and variable torque transmission, but the mechanical gear also brings some irreversible problems, such as mechanical fatigue, friction loss, vibration noise, etc., although grease lubrication can be used Technology, but the above problems still cannot be eradicated, resulting in extremely cumbersome use and maintenance.

中国是世界上稀土永磁材料最丰富的国家,大力发展稀土材料的应用有现实的意义。近年来,随着风力发电、电动汽车等新能源应用领域的发展需求,国内外开始在新型磁齿轮传动技术上实现对机械传动的技术突破,2014年,国内学者提出了少极差传动结构,并从实践上完成了普通径向充磁和轴向充磁少极差齿轮的设计及样机验证工作,其转矩密度可以达到100kNm/m3。之后国内外学者又探索了聚磁结构少极差磁齿轮和Halbach结构少极差磁齿轮,虽然提高了少极差磁齿轮的转矩密度,理论计算转矩密度达到290kNm/m3,但是相比机械齿轮,其转矩密度仍然有一定差距,限制了磁齿轮的工业应用,故探索一种新的拓扑结构来提高磁齿轮的转矩密度具有重要意义。China is the country with the most abundant rare earth permanent magnet materials in the world, and it is of practical significance to vigorously develop the application of rare earth materials. In recent years, with the development needs of new energy applications such as wind power generation and electric vehicles, domestic and foreign countries have begun to achieve technical breakthroughs in mechanical transmission in the new magnetic gear transmission technology. In 2014, domestic scholars proposed a transmission structure with less extreme difference. In practice, the design and prototype verification of ordinary radially magnetized and axially magnetized less-extreme gears have been completed, and the torque density can reach 100kNm/m 3 . Later, scholars at home and abroad explored magnetic gears with less extreme differences in magnetic-concentration structures and magnetic gears with less extreme differences in Halbach structures. Although the torque density of magnetic gears with less extreme differences was improved, the theoretically calculated torque density reached 290kNm/m 3 , but the relative Compared with mechanical gears, the torque density still has a certain gap, which limits the industrial application of magnetic gears. Therefore, it is of great significance to explore a new topology to improve the torque density of magnetic gears.

发明内容Contents of the invention

有鉴于此,本发明的目的在于提供一种聚磁Halbach少极差磁齿轮减速器,旨在解决少极差磁齿轮转矩密度的提升空间问题。In view of this, the object of the present invention is to provide a Halbach magnetic gear reducer with few extreme differences, aiming to solve the problem of room for improvement of the torque density of magnetic gears with less extreme differences.

为达到上述目的,本发明提供如下技术方案:To achieve the above object, the present invention provides the following technical solutions:

一种聚磁Halbach少极差磁齿轮减速器,包括机壳、分设于机壳两侧的端盖及设于机壳内并一端露出机壳一侧端盖的输入轴,机壳的内壁上设有并排间隔布置的两个定子磁钢,输入轴上套装有并排间隔布置并空间相位互差180°的两个转子盘,两个转子盘上分别套设有一个转子磁钢,两个转子磁钢与两个定子磁钢分别一一对应,输入轴上并位于单个转子磁钢的两侧分别设有一个非导磁挡板,两个转子盘上还共同串设有曲柄轴,曲柄轴的两端分别与两个端盖连接,定子磁钢和转子磁钢均成聚磁Habach阵列布置结构。A magnetic Halbach magnetic gear reducer with few extreme differences, including a casing, end covers on both sides of the casing, and an input shaft that is arranged in the casing and exposes the end cover on one side of the casing, on the inner wall of the casing There are two stator magnets arranged side by side at intervals, and two rotor disks arranged side by side with a space phase difference of 180° are set on the input shaft. A rotor magnet is respectively sleeved on the two rotor disks, and the two rotors The magnets correspond to the two stator magnets one by one. A non-magnetic baffle is provided on the input shaft and on both sides of a single rotor magnet. A crankshaft is arranged in series on the two rotor disks. The crankshaft The two ends of each are respectively connected with two end covers, and the stator magnets and the rotor magnets are arranged in a Habach array structure.

采用上述方案:通过定子磁钢分布的极对数为p1的聚磁Halbach阵列,转子磁钢分布的极对数为p2的聚磁Halbach阵列,让传动的动力由输入轴输入,并传递给转子盘,使转子盘做偏心扰动(圆周平动),而转子盘在做偏心扰动时,由于受到磁场的吸引,同时也做自转运动,该自转运动将由曲柄轴传递给端盖,将力矩传递出去。在机械结构设计时,考虑到转子盘受到的单边磁拉力较大,故采用双转子盘,且两者空间相位互差180°结构来抵消单边磁拉力对轴承的影响。The above scheme is adopted: through the magnetic concentration Halbach array with the number of pole pairs distributed by the stator magnetic steel being p 1 , and the magnetic concentration Halbach array with the number of pole pairs distributed by the rotor magnetic steel being p 2 , the power of the transmission is input from the input shaft and transmitted Give the rotor disk to make the rotor disk do eccentric disturbance (circumferential translation), and when the rotor disk is doing eccentric disturbance, due to the attraction of the magnetic field, it also performs self-rotation movement, and the self-rotation movement will be transmitted to the end cover by the crankshaft, and the torque pass it on. In the design of the mechanical structure, considering the large unilateral magnetic pull on the rotor disk, a double rotor disk is used, and the space phase difference between the two is 180° to offset the influence of the unilateral magnetic pull on the bearing.

进一步,定子磁钢的极对数p1和转子磁钢的极对数p2满足:p1-p2=1。Further, the number of pole pairs p 1 of the stator magnetic steel and the number of pole pairs p 2 of the rotor magnetic steel satisfy: p 1 −p 2 =1.

进一步,转子盘与机壳之间的偏心距e,转子磁钢的内径D1和外径D2,定子磁钢的内径D3和外径D4,满足:Further, the eccentricity e between the rotor disc and the housing, the inner diameter D 1 and outer diameter D 2 of the rotor magnet, and the inner diameter D 3 and outer diameter D 4 of the stator magnet meet:

D2-D1=D4-D3D 2 -D 1 =D 4 -D 3 ;

Figure BDA0002923119960000021
Figure BDA0002923119960000021

Figure BDA0002923119960000022
Figure BDA0002923119960000022

进一步,输入轴传入的动力矩T1和转速n1,端盖传出的动力矩T2和转速n2,满足:Further, the power torque T 1 and speed n 1 introduced by the input shaft, and the power torque T 2 and speed n 2 transmitted by the end cover satisfy:

Figure BDA0002923119960000023
Figure BDA0002923119960000023

进一步,输入轴与两个端盖之间分别设有一个深沟球轴承,输入轴与两个转子盘之间分别设有一个滚针/三点角接触球组合轴承。Further, a deep groove ball bearing is respectively arranged between the input shaft and the two end covers, and a needle roller/three-point angular contact ball combined bearing is respectively arranged between the input shaft and the two rotor discs.

进一步,机壳在与端盖相对应的内壁上设有轴承座,轴承座与端盖之间设有角接触球轴承和迷宫密封环。Further, the casing is provided with a bearing seat on the inner wall corresponding to the end cover, and an angular contact ball bearing and a labyrinth sealing ring are provided between the bearing seat and the end cover.

进一步,曲柄轴设置为三个,并相对于输入轴均匀环布,且曲柄轴与两个端盖之间分别设有一个圆锥滚子轴承。Further, there are three crankshafts, which are uniformly arranged around the input shaft, and a tapered roller bearing is respectively arranged between the crankshaft and the two end covers.

进一步,两个端盖之间连接有贯穿于两个转子盘的固定杆。Further, a fixing rod passing through the two rotor disks is connected between the two end covers.

进一步,聚磁Halbach阵列布置结构包括有呈环状分布并交叉排列的轴向充磁永磁体和径向充磁永磁体,径向充磁永磁体的内外侧各自设有一导磁块。Further, the magnetic concentration Halbach array structure includes annularly distributed and cross-arranged axially magnetized permanent magnets and radially charged permanent magnets, and the inner and outer sides of the radially charged permanent magnets are respectively provided with a magnetic conduction block.

进一步,轴向充磁永磁体、径向充磁永磁体、导磁块均为扇形状。Further, the axially magnetized permanent magnets, the radially magnetized permanent magnets, and the magnetically permeable blocks are all fan-shaped.

本发明的有益效果:本聚磁Halbach少极差磁齿轮减速器具备:其一是效率高,由于消除了普通机械式齿轮传动的接触摩擦,传动损耗仅仅包括一些铁心损耗,理论上最高传动效率可达到98%,比机械齿轮传动普遍提高10%;其二是转矩密度高,其使磁性材料单位体积传送的转矩密度成倍提高(为普通电机的10倍),转矩密度理论计算值高于300kN.m/m3,相比普通径向充磁拓扑提高了3倍;其三是无回差、无磨损,且可靠性高、寿命长,由于无机械接触摩损,不仅消除了机械齿轮因齿隙和磨损而引起的不可避免的齿轮回差困扰,而且大大提高了传动机构的寿命极限,对于定位精度要求极高且频繁正反转的雷达伺服跟踪系统、工业机器人伺服驱动机构等领域有现实的应用价值;其四是无污染、低噪音,不存在机械齿轮传动时因齿部啮合接触而产生的震动噪音,且无需润滑油脂,清洁、无油污、防尘、防水等。Beneficial effects of the present invention: the Halbach magnetic gear reducer with less extreme difference has the following advantages: first, high efficiency, because the contact friction of ordinary mechanical gear transmission is eliminated, the transmission loss only includes some iron core losses, and the transmission efficiency is theoretically the highest It can reach 98%, which is generally 10% higher than that of mechanical gear transmission; the second is the high torque density, which doubles the torque density transmitted per unit volume of magnetic materials (10 times that of ordinary motors), and the theoretical calculation of torque density The value is higher than 300kN.m/m 3 , which is 3 times higher than that of the ordinary radial magnetization topology; the third is no hysteresis, no wear, high reliability and long life. Due to no mechanical contact wear, not only eliminates It eliminates the inevitable gear backlash trouble caused by backlash and wear of mechanical gears, and greatly improves the life limit of the transmission mechanism. For radar servo tracking systems with high positioning accuracy and frequent positive and negative rotations, industrial robot servo drives Mechanisms and other fields have practical application value; the fourth is pollution-free, low noise, there is no vibration noise caused by gear meshing contact during mechanical gear transmission, and there is no need for lubricating grease, clean, oil-free, dust-proof, waterproof, etc. .

本发明的其他优点、目标和特征在某种程度上将在随后的说明书中进行阐述,并且在某种程度上,基于对下文的考察研究对本领域技术人员而言将是显而易见的,或者可以从本发明的实践中得到教导。本发明的目标和其他优点可以通过下面的说明书来实现和获得。Other advantages, objects and features of the present invention will be set forth in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the investigation and research below, or can be obtained from Taught in the practice of the present invention. The objects and other advantages of the invention may be realized and attained by the following specification.

附图说明Description of drawings

为了使本发明的目的、技术方案和优点更加清楚,下面将结合附图对本发明作进一步的详细描述,其中:In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings, wherein:

图1为本发明聚磁Halbach少极差磁齿轮减速器的三维装配爆炸图。Fig. 1 is a three-dimensional assembly exploded view of the present invention's magnetic concentration Halbach magnetic gear reducer with few extreme differences.

图2为本发明聚磁Halbach少极差磁齿轮减速器的轴向全剖面图。Fig. 2 is an axial full sectional view of the magnetic gear reducer of the magnetic concentration Halbach with few extreme differences of the present invention.

图3为本发明聚磁Halbach少极差磁齿轮减速器的平面结构径向全剖面图。Fig. 3 is a radial full cross-sectional view of the planar structure of the Halbach few-polar-difference magnetic gear reducer of the present invention.

图4为本发明聚磁Halbach少极差磁齿轮减速器的传动原理图。Fig. 4 is a transmission principle diagram of the magnetic gear reducer of the magnetic concentration Halbach with few extreme differences of the present invention.

附图标记:1为端盖,2为圆锥滚子轴承,3为滚针/三点角接触球组合轴承,4为非导磁挡板,5为转子盘,6为角接触球轴承,7为轴承座,8为机壳,9为定子磁钢,10为转子磁钢,11为固定杆,12为深沟球轴承,13为输入轴,14为曲柄轴,15为迷宫密封环、16为周向充磁永磁体、17为径向充磁永磁体、18为导磁块。Reference signs: 1 is an end cover, 2 is a tapered roller bearing, 3 is a needle roller/three-point angular contact ball combined bearing, 4 is a non-magnetic baffle, 5 is a rotor disc, 6 is an angular contact ball bearing, 7 8 is the housing, 9 is the stator magnetic steel, 10 is the rotor magnetic steel, 11 is the fixed rod, 12 is the deep groove ball bearing, 13 is the input shaft, 14 is the crankshaft, 15 is the labyrinth seal ring, 16 17 is a radially magnetized permanent magnet, and 18 is a magnetic permeable block.

具体实施方式detailed description

以下通过特定的具体实例说明本发明的实施方式,本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用,本说明书中的各项细节也可以基于不同观点与应用,在没有背离本发明的精神下进行各种修饰或改变。需要说明的是,以下实施例中所提供的图示仅以示意方式说明本发明的基本构想,在不冲突的情况下,以下实施例及实施例中的特征可以相互组合。Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic concept of the present invention, and the following embodiments and the features in the embodiments can be combined with each other in the case of no conflict.

其中,附图仅用于示例性说明,表示的仅是示意图,而非实物图,不能理解为对本发明的限制;为了更好地说明本发明的实施例,附图某些部件会有省略、放大或缩小,并不代表实际产品的尺寸;对本领域技术人员来说,附图中某些公知结构及其说明可能省略是可以理解的。Wherein, the accompanying drawings are for illustrative purposes only, and represent only schematic diagrams, rather than physical drawings, and should not be construed as limiting the present invention; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, Enlargement or reduction does not represent the size of the actual product; for those skilled in the art, it is understandable that certain known structures and their descriptions in the drawings may be omitted.

请参阅图1-4所示,本示例涉及的一种聚磁Halbach少极差磁齿轮减速器,包括有机壳8、设于机壳内并伸出机壳一侧的输入轴13及设于机壳内并呈左右对称分布的两个端盖1,六个圆锥滚子轴承2,两个滚针/三点角接触球组合轴承3,两个非导磁挡板4,两个转子盘5,两个角接触球轴承6,两个轴承座7,两组定子磁钢9,两组转子磁钢10,两个深沟球轴承12,两个迷宫密封环15,还有相对于输入轴13呈环形分布的三个固定杆11和三个曲柄轴14。其中,两组定子磁钢9在机壳的内壁上并排间隔布置,两个转子盘在输入轴13上并排间隔布置,且两个转子盘5上分别设有与两组定子磁钢9一一对应并在空间相位上互差180°的转子磁钢10,输入轴13上并位于单组转子磁钢10的两侧分别设有一个非导磁挡板4,两个转子盘5上还共同串设有曲柄轴14,曲柄轴14的两端分别与两个端盖1连接,输入轴13与两个端盖1之间分别设有一个深沟球轴承12,输入轴13与两个转子盘5之间分别设有一个滚针/三点角接触球组合轴承3;机壳8在与端盖1相对应的内壁上设有轴承座7,轴承座7与端盖1之间设有角接触球轴承6和迷宫密封环15;曲柄轴14设置为三个,并相对于输入轴13均匀环布,且曲柄轴14与两个端盖1之间分别设有一个圆锥滚子轴承2;两个端盖1之间连接有贯穿于两个转子盘5的固定杆11,该固定杆为异形结构,设置为三个;定子磁钢9和转子磁钢10均成聚磁Halbach阵列布置结构,定子磁钢的极对数p1和转子磁钢的极对数p2满足:p1-p2=1;该聚磁Halbach阵列布置结构包括有呈环状分布并交叉排列的周向充磁永磁体16和径向充磁永磁体17,且径向充磁永磁体17的内外侧各自设有一导磁块18,周向充磁永磁体16、径向充磁永磁体17、导磁块18均为扇形状。Please refer to Fig. 1-4, a kind of Halbach magnetic gear reducer with few extreme differences of magnetic concentration involved in this example, including an organic casing 8, an input shaft 13 arranged in the casing and protruding from one side of the casing, and a set Two end covers 1, six tapered roller bearings 2, two needle roller/three-point angular contact ball combined bearings 3, two non-magnetic baffles 4, and two rotors are located in the casing and distributed symmetrically. Disc 5, two angular contact ball bearings 6, two bearing housings 7, two sets of stator magnets 9, two sets of rotor magnets 10, two deep groove ball bearings 12, two labyrinth seal rings 15, and relative to The input shaft 13 is in the form of three fixed rods 11 and three crankshafts 14 distributed in a ring. Among them, two sets of stator magnets 9 are arranged side by side on the inner wall of the casing, two rotor disks are arranged side by side on the input shaft 13, and two rotor disks 5 are respectively provided with two sets of stator magnets 9 one by one. Corresponding to the rotor magnets 10 with a mutual difference of 180° in spatial phase, a non-magnetic baffle 4 is respectively provided on the input shaft 13 and on both sides of the single group of rotor magnets 10, and a common A crankshaft 14 is arranged in series, and the two ends of the crankshaft 14 are respectively connected with the two end covers 1, and a deep groove ball bearing 12 is respectively arranged between the input shaft 13 and the two end covers 1, and the input shaft 13 and the two rotors A needle roller/three-point angular contact ball combined bearing 3 is provided between the disks 5; a bearing seat 7 is provided on the inner wall corresponding to the end cover 1 of the casing 8, and a bearing seat 7 is provided between the bearing seat 7 and the end cover 1. Angular contact ball bearings 6 and labyrinth seal rings 15; three crankshafts 14 are set, and are evenly distributed with respect to the input shaft 13, and a tapered roller bearing 2 is respectively arranged between the crankshaft 14 and the two end covers 1 The two end covers 1 are connected with a fixed rod 11 that runs through the two rotor disks 5. The fixed rod is a special-shaped structure, and there are three sets; the stator magnetic steel 9 and the rotor magnetic steel 10 are all arranged in a magnetically concentrated Halbach array The structure, the number of pole pairs p 1 of the stator magnets and the number of pole pairs p 2 of the rotor magnets satisfy: p 1 -p 2 =1; the arrangement structure of the magnetic concentration Halbach array includes circularly distributed and cross-arranged circumferential magnetization Permanent magnet 16 and radial magnetization permanent magnet 17, and the inner and outer sides of radial magnetization permanent magnet 17 are respectively provided with a magnetic conduction block 18, circumferential magnetization permanent magnet 16, radial magnetization permanent magnet 17, magnetic conduction block 18 all In the shape of a fan.

本发明的工作原理是:通过定子磁钢分布的极对数为p1的聚磁Halbach阵列,转子磁钢分布的极对数为p2的聚磁Halbach阵列,让传动的动力由输入轴输入,并传递给转子盘,使转子盘做偏心扰动(圆周平动),而转子盘在做偏心扰动时,由于受到磁场的吸引,同时也做自转运动,该自转运动将由曲柄轴传递给端盖,将力矩传递出去。在机械结构设计时,考虑到转子盘受到的单边磁拉力较大,故采用双转子盘,且两者空间相位互差180°结构来减小单边磁拉力对轴承的影响。The working principle of the present invention is: through the magnetic concentration Halbach array that the number of pole pairs distributed by the stator magnetic steel is p1, and the magnetic concentration Halbach array that the number of pole pairs distributed by the rotor magnetic steel is p2 , the power of the transmission is input by the input shaft , and transmitted to the rotor disk, so that the rotor disk performs eccentric disturbance (circumferential translation), and when the rotor disk performs eccentric disturbance, due to the attraction of the magnetic field, it also performs autorotation motion, and the autorotation motion will be transmitted to the end cover by the crankshaft , to transmit the torque. In the design of the mechanical structure, considering the large unilateral magnetic pull force on the rotor disk, a double rotor disk is adopted, and the space phase difference between the two is 180° to reduce the influence of the unilateral magnetic pull force on the bearing.

在本实施例中,D1表示转子磁钢10内径,D2表示转子磁钢10外径,D3表示定子磁钢9内径,D4表示定子磁钢9外径,e表示转子盘5的偏心距,p1表示定子磁钢9极对数,p2表示转子磁钢10极对数,它们满足如下约束:In this embodiment, D1 represents the inner diameter of the rotor magnet 10 , D2 represents the outer diameter of the rotor magnet 10 , D3 represents the inner diameter of the stator magnet 9 , D4 represents the outer diameter of the stator magnet 9, and e represents the diameter of the rotor disc 5. Eccentricity, p 1 represents the number of 9 pole pairs of the stator magnetic steel, p 2 represents the number of 10 pole pairs of the rotor magnetic steel, and they satisfy the following constraints:

Figure BDA0002923119960000051
Figure BDA0002923119960000051

在本实施例中传动的动力矩T1、转速n1由输入轴输入,传递给左右转子盘,使转子盘做偏心扰动(圆周平动),转子盘在做偏心扰动时,由于受到磁场的吸引,同时也做自转运动,该自转运动将由曲柄轴14传递给左右端盖1,将输出力矩T2、转速n2传递出去,力矩传递满足如下约束:

Figure BDA0002923119960000052
In this embodiment, the power torque T 1 and rotational speed n 1 of the transmission are input by the input shaft and transmitted to the left and right rotor discs, so that the rotor discs perform eccentric disturbance (circumferential translation). At the same time, it also performs self-rotation motion, which will be transmitted by the crank shaft 14 to the left and right end covers 1, and the output torque T 2 and speed n 2 will be transmitted, and the torque transmission will satisfy the following constraints:
Figure BDA0002923119960000052

在本实施例中的转子盘存在偏心且绕旋转中心轴线公转和自转,其上设有极对数为p2的转子磁钢;转子磁钢所采用的聚磁Halbach阵列布置结构是用永磁材料和导磁材料制成扇形的立体形式,且安装紧固于转子盘的外周外表面上,转子盘则由不导磁的不锈钢板经常规的慢走丝加工制成,在转子盘上加工有将其自转传递到端盖1的曲柄轴孔。同理,具有极对数为p1的定子磁钢采用同样的聚磁Halbach阵列布置结构是用永磁材料和导磁材料制成扇形的立体形式,且安装紧固于机壳8内表面上,与之紧固装配为一体。In this embodiment, the rotor disk is eccentric and revolves and rotates around the central axis of rotation, and is provided with a rotor magnetic steel with a pole pair number of p 2 ; Materials and magnetic materials are made into a fan-shaped three-dimensional form, and are installed and fastened on the outer surface of the rotor disk. The rotor disk is made of non-magnetic stainless steel plate through conventional slow wire processing, and processed on the rotor disk There is a crankshaft hole that transmits its rotation to the end cover 1 . In the same way, the stator magnetic steel with the number of pole pairs p1 adopts the same Halbach array layout structure, which is a fan-shaped three-dimensional form made of permanent magnetic materials and magnetic permeable materials, and is installed and fastened on the inner surface of the casing 8 , and it is fastened and assembled as a whole.

最后说明的是,以上实施例仅用以说明本发明的技术方案而非限制,尽管参照较佳实施例对本发明进行了详细说明,本领域的普通技术人员应当理解,可以对本发明的技术方案进行修改或者等同替换,而不脱离本技术方案的宗旨和范围,其均应涵盖在本发明的权利要求范围当中。Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements, without departing from the spirit and scope of the technical solution, should be included in the scope of the claims of the present invention.

Claims (9)

1.一种聚磁Halbach少极差磁齿轮减速器,包括机壳(8)、分设于机壳两侧的端盖(1)及设于机壳内并一端露出机壳一侧端盖的输入轴(13),其特征在于,所述机壳的内壁上设有并排间隔布置的两个定子磁钢(9),所述输入轴上套装有并排间隔布置并空间相位互差180°的两个转子盘(5),两个转子盘上分别套设有一个转子磁钢(10),两个转子磁钢与两个定子磁钢分别一一对应,所述输入轴上并位于单个转子磁钢的两侧分别设有一个非导磁挡板(4),两个转子盘上还共同串设有曲柄轴(14),曲柄轴设置为三个,并相对于输入轴均匀环布;曲柄轴的两端分别与两个端盖连接,两个端盖之间连接有贯穿于两个转子盘的固定杆(11);定子磁钢和转子磁钢均成聚磁Habach阵列布置结构。1. A magnetic gear speed reducer with few extreme differences of magnetic gathering Halbach comprises a casing (8), an end cover (1) that is located on both sides of the casing and is located in the casing and exposes the end cover on one side of the casing at one end The input shaft (13) is characterized in that two stator magnets (9) arranged side by side and spaced apart are provided on the inner wall of the casing, and two stator magnets (9) arranged side by side and spaced apart with a spatial phase difference of 180° are sleeved on the input shaft. Two rotor disks (5), on which a rotor magnet (10) is sheathed respectively, the two rotor magnets correspond to the two stator magnets respectively, and the input shaft is located on a single rotor A non-magnetic baffle (4) is respectively provided on both sides of the magnetic steel, and crankshafts (14) are arranged in series on the two rotor disks. There are three crankshafts arranged uniformly around the input shaft; Both ends of the crankshaft are respectively connected with two end covers, and a fixed rod (11) passing through the two rotor disks is connected between the two end covers; both the stator magnetic steel and the rotor magnetic steel form a Habach array arrangement structure. 2.根据权利要求1所述的聚磁Halbach少极差磁齿轮减速器,其特征在于,定子磁钢的极对数p1和转子磁钢的极对数p2满足:p1-p2=1。2. The Halbach magnetic gear reducer with few pole differences according to claim 1, characterized in that, the number of pole pairs p1 of the stator magnetic steel and the number p2 of the pole pairs of the rotor magnetic steel satisfy: p1 - p2 =1. 3.根据权利要求2所述的聚磁Halbach少极差磁齿轮减速器,其特征在于,转子盘与机壳之间的偏心距e,转子磁钢的内径D1和外径D2,定子磁钢的内径D3和外径D4,满足:3. The Halbach magnetic gear reducer with few extreme differences according to claim 2 , characterized in that, the eccentricity e between the rotor disk and the casing, the inner diameter D1 and the outer diameter D2 of the rotor magnetic steel, and the stator The inner diameter D 3 and outer diameter D 4 of the magnetic steel meet: D2-D1=D4-D3D 2 -D 1 =D 4 -D 3 ;
Figure FDA0003882595370000011
Figure FDA0003882595370000011
Figure FDA0003882595370000012
Figure FDA0003882595370000012
4.根据权利要求3所述的聚磁Halbach少极差磁齿轮减速器,其特征在于,输入轴传入的动力矩T1和转速n1,端盖传出的动力矩T2和转速n2,满足:4. The magnetism-gathering Halbach few pole difference magnetic gear reducer according to claim 3, characterized in that, the power torque T 1 and speed n 1 introduced from the input shaft, and the power torque T 2 and speed n transmitted from the end cover 2 , satisfy:
Figure FDA0003882595370000013
Figure FDA0003882595370000013
5.根据权利要求1所述的聚磁Halbach少极差磁齿轮减速器,其特征在于,输入轴与两个端盖之间分别设有一个深沟球轴承(12),输入轴与两个转子盘之间分别设有一个滚针/三点角接触球组合轴承(3)。5. The magnetic gear speed reducer with few extreme differences of the magnetic gathering Halbach according to claim 1 is characterized in that, a deep groove ball bearing (12) is respectively arranged between the input shaft and the two end covers, and the input shaft and the two A needle roller/three-point angular contact ball combined bearing (3) is respectively arranged between the rotor discs. 6.根据权利要求1所述的聚磁Halbach少极差磁齿轮减速器,其特征在于,机壳在与端盖相对应的内壁上设有轴承座(7),轴承座与端盖之间设有角接触球轴承(6)和迷宫密封环(15)。6. The magnetic-gathering Halbach few-polar-difference magnetic gear reducer according to claim 1, characterized in that, the housing is provided with a bearing seat (7) on the inner wall corresponding to the end cover, and between the bearing seat and the end cover An angular contact ball bearing (6) and a labyrinth sealing ring (15) are provided. 7.根据权利要求1所述的聚磁Halbach少极差磁齿轮减速器,其特征在于,曲柄轴与两个端盖之间分别设有一个圆锥滚子轴承(2)。7. The magnetism-concentrating Halbach magnetic gear reducer with few extreme differences according to claim 1, characterized in that a tapered roller bearing (2) is respectively arranged between the crankshaft and the two end covers. 8.根据权利要求1所述的聚磁Halbach少极差磁齿轮减速器,其特征在于,聚磁Halbach阵列布置结构包括有呈环状分布并交叉排列的周向充磁永磁体(16)和径向充磁永磁体(17),所述径向充磁永磁体的内外侧各自设有一导磁块(18)。8. The magnetism-gathering Halbach few pole-difference magnetic gear reducer according to claim 1, characterized in that the magnetism-gathering Halbach array structure includes circularly distributed and cross-arranged circumferentially magnetized permanent magnets (16) and radial Magnetized permanent magnets (17), the inner and outer sides of the radially magnetized permanent magnets are respectively provided with a magnetic conduction block (18). 9.根据权利要求8所述的聚磁Halbach少极差磁齿轮减速器,其特征在于,周向充磁永磁体、径向充磁永磁体、导磁块均为扇形状。9. The magnetism-gathering Halbach magnetic gear reducer with few extreme differences according to claim 8, characterized in that the circumferentially magnetized permanent magnets, the radially magnetized permanent magnets, and the magnetically permeable blocks are all fan-shaped.
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