CN113606312A - Two-stage nutation speed reducer based on magnetic transmission and working method thereof - Google Patents
Two-stage nutation speed reducer based on magnetic transmission and working method thereof Download PDFInfo
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- CN113606312A CN113606312A CN202110971467.0A CN202110971467A CN113606312A CN 113606312 A CN113606312 A CN 113606312A CN 202110971467 A CN202110971467 A CN 202110971467A CN 113606312 A CN113606312 A CN 113606312A
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- nutation
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- magnetic gear
- permanent magnet
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 35
- 239000003638 chemical reducing agent Substances 0.000 title claims description 24
- 238000000034 method Methods 0.000 title claims description 7
- 238000005096 rolling process Methods 0.000 claims abstract description 11
- 230000009467 reduction Effects 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000000295 complement effect Effects 0.000 claims description 3
- 230000005415 magnetization Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 2
- 238000005299 abrasion Methods 0.000 abstract description 3
- 238000005461 lubrication Methods 0.000 abstract description 3
- 230000009351 contact transmission Effects 0.000 abstract description 2
- 230000005389 magnetism Effects 0.000 description 14
- 238000003491 array Methods 0.000 description 2
- 230000001808 coupling effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/005—Magnetic gearings with physical contact between gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
- H02K49/10—Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
- H02K49/102—Magnetic gearings, i.e. assembly of gears, linear or rotary, by which motion is magnetically transferred without physical contact
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Gear Transmission (AREA)
- Transmission Devices (AREA)
Abstract
The utility model provides a second grade nutation reduction gear based on magnetic drive, includes the box that the opening was right, the input shaft is worn to be equipped with in the left side of box, the right-hand member of input shaft is provided with the nutation magnetic gear who carries out nutation motion, the right side of box is provided with the output shaft, the left end of output shaft is provided with the rolling disc with nutation magnetic gear matched with, it is connected through the transmission of first magnetic drive group between nutation magnetic gear and the box, it is connected through the transmission of second magnetic drive group between nutation magnetic gear and the rolling disc. The invention has compact structure and high reliability, and has large transmission ratio and stable transmission because of utilizing the two-stage nutation transmission; based on magnetic force non-contact transmission, the device has the advantages of no abrasion, small vibration noise, no need of lubrication and overload protection function.
Description
Technical Field
The invention relates to a two-stage nutation speed reducer based on magnetic transmission and a working method thereof.
Background
The research and development and application of the industrial robot and the key parts thereof are one of the important marks of national technological innovation and high-end manufacturing development level, and are also key supporting equipment of advanced manufacturing industry. The speed reducer is used as a key part of the industrial robot, so that the research and development of the speed reducer are accelerated, and the technical breakthrough is realized, thereby having important significance for improving the overall performance of the industrial robot.
In recent years, a nutation reducer becomes a novel industrial robot joint reducer following an RV reducer, a cycloidal pin gear reducer, a harmonic reducer and the like due to the advantages of a large transmission ratio, stable transmission and the like, and is widely concerned and rapidly developed. Meanwhile, under the background of global advocation of carbon neutralization, energy conservation and environmental protection become the main melody of economic development of all countries in the world at present, and the permanent magnetic transmission technology becomes a current research hotspot due to the advantages of non-contact, no abrasion, low loss, no need of lubrication, energy conservation, environmental protection and the like.
Disclosure of Invention
The invention aims to provide a two-stage nutation speed reducer based on magnetic transmission and a working method thereof.
The technical scheme of the invention is as follows: the utility model provides a second grade nutation reduction gear based on magnetic drive, includes the box that the opening was right, the input shaft is worn to be equipped with in the left side of box, the right-hand member of input shaft is provided with the nutation magnetic gear who carries out nutation motion, the right side of box is provided with the output shaft, the left end of output shaft is provided with the rolling disc with nutation magnetic gear matched with, it is connected through the transmission of first magnetic drive group between nutation magnetic gear and the box, it is connected through the transmission of second magnetic drive group between nutation magnetic gear and the rolling disc.
Further, the output shaft right-hand member is provided with the nutation cover, the nutation cover is the cylinder of axis for the input shaft axis slope, nutation cover and input shaft integrated into one piece, the axis of nutation cover is 4 ~ 6 with the axis contained angle of input shaft, and this contained angle is the nutation angle.
Further, the left end of nutation cover is provided with the convex shoulder, the right-hand member of nutation cover is provided with the retaining ring slot, and the retaining ring slot is provided with the circlip for the axle, be provided with at least one bearing between convex shoulder and the circlip for the axle, be connected through bearing rotation between nutation magnetic gear and the nutation cover.
Further, first magnetic transmission group is including setting up in the inside left first fixed magnetism ring gear of box, fixed magnetism ring gear includes a plurality of first initiative permanent magnets along input shaft circumferencial direction equipartition, and first initiative permanent magnet is N, S utmost point alternant arrays, be provided with a plurality of first driven permanent magnets along the nutation magnetism gear circumferencial direction equipartition in the face that nutation magnetism gear is relative with first fixed magnetism ring gear, first driven permanent magnet is N, S utmost point alternant arrays, first initiative permanent magnet is the axial with first driven permanent magnet and magnetizes.
Further, second magnetic transmission group is including setting up the fixed magnetism ring gear of second on the rolling disc lateral wall, the fixed magnetism ring gear of second includes the driven permanent magnet of a plurality of seconds along output shaft circumferencial direction equipartition, and the driven permanent magnet of second is N, S utmost point alternate arrangement, nutation magnetic gear is provided with a plurality of second initiative permanent magnets along nutation magnetic gear circumferencial direction equipartition in the one side relative with the fixed magnetism ring gear of second, and second initiative permanent magnet is N, S utmost point alternate arrangement, second initiative permanent magnet is radial magnetization with the driven permanent magnet of second.
Furthermore, an included angle is formed between one surface of the first driven permanent magnet, which is opposite to the first fixed magnetic gear ring, and the axis of the nutation magnetic gear, the included angle is complementary with the nutation angle, so that the first driving permanent magnet and the first driven permanent magnet are opposite to each other at the position of the minimum air gap, and the minimum air gap is 1 mm.
Furthermore, an included angle is formed between one surface, opposite to the second fixed magnetic gear ring, of the second driving permanent magnet and the axis of the nutation magnetic gear, the included angle is equal to the nutation angle, the second driving permanent magnet and the second driven permanent magnet are opposite to each other at the position of the minimum air gap, and the minimum air gap is 1 mm.
Furthermore, the right end of the box body is further provided with a detachable cover plate, the output shaft is rotatably connected with the cover plate through a bearing, and the cover plate is fixedly connected with the box body through a bolt.
Furthermore, the left end of input shaft is provided with the keyway that is used for being connected with external power source, input shaft and box pass through the bearing and rotate and be connected and be provided with end cover.
A working method of a two-stage nutation speed reducer based on magnetic transmission comprises the following steps:
firstly, an external power source drives an input shaft to rotate, and then the nutation magnetic gear swings along with the rotation of the input shaft;
when the nutation magnetic gear swings, the first driving permanent magnet and the first driven permanent magnet are magnetically coupled to drive the nutation magnetic gear to rotate, and the nutation magnetic gear starts nutation motion;
and thirdly, when the nutation magnetic gear nutates, the second driving permanent magnet and the second driven permanent magnet are magnetically coupled to drive the rotating disc to rotate, and the output shaft rotates under the action of the rotating disc and outputs power outwards.
Compared with the prior art, the invention has the following advantages: the invention has compact structure and high reliability, and has large transmission ratio and stable transmission because of utilizing the two-stage nutation transmission; based on magnetic force non-contact transmission, the device has the advantages of no abrasion, small vibration noise, no need of lubrication and overload protection function.
Drawings
FIG. 1 is a schematic structural view of the present invention;
in the figure: the magnetic bearing comprises a box body 1, an input shaft 2, a nutation magnetic gear 3, an output shaft 4, a rotating disc 5, a nutation sleeve 6, a positioning snap ring 7, a shoulder 8, a shaft elastic retainer ring 9, a bearing 10, a first driving permanent magnet 11, a first driven permanent magnet 12, a second driven permanent magnet 13, a second driving permanent magnet 14, a cover plate 15, a key groove 16 and a sealing end cover 17.
Detailed Description
In order to make the aforementioned features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below, but the present invention is not limited thereto.
Refer to fig. 1.
In a preferred embodiment of the present invention: the utility model provides a second grade nutation reduction gear based on magnetic drive, includes the box that the opening was right, the input shaft is worn to be equipped with in the left side of box, the right-hand member of input shaft is provided with the nutation magnetic gear who carries out nutation motion, the right side of box is provided with the output shaft, the left end of output shaft is provided with the rolling disc with nutation magnetic gear matched with, it is connected through the transmission of first magnetic drive group between nutation magnetic gear and the box, it is connected through the transmission of second magnetic drive group between nutation magnetic gear and the rolling disc.
In this embodiment, the output shaft right-hand member is provided with the nutation cover, the nutation cover is the cylinder of axis for the input shaft axis slope, nutation cover and input shaft integrated into one piece to guarantee structural strength, simplify the structure, the axis of nutation cover is 4 ~ 6 with the axis contained angle of input shaft, and preferred is 5, and this contained angle is the nutation angle, and rotation through the nutation cover makes nutation magnetic gear take place nutation motion.
In this embodiment, the left end of nutation cover is provided with the convex shoulder, the right-hand member of nutation cover is provided with the retaining ring slot, and the retaining ring slot is provided with the circlip for the axle, be provided with at least one bearing between convex shoulder and the circlip for the axle, be connected through bearing rotation between nutation magnetic gear and the nutation cover, the stability of fully guaranteeing nutation magnetic gear swing and rotation improves holistic working property.
In this embodiment, first magnetic drive group is including setting up in the inside left first fixed magnetism ring gear of box, fixed magnetism ring gear includes a plurality of first initiative permanent magnets along input shaft circumferencial direction equipartition, and first initiative permanent magnet is N, S utmost point alternants, the total 32 of first initiative permanent magnet, be provided with a plurality of first driven permanent magnets along the nutation magnetic gear circumferencial direction equipartition in the nutation magnetic gear in the one side relative with first fixed magnetism ring gear, first driven permanent magnet is N, S utmost point alternants, the total 30 of first driven permanent magnet to guarantee first magnetic drive's steady, reduce vibrations and dead point, first initiative permanent magnet is the axial with first driven permanent magnet and magnetizes.
In this embodiment, second magnetic transmission group is including setting up the fixed magnetism ring gear of second on the rolling disc lateral wall, the fixed magnetism ring gear of second includes the driven permanent magnet of a plurality of seconds along output shaft circumferencial direction equipartition, and the driven permanent magnet of second is N, S utmost point alternate arrangement, the total 26 of second initiative permanent magnet, be provided with a plurality of second initiative permanent magnets along nutation magnetic gear circumferencial direction equipartition in the face that nutation magnetic gear is relative with the fixed magnetism ring gear of second, second initiative permanent magnet is N, S utmost point alternate arrangement, the total 28 of the driven permanent magnet of second is to guarantee second magnetic transmission's steady, reduce vibrations and dead point, second initiative permanent magnet is radial magnetization with the driven permanent magnet of second.
In this embodiment, an included angle is formed between one surface of the first driven permanent magnet, which is opposite to the first fixed magnetic gear ring, and the axis of the nutation magnetic gear, and the included angle is complementary to the nutation angle, so that the first driving permanent magnet and the first driven permanent magnet are opposite to each other at the position of the minimum air gap, and the minimum air gap is 1mm, so that the magnetic coupling effect is enhanced, and the torque is increased.
In this embodiment, the surface of the second driving permanent magnet opposite to the second fixed magnetic gear ring and the axis of the nutation magnetic gear form an included angle, the included angle is equal to the nutation angle, the second driving permanent magnet and the second driven permanent magnet are opposite to each other at the position of the minimum air gap, and the minimum air gap is 1mm, so that the magnetic coupling effect is enhanced, and the torque is increased.
In this embodiment, the right-hand member of box still is provided with the detachable apron, rotate through the bearing between output shaft and the apron and be connected, be provided with the location snap ring of cover on locating the output shaft between apron and the rolling disc, link firmly through the bolt between apron and the box to in overhaul.
In this embodiment, the left end of input shaft is provided with the keyway that is used for being connected with external power source, the input shaft passes through the bearing with the box and rotates to be connected and be provided with end cover.
In the present embodiment, the overall transmission ratio of the present reducer is 105 through nutation motion and a two-stage magnetic transmission set.
A working method of a two-stage nutation speed reducer based on magnetic transmission comprises the following steps:
firstly, an external power source drives an input shaft to rotate, and then the nutation magnetic gear swings along with the rotation of the input shaft;
when the nutation magnetic gear swings, the first driving permanent magnet and the first driven permanent magnet are magnetically coupled to drive the nutation magnetic gear to rotate, and the nutation magnetic gear starts nutation motion;
and thirdly, when the nutation magnetic gear nutates, the second driving permanent magnet and the second driven permanent magnet are magnetically coupled to drive the rotating disc to rotate, and the output shaft rotates under the action of the rotating disc and outputs power outwards.
It will be apparent to those skilled in the art that various modifications, changes, substitutions and variations can be made in the above-described two-stage nutating reducer based on magnetic drive and its operating method without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a second grade nutation reduction gear based on magnetic drive, includes the box that the opening faces the right side, its characterized in that, the input shaft is worn to be equipped with in the left side of box, the right-hand member of input shaft is provided with the nutation magnetic gear who carries out nutation motion, the right side of box is provided with the output shaft, the left end of output shaft is provided with the rolling disc with nutation magnetic gear matched with, it is connected through the transmission of first magnetic drive group between nutation magnetic gear and the box, it is connected through the transmission of second magnetic drive group between nutation magnetic gear and the rolling disc.
2. The two-stage nutation speed reducer based on magnetic transmission is characterized in that a nutation sleeve is arranged at the right end of the output shaft, the nutation sleeve is a cylinder with an axis inclined relative to the axis of the input shaft, the nutation sleeve and the input shaft are integrally formed, and an included angle formed by the axis of the nutation sleeve and the axis of the input shaft is 4-6 degrees, and the included angle is a nutation angle.
3. The two-stage nutation reducer based on magnetic transmission is characterized in that a convex shoulder is arranged at the left end of the nutation sleeve, a check ring groove is formed in the right end of the nutation sleeve, an elastic check ring for the shaft is arranged in the check ring groove, at least one bearing is arranged between the convex shoulder and the elastic check ring for the shaft, and the nutation magnetic gear is rotatably connected with the nutation sleeve through the bearing.
4. The magnetic drive-based two-stage nutation speed reducer of claim 2, wherein the first magnetic drive group comprises a first fixed magnetic gear ring arranged on the left side inside the box body, the fixed magnetic gear ring comprises a plurality of first driving permanent magnets uniformly distributed along the circumferential direction of the input shaft, the first driving permanent magnets are N, S poles in an alternate arrangement manner, a plurality of first driven permanent magnets uniformly distributed along the circumferential direction of the nutation magnetic gear are arranged on the face of the nutation magnetic gear opposite to the first fixed magnetic gear ring, the first driven permanent magnets are N, S poles in an alternate arrangement manner, and the first driving permanent magnets and the first driven permanent magnets are axially magnetized.
5. The magnetic drive-based two-stage nutation speed reducer of claim 2, wherein the second magnetic drive group comprises a second fixed magnetic gear ring arranged on the side wall of the rotating disc, the second fixed magnetic gear ring comprises a plurality of second driven permanent magnets uniformly distributed along the circumferential direction of the output shaft, the second driven permanent magnets are N, S poles in an alternating arrangement manner, a plurality of second driving permanent magnets uniformly distributed along the circumferential direction of the nutation magnetic gear are arranged on the opposite surface of the nutation magnetic gear and the second fixed magnetic gear ring, the second driving permanent magnets are N, S poles in an alternating arrangement manner, and the second driving permanent magnets and the second driven permanent magnets are radial magnetization.
6. The two-stage nutation reducer based on magnetic transmission of claim 4, wherein the surface of the first driven permanent magnet opposite to the first fixed magnetic gear ring forms an included angle with the axis of the nutation magnetic gear, the included angle is complementary with the nutation angle, the first driving permanent magnet and the first driven permanent magnet are opposite at the position of the minimum air gap, and the minimum air gap is 1 mm.
7. The two-stage nutation reducer based on magnetic transmission of claim 5, wherein the surface of the second driving permanent magnet opposite to the second fixed magnetic gear ring forms an included angle with the axis of the nutation magnetic gear, the included angle is equal to the nutation angle, the second driving permanent magnet and the second driven permanent magnet are opposite at the position of the minimum air gap, and the minimum air gap is 1 mm.
8. The two-stage nutation speed reducer based on magnetic transmission of claim 1, wherein a detachable cover plate is further arranged at the right end of the box body, the output shaft and the cover plate are rotatably connected through a bearing, and the cover plate and the box body are fixedly connected through a bolt.
9. The two-stage nutation reducer based on magnetic transmission according to claim 1, wherein a key groove for connecting with an external power source is formed in the left end of the input shaft, and the input shaft is rotatably connected with the box body through a bearing and is provided with a sealing end cover.
10. A method of operating a two-stage nutating reducer based on a magnetic drive as claimed in any one of claims 1 to 9, comprising the steps of:
firstly, an external power source drives an input shaft to rotate, and then the nutation magnetic gear swings along with the rotation of the input shaft;
when the nutation magnetic gear swings, the first driving permanent magnet and the first driven permanent magnet are magnetically coupled to drive the nutation magnetic gear to rotate, and the nutation magnetic gear starts nutation motion;
and thirdly, when the nutation magnetic gear nutates, the second driving permanent magnet and the second driven permanent magnet are magnetically coupled to drive the rotating disc to rotate, and the output shaft rotates under the action of the rotating disc and outputs power outwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110971467.0A CN113606312A (en) | 2021-08-24 | 2021-08-24 | Two-stage nutation speed reducer based on magnetic transmission and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110971467.0A CN113606312A (en) | 2021-08-24 | 2021-08-24 | Two-stage nutation speed reducer based on magnetic transmission and working method thereof |
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| CN113606312A true CN113606312A (en) | 2021-11-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114865882A (en) * | 2022-05-30 | 2022-08-05 | 福州大学 | Nutation magnetic speed reducer with passive damping and application method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071633A (en) * | 2015-09-11 | 2015-11-18 | 福州大学 | Novel non-contact type two-stage nutation transmission device and transmission method thereof |
| CN107947525A (en) * | 2017-12-28 | 2018-04-20 | 福州大学 | A kind of contactless nutating decelerating motor of novel two-stage and its method of work |
| US20200343803A1 (en) * | 2019-04-26 | 2020-10-29 | GM Global Technology Operations LLC | Axial flux machine with nutating rotor |
| CN113183180A (en) * | 2021-06-21 | 2021-07-30 | 赣州精诚机械制造有限公司 | Robot joint reducer based on nutation speed reduction and friction transmission and design method |
| CN216279263U (en) * | 2021-08-24 | 2022-04-12 | 福州大学 | Two-stage nutation speed reducer based on magnetic transmission |
-
2021
- 2021-08-24 CN CN202110971467.0A patent/CN113606312A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071633A (en) * | 2015-09-11 | 2015-11-18 | 福州大学 | Novel non-contact type two-stage nutation transmission device and transmission method thereof |
| CN107947525A (en) * | 2017-12-28 | 2018-04-20 | 福州大学 | A kind of contactless nutating decelerating motor of novel two-stage and its method of work |
| US20200343803A1 (en) * | 2019-04-26 | 2020-10-29 | GM Global Technology Operations LLC | Axial flux machine with nutating rotor |
| CN113183180A (en) * | 2021-06-21 | 2021-07-30 | 赣州精诚机械制造有限公司 | Robot joint reducer based on nutation speed reduction and friction transmission and design method |
| CN216279263U (en) * | 2021-08-24 | 2022-04-12 | 福州大学 | Two-stage nutation speed reducer based on magnetic transmission |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114865882A (en) * | 2022-05-30 | 2022-08-05 | 福州大学 | Nutation magnetic speed reducer with passive damping and application method thereof |
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