CN114865882A - Nutation magnetic speed reducer with passive damping and application method thereof - Google Patents
Nutation magnetic speed reducer with passive damping and application method thereof Download PDFInfo
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- CN114865882A CN114865882A CN202210597671.5A CN202210597671A CN114865882A CN 114865882 A CN114865882 A CN 114865882A CN 202210597671 A CN202210597671 A CN 202210597671A CN 114865882 A CN114865882 A CN 114865882A
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- 238000013016 damping Methods 0.000 title claims abstract description 50
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000009467 reduction Effects 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 230000008878 coupling Effects 0.000 claims description 25
- 238000010168 coupling process Methods 0.000 claims description 25
- 238000005859 coupling reaction Methods 0.000 claims description 25
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 22
- 229910052802 copper Inorganic materials 0.000 claims description 22
- 239000010949 copper Substances 0.000 claims description 22
- 239000003292 glue Substances 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 229910052751 metal Inorganic materials 0.000 claims description 4
- 230000006641 stabilisation Effects 0.000 abstract description 3
- 238000011105 stabilization Methods 0.000 abstract description 3
- 230000005674 electromagnetic induction Effects 0.000 description 5
- 230000009351 contact transmission Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- 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
-
- 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
- H02K49/104—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element
-
- 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
- H02K49/104—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element
- H02K49/106—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element with a radial air gap
-
- 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
- H02K49/104—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element
- H02K49/108—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element with an axial air gap
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
- Gear Transmission (AREA)
Abstract
The invention relates to a nutation magnetic force speed reducer with passive damping and a using method thereof, and the nutation magnetic force speed reducer comprises a box body with a first magnetic gear, wherein a fourth magnetic gear which is provided with a concave cavity and serves as a power output component is rotationally connected in a cavity of the box body, an input shaft with the other end rotationally connected with the fourth magnetic gear is further rotationally installed on the box body, a nutation sleeve positioned in the concave cavity is fixed on the input shaft, a second magnetic gear which is matched with the first magnetic gear to form a first-stage reduction magnetic gear pair is rotationally connected on the nutation sleeve, and a third magnetic gear which is matched with the fourth magnetic gear to form a second-stage reduction magnetic gear pair is fixedly sleeved on the second magnetic gear. The speed reducer has the advantages of large transmission ratio, high transmission efficiency, small fluctuation torque and short stabilization time.
Description
Technical Field
The invention relates to a nutation magnetic force speed reducer with passive damping and a using method thereof.
Background
With the development of precision machinery, higher and higher requirements are put forward on mechanical transmission, and the problems of friction wear and vibration noise of parts in the transmission process are particularly concerned. In addition, in the deep space exploration field, the lubrication failure caused by the ultralow temperature environment further causes cold welding of parts, and the key problem in the mechanical transmission field at the present stage is also solved. Magnetic transmission belongs to non-contact transmission, and power transmission is carried out by means of magnetic field coupling. Compared with the traditional contact type transmission mode, the magnetic transmission has the advantages of no friction and wear, high transmission efficiency, low vibration noise and the like, and the problems of cold welding and the like can be avoided due to no contact between the components. However, because the torsional rigidity of the magnetic gear is low and a harmonic magnetic field exists in the air gap, fluctuation torque is generated in the transmission process, the transmission precision is influenced, and the stabilization time is increased. Aiming at the problem, the invention introduces the electromagnetic induction principle to the nutation magnetic force speed reducer and innovatively provides the nutation magnetic force speed reducer with passive damping.
Disclosure of Invention
The invention aims to provide a nutation magnetic force speed reducer with passive damping and a using method thereof.
The technical scheme of the invention is as follows: the utility model provides a nutation magnetic reduction gear with passive damping, is including the box that has first magnetic gear, the cavity internal rotation of box is connected with the fourth magnetic gear who has the cavity and regard as the power take off component, still rotates on the box and installs the input shaft that the other end is connected with fourth magnetic gear rotation, be fixed with the nutation cover that is located the cavity on the input shaft, nutation is sheathe in and is rotated and is connected with the second magnetic gear who forms first order reduction magnetic gear pair with first magnetic gear cooperation, the cover is established and is fixed with the third magnetic gear who forms second order reduction magnetic gear pair with fourth magnetic gear cooperation on the second magnetic gear.
Furthermore, the box body comprises a box shell, copper damping blocks are fixed on the side wall, corresponding to the coupling surface of the second magnetic gear, in the box shell at intervals along the circumferential direction, and a pair of permanent magnets are fixed between every two adjacent copper damping blocks to form the first magnetic gear in a matched mode; the case cover is installed on the case shell and is matched with the case shell to form an inner cavity, and the fourth magnetic gear is rotatably connected to the case cover.
Furthermore, the input shaft is respectively connected with the box shell and the fourth magnetic gear in a rotating way through bearings; the fourth magnetic gear is rotationally connected with the box cover through a bearing; and bearing end covers are respectively arranged on the outer side surfaces of the box shell and the box cover.
Furthermore, the second magnetic gear, the third magnetic gear and the fourth magnetic gear all comprise yokes, copper damping blocks are fixed on the coupling surfaces of the yokes at intervals, and a pair of permanent magnets are fixed between every two adjacent copper damping blocks.
Further, the coupling surface of the fourth magnetic gear is a cavity side wall; the coupling surface of the second magnetic gear is an end surface adjacent to the side wall of the box body; the coupling surface of the third magnetic gear is a circumferential surface opposite to the side wall of the concave cavity.
Furthermore, the number of the magnetic poles of the first magnetic gear, the second magnetic gear, the third magnetic gear and the fourth magnetic gear is respectively 9 pairs, 8 pairs, 9 pairs and 10 pairs, and the permanent magnets adopt an N/S alternating array.
Furthermore, the thickness of the copper damping block is larger than that of the permanent magnet, and the copper damping block is fixed in a groove on the yoke through metal glue.
Furthermore, the nutation sleeve is fixed on the input shaft through a key, and the second magnetic gear is located in the concave cavity and is in rotary connection with the nutation sleeve through a pair of angular contact ball bearings.
Further, the third magnetic gear is fixedly connected with the second magnetic gear through a bolt.
A method of using a nutating magnetic retarder with passive damping, comprising the steps of:
(1) connecting the input shaft with a power source, and connecting the fourth magnetic gear with the output shaft;
(2) the power is input from the input shaft to drive the input shaft and the nutation sleeve to rotate, the second magnetic gear and the first magnetic gear form a first-stage speed reduction magnetic gear pair, the first magnetic gear is fixed, and the second magnetic gear rotates around the axis of the second magnetic gear to form first-stage speed reduction according to the nutation transmission principle and the magnetic field coupling principle;
(3) the third magnetic gear and the second magnetic gear are fixedly connected and have the same angular speed; meanwhile, the third magnetic gear and the fourth magnetic gear are coupled to form a second-stage reduction magnetic gear pair, power is further reduced and increased in torque after passing through the second-stage reduction magnetic gear pair, and finally the fourth magnetic gear outputs the power through an output shaft.
Compared with the prior art, the invention has the following advantages:
1. the reducer introduces an electromagnetic induction principle, and has the advantages of simple structure, large transmission ratio, high transmission efficiency, small fluctuation torque and short stabilization time.
2. Due to the non-contact transmission characteristic of the magnetic gear, the torsional rigidity of the magnetic gear is small, the difference of the torsional rigidity enables the difference of the rotating speed of the magnetic gear and the theoretical rotating speed, the copper damping block is introduced based on the electromagnetic induction phenomenon, the rotating speed difference of the rotating magnetic field enables the damping block to generate an induction magnetic field to compensate the torsional rigidity, and the damping magnitude and the rotating speed difference are in positive correlation, so that the electromagnetic damping can be passively adjusted.
Drawings
FIG. 1 is an exploded view of a nutating magnetic retarder of the present invention;
FIG. 2 is a cross-sectional view of a nutating magnetic retarder of the present invention;
FIG. 3 is a schematic view of a second magnetic gear of the present invention;
FIG. 4 is a diagram of the power transmission scheme of the nutating magnetic retarder of the present invention;
in the figure: 1-a bolt; 2-bearing end cap; 3-angular contact ball bearings; 4-first magnetic gear (housing); 5-an input shaft; a 6-bond; 7-a nutating sleeve; 8-a second magnetic gear; 9-a third magnetic gear; 10-bolt; 11-angular contact ball bearings; 12-a bearing retainer ring; 13-shaft sleeve; 14-a bearing; 15-a fourth magnetic gear; 15 a-a shaft portion; 15 b-bearing mounting holes; 16-a bearing; 17-a box cover; 18-bolt; 19-bearing end caps; 20-bolt; 21-a yoke; 22-a copper damping block; 23-permanent magnet.
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 to 4
The utility model provides a nutation magnetic reduction gear with passive damping, is including the box that has first magnetic gear 4, the cavity internal rotation of box is connected with fourth magnetic gear 15 that has the cavity and regard as the power take off component, still rotates on the box and installs the input shaft 5 that the other end is connected with fourth magnetic gear rotation, be fixed with the nutation cover 7 that is located the cavity on the input shaft, nutation is sheathe in and is rotated and be connected with the second magnetic gear 8 that forms first order reduction magnetic gear pair with first magnetic gear cooperation, the cover is established on the second magnetic gear and is fixed with the third magnetic gear 9 that forms second order reduction magnetic gear pair with fourth magnetic gear cooperation, third magnetic gear is through bolt 10 and second magnetic gear fixed connection to when power transmission to second magnetic gear, can guarantee contactless and stably transmit to in the second reduction magnetic gear pair.
In this embodiment, the box body includes a box shell, copper damping blocks are fixed at intervals along the circumferential direction on the side wall corresponding to the coupling surface of the second magnetic gear in the box shell, and a pair of permanent magnets is fixed between two adjacent copper damping blocks, so as to form the first magnetic gear. The case is structurally configured to serve as both the main portion of the reducer case and the yoke portion of the MG 2.
In this embodiment, a case cover 17 is mounted on the case housing through bolts 18, and the case cover and the case housing are matched to form a closed inner cavity. The fourth magnetic gear has a projecting shaft portion 15a which is rotatably connected to the lid via a bearing 16.
In the embodiment, one end part of the input shaft is rotationally connected with the box shell through an angular contact bearing 3, and the other end of the input shaft is rotationally connected with the fourth magnetic gear through a bearing 14; and a bearing mounting hole 15b is formed in the fourth magnetic gear, so that the bearing 14 can be conveniently dismounted and connected with an output shaft.
In this embodiment, the nutating sleeve is fixed to the input shaft via a key 6, and the nutating angle necessary for the operation of the nutating magnetic retarder is formed on the input shaft by the key transmission and the nutating sleeve. The second magnetic gear is located in the concave cavity and is in rotating connection with the nutation sleeve through a pair of angular contact ball bearings 11, and a fastening nut 12 is arranged to limit axial displacement of the two angular contact ball bearings on the nutation sleeve.
In the embodiment, in order to better limit the axial displacement of the angular contact bearing 3 and the bearing 16 and limit the axial displacement, a bearing end cover 2 is arranged on the outer side surface of the box shell through a bolt 1; a bearing end cover 19 is mounted on the outer side surface of the case cover through bolts 20.
In this embodiment, the fourth magnetic gear, the second magnetic gear and the third magnetic gear each include a yoke 21, copper damping blocks 22 are fixed on a coupling surface of the yoke at intervals, and a pair of permanent magnets 23 are fixed between two adjacent copper damping blocks, that is, the copper damping blocks are arranged between two adjacent magnetic pole pairs and are positioned by slots on the yoke.
In this embodiment, the coupling surface of the fourth magnetic gear is a cavity side wall (circumferential surface); the coupling surface of the second magnetic gear is an end surface adjacent to the side wall of the box body; the coupling surface of the third magnetic gear is a circumferential surface opposite to the side wall of the concave cavity.
In the embodiment, the second magnetic gear, the first magnetic gear, the third magnetic gear and the fourth magnetic gear are named as MG1, MG2, MG3 and MG4 respectively according to a power transmission route, and MG1 and MG2 carry out first-stage speed reduction through magnetic field coupling; the MG3 and MG4 perform a second stage of deceleration by magnetic field coupling.
In this embodiment, the numbers of the magnetic poles of the first magnetic gear, the second magnetic gear, the third magnetic gear and the fourth magnetic gear are respectively 9 pairs, 8 pairs, 9 pairs and 10 pairs, and the permanent magnets adopt an "N/S" alternating array. According to the N/S array, one magnetic pole is correspondingly composed of two permanent magnets, the number of the corresponding permanent magnets of MG1 is 16, the number of the permanent magnets of MG2 is 18, the number of the permanent magnets of MG3 is 18, and the number of the permanent magnets of MG4 is 20.
In this embodiment, the thickness of the copper damping block should be greater than that of the permanent magnet, and the copper damping block is fixed in the groove on the yoke through the metal glue, so that the metal glue forms an insulating layer to isolate the induced current generated by the copper damping block.
The transmission line and the passive damping principle of the nutation magnetic speed reducer comprise a nutation transmission principle, a magnetic field coupling principle and an electromagnetic induction phenomenon, and are briefly described as follows:
(1) the power is input from the input shaft, drives the input shaft and the nutation sleeve to rotate, the second magnetic gear and the first magnetic gear form a first-stage speed reduction magnetic gear pair, the first magnetic gear is fixed, and according to the nutation transmission principle and the magnetic field coupling principle, the second magnetic gear rotates around the axis of the second magnetic gear to form first-stage speed reduction.
(2) Because the third magnetic gear and the second magnetic gear are fixedly connected and have the same angular speed, and meanwhile, the third magnetic gear and the fourth magnetic gear are coupled to form a two-stage speed reduction magnetic gear pair, power is further reduced and increased in torque after passing through the two-stage speed reduction magnetic gear pair, and finally the fourth magnetic gear is used as an output member to output the power.
(3) Due to the non-contact transmission characteristic of the magnetic gear, the torsional rigidity of the magnetic gear is small, the difference of the torsional rigidity enables the difference of the rotating speed of the magnetic gear and the theoretical rotating speed, the copper damping block is introduced based on the electromagnetic induction phenomenon, the rotating speed difference of the rotating magnetic field enables the damping block to generate an induction magnetic field to compensate the torsional rigidity, and the damping magnitude and the rotating speed difference are in positive correlation, so that the electromagnetic damping can be passively adjusted.
The use method of the nutation magnetic force speed reducer with passive damping comprises the following steps:
(1) the input shaft is connected with a power source, and the fourth magnetic gear is connected with the output shaft.
(2) The power transmits external power to the speed reducer through the input shaft, the input shaft is driven to rotate with the nutation sleeve, the second magnetic gear is driven to perform deflection motion due to eccentric rotation of the nutation sleeve 5, and the second magnetic gear is coupled with the first magnetic gear fixed on the box body through magnetic field coupling to form a first-stage speed reduction magnetic gear pair. And the first magnetic gear is fixed, and the second magnetic gear rotates around the axis of the second magnetic gear by magnetic torque to form first-stage speed reduction according to the nutation transmission principle and the magnetic field coupling principle.
(3) The third magnetic gear and the second magnetic gear are fixedly connected and have the same angular speed; when the second magnetic gear rotates, the third magnetic gear also rotates synchronously. Meanwhile, the power of a two-stage reduction magnetic gear pair formed by coupling the third magnetic gear and the fourth magnetic gear is further reduced and increased in torque after passing through the two-stage reduction magnetic gear pair, and finally the power is output by the fourth magnetic gear through an output shaft. A power transmission route: the input shaft 5 → the nutating sleeve 7 → MG1 → MG2 → MG3 → MG 4.
While the foregoing is directed to the preferred embodiment of the present invention, it will be appreciated by those skilled in the art that various forms of passive damping nutating magnetic retarders may be devised without the use of the innovative teachings herein and that equivalents, modifications, substitutions and variations may be made without departing from the principles and spirit of the invention.
Claims (10)
1. The utility model provides a nutation magnetic reduction gear with passive damping, is including having the box of first magnetic gear, its characterized in that, the cavity internal rotation of box is connected with the fourth magnetic gear who has the cavity and regard as the power take off component, still rotates on the box and installs the input shaft that the other end is connected with fourth magnetic gear rotation, be fixed with the nutation cover that is located the cavity on the input shaft, nutation sheathe in and is rotated and be connected with the second magnetic gear who forms first order reduction magnetic gear pair with the cooperation of first magnetic gear, the cover is established and is fixed with the third magnetic gear who forms second order reduction magnetic gear pair with the cooperation of fourth magnetic gear on the second magnetic gear.
2. The nutating magnetic speed reducer with passive damping of claim 1, wherein the box body comprises a box shell, copper damping blocks are fixed on a side wall corresponding to a coupling surface of the second magnetic gear in the box shell at intervals along the circumferential direction, and a pair of permanent magnets are fixed between two adjacent copper damping blocks to form the first magnetic gear in a matching manner; the case cover is installed on the case shell and is matched with the case shell to form an inner cavity, and the fourth magnetic gear is rotatably connected to the case cover.
3. A nutating magnetic retarder with passive damping according to claim 2 characterised in that the input shaft is rotatably connected to the housing and the fourth magnetic gear via bearings, respectively; the fourth magnetic gear is rotationally connected with the box cover through a bearing; and bearing end covers are respectively arranged on the outer side surfaces of the box shell and the box cover.
4. A nutating magnetic retarder with passive damping according to claim 1, 2 or 3, wherein the second magnetic gear, the third magnetic gear and the fourth magnetic gear each comprise a yoke, copper damping blocks are fixed on the coupling surfaces of the yoke at intervals, and a pair of permanent magnets are fixed between two adjacent copper damping blocks.
5. A nutating magnetic retarder with passive damping according to claim 4 characterised in that the coupling face of the fourth magnetic gear is a re-entrant side wall; the coupling surface of the second magnetic gear is an end surface adjacent to the side wall of the box body; the coupling surface of the third magnetic gear is a circumferential surface opposite to the side wall of the concave cavity.
6. A nutating magnetic retarder with passive damping according to claim 4, wherein the first, second, third and fourth magnetic gears have 9, 8, 9 and 10 pairs of magnetic poles respectively, and the permanent magnets are in an "N/S" alternating array.
7. A nutating magnetic retarder with passive damping according to claim 4 in which the copper damping mass is thicker than the permanent magnets and is secured in slots in the yoke by metal glue.
8. A nutating magnetic reduction gear with passive damping according to claim 1, 2, 3, 5, 6 or 7 wherein the nutating sleeve is keyed to the input shaft and the second magnetic gear is located in the cavity and is rotationally connected to the nutating sleeve via a pair of angular contact ball bearings.
9. The nutating magnetic retarder with passive damping of claim 1, wherein the third magnetic gear is fixedly connected with the second magnetic gear via a bolt.
10. A method of use for a nutating magnetic retarder with passive damping as claimed in claim 1 characterised by the steps of:
(1) connecting the input shaft with a power source, and connecting the fourth magnetic gear with the output shaft;
(2) the power is input from the input shaft to drive the input shaft and the nutation sleeve to rotate, the second magnetic gear and the first magnetic gear form a first-stage speed reduction magnetic gear pair, the first magnetic gear is fixed, and the second magnetic gear rotates around the axis of the second magnetic gear to form first-stage speed reduction according to the nutation transmission principle and the magnetic field coupling principle;
(3) the third magnetic gear and the second magnetic gear are fixedly connected and have the same angular speed; meanwhile, the third magnetic gear and the fourth magnetic gear are coupled to form a second-stage reduction magnetic gear pair, power is further reduced and increased in torque after passing through the second-stage reduction magnetic gear pair, and finally the fourth magnetic gear outputs the power through an output shaft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210597671.5A CN114865882A (en) | 2022-05-30 | 2022-05-30 | Nutation magnetic speed reducer with passive damping and application method thereof |
| NL2033520A NL2033520A (en) | 2022-05-30 | 2022-11-13 | Nutation magnetic reducer with passive damping and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210597671.5A CN114865882A (en) | 2022-05-30 | 2022-05-30 | Nutation magnetic speed reducer with passive damping and application method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114865882A true CN114865882A (en) | 2022-08-05 |
Family
ID=82640613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210597671.5A Pending CN114865882A (en) | 2022-05-30 | 2022-05-30 | Nutation magnetic speed reducer with passive damping and application method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114865882A (en) |
| NL (1) | NL2033520A (en) |
-
2022
- 2022-05-30 CN CN202210597671.5A patent/CN114865882A/en active Pending
- 2022-11-13 NL NL2033520A patent/NL2033520A/en unknown
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| Publication number | Publication date |
|---|---|
| NL2033520A (en) | 2023-12-07 |
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