CN115776213A - Bilateral coupling axial nutation magnetic speed reducer and working method thereof - Google Patents
Bilateral coupling axial nutation magnetic speed reducer and working method thereof Download PDFInfo
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- CN115776213A CN115776213A CN202211703323.8A CN202211703323A CN115776213A CN 115776213 A CN115776213 A CN 115776213A CN 202211703323 A CN202211703323 A CN 202211703323A CN 115776213 A CN115776213 A CN 115776213A
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Abstract
The invention relates to a bilateral coupling axial nutation magnetic speed reducer and a working method thereof, and the bilateral coupling axial nutation magnetic speed reducer comprises a box body, wherein an input shaft penetrates through the left end of the box body, a rotating disc is arranged on the right side in the box body, a nutation disc which is sleeved on the input shaft and performs nutation motion along with the rotation of the input shaft is arranged in the box body, a first nutation magnetic gear and a second nutation magnetic gear are respectively arranged on the left end surface and the right end surface of the nutation disc, a fixed magnetic gear which performs magnetic field coupling with the first nutation magnetic gear is arranged on the inner side of the left end of the box body, and a movable magnetic gear which performs magnetic field coupling with the second nutation magnetic gear is arranged on the left end surface of the rotating disc. The bilateral coupling axial nutation magnetic speed reducer can realize less range, and has the advantages of simple structure, large transmission ratio and high transmission efficiency; the axial force generated by the axial magnetic gears coupled at the two sides can be effectively offset, the service life of the bearing is prolonged, the axial force is small, and the transmission is stable.
Description
Technical Field
The invention relates to the field of speed reducers, in particular to a bilateral coupling axial nutation magnetic speed reducer and a working method thereof.
Background
Along with the development of precision machinery, higher and higher requirements are provided for mechanical transmission, the problems of friction wear and vibration noise of parts in the transmission process are particularly concerned, and in addition, in the field of deep space detection, the parts are subjected to cold welding due to lubrication failure caused by an ultralow-temperature environment, so that the key problem in the field of mechanical transmission 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 not occur due to no contact between the components. The conventional nutation magnetic force speed reducer is generally composed of a radial magnetic gear pair and an axial magnetic gear pair, and a large axial force is generated by the axial magnetic gear pair, so that the problems of overlarge unidirectional axial force, bolt failure and the like occur in the running process of a prototype machine.
Disclosure of Invention
In view of the above, the invention aims to provide a bilateral coupling axial nutation magnetic force speed reducer which is simple in structure, large in transmission ratio, high in transmission efficiency, small in axial force and stable in transmission, and a working method thereof.
The invention is realized by adopting the following scheme: the utility model provides a two side coupling axial nutation magnetic reduction gears, the power distribution box comprises a box body, the input shaft is worn to be equipped with by the left end of box, and the inside right side of box is equipped with the rolling disc, has the cover in the box to establish and carry out nutation motion's nutation dish along with the rotation of input shaft on the input shaft, nutation dish left and right end face is equipped with first nutation magnetic gear and second nutation magnetic gear respectively, and box left end inboard is equipped with carries out the fixed magnetic gear of magnetic field coupling with first nutation magnetic gear, it is equipped with the movable magnetic gear who carries out the magnetic field coupling with second nutation magnetic gear to rotate a set left end face.
Furthermore, the fixed magnetic gear, the first nutation magnetic gear, the second nutation magnetic gear and the movable magnetic gear are all formed by arranging a plurality of permanent magnets along the circumferential direction, the number of pole pairs of the fixed magnetic gear, the first nutation magnetic gear, the second nutation magnetic gear and the movable magnetic gear is respectively 9, 8, 9 and 10, and N, S poles are alternately arranged.
Furthermore, the input shaft is connected with a nutation sleeve through a key, and the nutation disc is assembled on the nutation sleeve through a bearing; the outer periphery of the nutation sleeve is provided with external threads, the left end of the nutation sleeve is provided with a limiting shoulder which supports against the left end of the bearing, and the nutation sleeve is further provided with a fastening nut which is in threaded connection and supports against the right end of the bearing.
Furthermore, the box is formed by connecting a left box body and a right box body through bolts, the left end of the left box body is connected with a left end cover through bolts, the right end of the right box body is connected with a right end cover through bolts, the input shaft is rotatably connected with the left box body through a bearing, and the right end of the rotating disc is rotatably connected with the right box body through a bearing.
Further, gaps are reserved between every two adjacent permanent magnets on all the magnetic gears; the left box body inner side, the nutation disc left end, the nutation disc right end and the rotation disc left end are respectively provided with a plurality of grooves used for embedding permanent magnets in one-to-one correspondence, and the diameter of the first nutation magnetic gear is smaller than that of the second nutation magnetic gear.
The other technical scheme of the invention is as follows: a power is input from an input shaft, the input shaft drives a nutation sleeve to synchronously rotate, a first-stage magnetic gear pair formed by a first nutation magnetic gear and a fixed magnetic gear swings along with the rotation of the nutation sleeve, then the first nutation magnetic gear starts to rotate around the axis of the first nutation magnetic gear under the action of a magnetic field in an air gap between the first nutation magnetic gear and the fixed magnetic gear, and the rotating angular speed of the first nutation magnetic gear around the axis of the first nutation magnetic gear serves as the output of the first-stage speed reduction; the first nutation magnetic gear and the second nutation magnetic gear have the same angular speed, the second nutation magnetic gear and the movable magnetic gear form a second-stage magnetic gear pair, the second nutation magnetic gear and the movable magnetic gear are axially coupled to form a second-stage speed reduction, power is further reduced and increased in torque through the second-stage magnetic gear pair, and finally the rotating disc serves as an output member to output the power.
Compared with the prior art, the invention has the following beneficial effects: the bilateral coupling axial nutation magnetic speed reducer can realize less range, and has the advantages of simple structure, large transmission ratio and high transmission efficiency; the axial force generated by the axial magnetic gears coupled at the two sides can be effectively offset, the service life of the bearing is prolonged, the axial force is small, and the transmission is stable.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail by the following embodiments and the related drawings.
Drawings
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a cross-sectional view of an embodiment of the present invention;
FIG. 3 is a schematic illustration of an embodiment of the present invention with the housing omitted;
FIG. 4 is a perspective view of a nutating disk in accordance with an embodiment of the present invention;
FIG. 5 is a perspective view of a rotating disk in accordance with an embodiment of the present invention;
FIG. 6 is a perspective view of the left housing of the embodiment of the present invention;
the reference numbers in the figures illustrate: 100-box body, 110-fixed magnetic gear, 120-left box body, 130-right box body, 140-left end cover, 150-right end cover, 200-input shaft, 210-nutation sleeve, 211-limit shoulder, 212-fastening nut, 300-rotating disk, 310-movable magnetic gear, 400-nutation disk, 410-first nutation magnetic gear, 420-second nutation magnetic gear and 500-groove.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure herein. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in 1~6, a two side coupling axial nutation magnetic reduction gears, including box 100, input shaft 200 is worn to be equipped with by the left end of box 100, and the inside right side of box is equipped with rolling disc 300, has the cover to establish in the box and carries out nutation motion's nutation disc 400 along with the rotation of input shaft on the input shaft, the left and right terminal surface of nutation disc 400 is equipped with first nutation magnetic gear 410 and second nutation magnetic gear 420 respectively, and box 100 left end inboard is equipped with carries out the fixed magnetic gear 110 of magnetic field coupling with first nutation magnetic gear, the rolling disc left end face is equipped with carries out the movable magnetic gear 310 of magnetic field coupling with second nutation magnetic gear. This reduction gear is the secondary reduction gear, four magnetic gear have constituted the essential element of secondary magnetic reduction gear, first chapter magnetic gear 410 links together with second chapter magnetic gear 420, fixed magnetic gear 110 and first chapter magnetic gear 410 form first magnetic gear pair through the interact between the magnetic field, carry out first order speed reduction through magnetic field coupling effect, it is similar, second chapter magnetic gear 420 and activity magnetic gear 310 form the second magnetic gear pair, carry out the second level speed reduction through magnetic field coupling effect, the axial force of nutation magnetic gear in the coupling nutation magnetic reduction gear of both sides and nutation cover is far less than unilateral coupling nutation magnetic reduction gear, transmission stationarity and reduction gear life-span have effectively been improved. The bilateral coupling axial nutation magnetic speed reducer based on magnetic transmission and nutation transmission has the advantages that the structure can realize few range differences, the structure is simple, the transmission ratio is large, and the transmission efficiency is high; the axial force generated by the axial magnetic gears coupled at the two sides can be effectively offset, the service life of the bearing is prolonged, the axial force is small, and the transmission is stable.
In this embodiment, the fixed magnetic gear, the first nutating magnetic gear, the second nutating magnetic gear and the movable magnetic gear are all formed by arranging a plurality of permanent magnets along the circumferential direction, the number of pole pairs of the fixed magnetic gear, the first nutating magnetic gear, the second nutating magnetic gear and the movable magnetic gear is respectively 9, 8, 9 and 10, N, S poles are alternately arranged, it can be known from an "N/S" array that one magnetic pole corresponds to two permanent magnets, the number of the corresponding permanent magnets of the fixed magnetic gear is 18, the number of the permanent magnets of the first nutating magnetic gear is 16, the number of the permanent magnets of the second nutating magnetic gear is 18, and the number of the permanent magnets of the movable magnetic gear is 20.
In the embodiment, the nutation sleeve 210 is connected to the input shaft through a key, a nutation angle necessary for the working of the nutation magnetic force speed reducer is formed on the input shaft through key transmission and the nutation sleeve, and the nutation sleeve is necessary for realizing nutation motion; the nutation disc is assembled on the nutation sleeve through a bearing, and an angular contact ball bearing is particularly adopted; the nutation sleeve peripheral part is equipped with the external screw thread, and the nutation sleeve left end is equipped with the spacing shoulder 211 that supports the bearing left end, and threaded connection supports the tight set nut 212 of bearing right-hand member on the nutation sleeve still, and the axial displacement of nutation sleeve bearing is restricted in spacing shoulder 211 and the cooperation of tight set nut 212.
In this embodiment, the box body is formed by connecting a left box body 120 and a right box body 130 through bolts, the left end of the left box body is connected with a left end cover 140 through bolts, the right end of the right box body is connected with a right end cover 150 through bolts, the input shaft is rotatably connected with the left box body through a bearing, the right end of the input shaft is rotatably connected with the middle part of a rotating disc through a bearing, the right end of the rotating disc is rotatably connected with the right box body through a bearing, and the right end of the rotating disc is also required to be connected with an output shaft (not shown in the figure); the left box 120 and the right box 130 form a closed inner space of the reducer, and the left end cover and the right end cover are respectively arranged on the left box and the right box and used for limiting the axial displacement of the bearings of the input shaft and the rotating disc.
The magnetic gear comprises a permanent magnet and a yoke, the permanent magnet is attached to the surface of the yoke through a magnetic steel adhesive surface, and two nutation magnetic gears in the speed reducer share one yoke, namely a nutation disc, and have the same motion state; the left box body is structurally used as a main part of the speed reducer box body and also used as a yoke part of the fixed magnetic gear, and the rotating disc is used as a yoke part of the movable magnetic gear.
In the embodiment, gaps are reserved between every two adjacent permanent magnets on all the magnetic gears; the left box body inner side, the nutation disc left end, the nutation disc right end and the rotation disc left end are respectively provided with a plurality of grooves 500 for embedding permanent magnets in a one-to-one correspondence mode, and the diameter of the first nutation magnetic gear is smaller than that of the second nutation magnetic gear.
The other technical scheme of the invention is as follows: a power is input from an input shaft, the input shaft drives a nutation sleeve to synchronously rotate, a first-stage magnetic gear pair formed by a first nutation magnetic gear and a fixed magnetic gear swings along with the rotation of the nutation sleeve, then the first nutation magnetic gear starts to rotate around the axis of the first nutation magnetic gear under the action of a magnetic field in an air gap between the first nutation magnetic gear and the fixed magnetic gear, and the fixed magnetic gear is fixedly connected to a box body, namely the angular speed of the fixed magnetic gear is zero; the first nutation magnetic gear and the second nutation magnetic gear have the same angular speed, the second nutation magnetic gear and the movable magnetic gear form a second-stage magnetic gear pair, the second nutation magnetic gear and the movable magnetic gear are axially coupled to form a second-stage speed reduction, power is further reduced and increased in torque through the second-stage magnetic gear pair, and finally the rotating disc serves as an output member to output the power.
Two magnetic gear pairs all are axial magnetic gear pair, and the air gap magnetic field interact who produces in two magnetic gear pairs produces the axial force opposite direction, compares with unilateral axial magnetic gear pair, and most axial force offsets, has alleviateed bearing, end cover bolt's axial tension, has promoted reduction gear transmission stationarity and life.
In the bilateral coupling axial nutation magnetic force speed reducer structure, the magnetic pole number in the same magnetic gear pair should satisfy the relation:
wherein the content of the first and second substances,
representing the magnetic pole pair number of the first nutating magnetic gear (or the second nutating magnetic gear),
representing the magnetic pole pair number of the fixed magnetic gear (or the movable magnetic gear).
The overall gear ratio of the retarder can be calculated by,
wherein the content of the first and second substances,
which is indicative of the rotational speed of the input shaft,
the rotational speed of the movable magnetic gear is indicated,
represents the magnetic pole pair number of the first moving magnetic gear,
representing the number of pole pairs of the second nutating magnetic gear,
representing the number of pole pairs of the moving magnetic gear.
Any embodiment disclosed herein above is meant to disclose, unless otherwise indicated, all numerical ranges disclosed as being preferred, and any person skilled in the art would understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Since the numerical values are too numerous to be exhaustive, some of the numerical values are disclosed in the present invention to illustrate the technical solutions of the present invention, and the above-mentioned numerical values should not be construed as limiting the scope of the present invention.
If the invention discloses or relates to parts or structures which are fixedly connected to each other, the fixedly connected parts can be understood as follows, unless otherwise stated: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).
In addition, terms used in any technical solutions disclosed in the present invention to indicate positional relationships or shapes include approximate, similar or approximate states or shapes unless otherwise stated.
Any part provided by the invention can be assembled by a plurality of independent components or can be manufactured by an integral forming process.
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention will still fall within the protection scope of the technical solution of the present invention.
Claims (6)
1. The utility model provides a two side coupling axial nutation magnetic force reduction gears which characterized in that: the power distribution box comprises a box body, the input shaft is worn to be equipped with by the left end of box, and the inside right side of box is equipped with the rolling disc, has the cover in the box and establishes the nutation dish that carries out nutation motion on the input shaft and along with the rotation of input shaft, the nutation dish left and right-hand member face is equipped with first nutation magnetic gear and second nutation magnetic gear respectively, and box left end inboard is equipped with carries out the fixed magnetic gear of magnetic field coupling with first nutation magnetic gear, the rolling disc left end face is equipped with carries out the movable magnetic gear of magnetic field coupling with second nutation magnetic gear.
2. The double-sided coupled axial nutating magnetic retarder of claim 1, wherein: the fixed magnetic gear, the first nutation magnetic gear, the second nutation magnetic gear and the movable magnetic gear are all formed by arranging a plurality of permanent magnets along the circumferential direction, the number of pole pairs of the fixed magnetic gear, the first nutation magnetic gear, the second nutation magnetic gear and the movable magnetic gear is respectively 9, 8, 9 and 10, and N, S poles are alternately arranged.
3. The double-sided coupled axial nutating magnetic retarder of claim 1, wherein: the input shaft is connected with a nutation sleeve through a key, and the nutation disc is assembled on the nutation sleeve through a bearing; the outer periphery of the nutation sleeve is provided with external threads, the left end of the nutation sleeve is provided with a limiting shoulder which supports against the left end of the bearing, and the nutation sleeve is further provided with a fastening nut which is in threaded connection and supports against the right end of the bearing.
4. The double-sided coupled axial nutating magnetic retarder of claim 1, wherein: the box is formed by left box and right box through bolted connection, and there is the left end cover left side box left end through bolted connection, and there is the right-hand member right side box through bolted connection, the input shaft passes through the bearing and is connected with left box rotation, the rolling disc right-hand member passes through the bearing and is connected with right box rotation.
5. The double-sided coupled axial nutating magnetic retarder of claim 4, wherein: gaps are reserved between every two adjacent permanent magnets on all the magnetic gears; the left box body inner side, the nutation disc left end, the nutation disc right end and the rotation disc left end are respectively provided with a plurality of grooves for embedding permanent magnets in one-to-one correspondence, and the diameter of the first nutation magnetic gear is smaller than that of the second nutation magnetic gear.
6. A method of operating a double-sided coupled axial nutating magnetic retarder as claimed in claim 1 in which: the power is input from an input shaft, the input shaft drives the nutation sleeve to synchronously rotate, the first-stage magnetic gear pair formed by the first nutation magnetic gear and the fixed magnetic gear swings along with the rotation of the nutation sleeve firstly, then the first-stage magnetic gear starts to rotate around the axis of the first-stage magnetic gear under the action of a magnetic field inside an air gap between the first nutation magnetic gear and the fixed magnetic gear, and the rotation angular speed of the first nutation magnetic gear around the axis of the first-stage magnetic gear is used as the output of the first-stage speed reduction; the first nutation magnetic gear and the second nutation magnetic gear have the same angular speed, the second nutation magnetic gear and the movable magnetic gear form a second-stage magnetic gear pair, the second nutation magnetic gear and the movable magnetic gear are axially coupled to form a second-stage speed reduction, power is further reduced and increased in torque through the second-stage magnetic gear pair, and finally the rotating disc serves as an output member to output the power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211703323.8A CN115776213A (en) | 2022-12-29 | 2022-12-29 | Bilateral coupling axial nutation magnetic speed reducer and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211703323.8A CN115776213A (en) | 2022-12-29 | 2022-12-29 | Bilateral coupling axial nutation magnetic speed reducer and working method thereof |
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| CN115776213A true CN115776213A (en) | 2023-03-10 |
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| CN202211703323.8A Pending CN115776213A (en) | 2022-12-29 | 2022-12-29 | Bilateral coupling axial nutation magnetic speed reducer and working method thereof |
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| CN (1) | CN115776213A (en) |
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