CN115833466A - Motor of coaxial integrated magnetic gear speed reducer - Google Patents

Abstract

The invention discloses a motor of a coaxial integrated magnetic gear speed reducer, which comprises a shell, a servo motor unit, a magnetic gear speed reducer unit and an encoding unit, wherein the servo motor unit and the magnetic gear speed reducer unit are fixed on the same rotating shaft in the shell in an axial parallel arrangement mode, and the encoding unit is arranged outside the shell; the servo motor unit comprises a rotating shaft, a motor stator and a motor rotor which are coaxially sleeved together from outside to inside in sequence; the magnetic gear speed reduction unit is arranged in the shell, is arranged on a rotating shaft in front of the servo motor unit and comprises an output shaft flange, and a magnetic gear outer stator, a modulation ring rotor and a magnetic gear inner rotor which are sequentially coaxially sleeved together from outside to inside; the coding unit comprises a coder and a coder shell, wherein the coder is arranged on the outer wall of the rear end of the shell and sleeved at the rear end part of the rotating shaft; the encoder shell cover is arranged outside the encoder and fixedly connected with the shell. The invention has the beneficial effects that: the output precision of the motor is improved, the size is small, and the vibration is small.

Description

Motor of coaxial integrated magnetic gear speed reducer

Technical Field

The invention relates to the technical field of motors, in particular to a motor with a coaxial integrated magnetic gear speed reducer.

Background

Along with the wider application range of the motor in the robot field, the requirements on the size, the assembly precision, the output torque, the vibration noise and the like of the motor are higher and higher. In order to realize the output of low speed and large torque, the motor commonly used at present can be connected with a load through a speed reducer, but the split type use of the motor and the speed reducer has certain defects, the size is larger, the space utilization rate is low, the precision of a final output shaft can be reduced, the appearance structure is complex, the assembly is troublesome, the later maintenance is also complex, and the production and maintenance cost is directly influenced; in the aspect of speed reducer, most of the existing mechanical gears are mechanical gears, such as planetary speed reducer, harmonic speed reducer and the like, but the mechanical gears can generate failure modes such as tooth root breaking, abrasion, tooth root gluing, plastic deformation and the like due to the contact relation, so that a more appropriate substitute needs to be found, and compared with the mechanical gears, the magnetic gears are structurally non-contact, non-abrasion and non-vibration, so that the magnetic gears have the advantages of low maintenance cost, high reliability and the like. The derived motor with the magnetic gear has the remarkable advantages of simple structure, high efficiency, strong torque output capacity and the like, but the existing motor with the magnetic gear has high requirements on the motor during assembly and is easy to generate errors during assembly, so that the coaxiality of the motor and the precision of an output shaft are influenced.

Disclosure of Invention

In order to solve the problems, the invention provides a motor of a coaxial integrated magnetic gear speed reducer, which greatly reduces the redundant size in the axial direction by adopting the design that the motor and a speed reducing mechanism are axially arranged on the same shaft side by side, avoids the influence of installation errors on the precision of the motor in the assembling process, and simultaneously reduces the problems of type selection and matching of the motor and the speed reducer due to the integrated design.

In order to solve the technical problems in the related art, the invention provides the following technical scheme:

the invention relates to a motor of a coaxial integrated magnetic gear speed reducer, which is characterized in that: the magnetic gear speed reducing device comprises a shell, a servo motor unit, a magnetic gear speed reducing unit and an encoding unit, wherein the servo motor unit and the magnetic gear speed reducing unit are fixed on the same rotating shaft in the shell in an axial parallel arrangement mode, and the encoding unit is arranged outside the shell;

the shell is provided with a cavity for accommodating the servo motor unit and the magnetic gear reduction unit; defining one direction along the axial direction of the shell as a forward direction and the other direction as a backward direction; the direction which is vertical to the axial direction of the shell and is close to the central axis of the shell is defined as inner, and the opposite direction is outer;

the servo motor unit comprises a rotating shaft, a motor stator and a motor rotor which are coaxially sleeved together from outside to inside in sequence, and the motor stator is fixed at the rear end part of the inner wall of the shell; the motor stator is internally encapsulated with a motor winding by insulating cement, and the motor winding forms a winding end part exceeding the motor stator at two axial end parts of the motor stator; the motor rotor comprises a rotating shaft, a motor rotor yoke and an L-shaped supporting plate, the rotating shaft is a multi-stage stepped shaft, the rotating shaft is rotatably arranged in the machine shell in a penetrating mode, and the rear end portion of the rotating shaft extends out of the machine shell and is used for installing the coding unit; a rotating gap is arranged between the motor rotor yoke and the motor stator, and an inner rotor permanent magnet is arranged at the axial end part of the motor rotor yoke; the L-shaped supporting plate is fixedly connected with an inner rotor bracket of a magnetic gear of the motor stator; the L-shaped supporting plate is sleeved outside the rotating shaft and is in interference fit with the rotating shaft;

the magnetic gear speed reduction unit is arranged in the casing, is arranged on a rotating shaft in front of the servo motor unit, and comprises an output shaft flange, and an outer magnetic gear stator, a modulation ring rotor and an inner magnetic gear rotor which are coaxially sleeved together from outside to inside in sequence, wherein the outer magnetic gear stator is arranged at the front end part of the casing and is fixedly connected with the inner wall of the casing; the magnetic gear inner rotor is arranged on the rotating shaft and is arranged at a shaft shoulder corresponding to the rotating shaft; the modulation ring rotor is arranged between the magnetic gear inner rotor and the magnetic gear outer stator, an inner air gap is arranged between the modulation ring rotor and the outer wall of the magnetic gear inner rotor, and an outer air gap is arranged between the modulation ring rotor and the inner wall of the magnetic gear outer stator; the two end parts of the modulation ring rotor are respectively provided with a front insulating gasket and a rear insulating gasket, and the rear side of the rear insulating gasket is provided with a modulation ring rear end cover; the output shaft flange is coaxial with the rotating shaft and rotatably penetrates through the front end part of the shell, the front end of the output shaft flange extends out of the shell to form an output end which can be connected with equipment to be driven, and a flange plate is arranged at the rear end of the output shaft flange and fixedly connected with the front insulating gasket;

the encoding unit comprises an encoder and an encoder shell, the encoder is arranged on the outer wall of the rear end of the shell, and the encoder is sleeved on the rear end part of the rotating shaft, extending out of the shell, and is connected in a rotating mode; the encoder shell is covered outside the encoder and fixedly connected with the shell.

Preferably, the casing comprises a casing body, a front end cover and a rear end cover, the casing body is of a cylindrical structure with openings at two ends, and the rear wall surface of the casing body is provided with an opening for outputting a three-phase power line of the motor; the front end cover and the rear end cover are respectively arranged at the front end opening and the rear end opening of the shell through rabbets, and enclose a containing cavity for containing the servo motor unit and the magnetic gear speed reducing unit together with the shell; the inner side of the front end cover is provided with a bearing seat and an output shaft bearing arranged on the bearing seat, the outer ring of the output shaft bearing is clamped on the inner side of the front end cover, and the inner ring of the output shaft bearing is clamped on the output shaft flange, so that the output shaft flange is in running fit with the front end cover; the inner side of the rear end cover is provided with a thin bearing, the outer ring of the thin bearing is clamped on the inner side of the rear end cover, and the inner ring of the thin bearing is clamped on a shaft shoulder at the rear end part of the rotating shaft, so that the rotating matching between the rotating shaft and the rear end cover is realized.

Preferably, the magnetic gear inner rotor comprises a magnetic gear rotor yoke and an inner magnetic ring, the magnetic gear rotor yoke and the inner magnetic ring are both cylindrical, and a through hole is formed in the center of the magnetic gear rotor yoke, wherein the magnetic gear rotor yoke is clamped on the rotating shaft and is arranged at the position corresponding to the shaft shoulder; the inner magnetic ring is coaxially sleeved outside the magnetic gear rotor yoke; an inner air gap is arranged between the outer wall of the inner magnetic ring and the inner wall of the modulation ring rotor.

Preferably, the magnetic gear outer stator comprises a stator yoke and an outer magnetic ring, the stator yoke and the outer magnetic ring are both cylindrical, and the stator yoke is a cylindrical structure formed by laminating silicon steel sheets along the axial direction and is fixed on the inner wall of the front end of the shell; an outer air gap is arranged between the inner wall of the outer magnetic ring and the outer wall of the modulation ring rotor.

Preferably, the modulation ring rotor is a cylindrical structure with a gear-shaped cross section and comprises a plurality of modulation blocks, the modulation blocks are arranged at intervals along the circumferential direction, and two adjacent modulation blocks are connected through a connecting bridge.

Preferably, a wave washer is arranged between the bearing seat and the output shaft bearing in a clamping way.

Preferably, the maximum diameter of the L-shaped support plate is smaller than the minimum diameter of the rear end cap of the modulation ring.

Preferably, the outer rings of the front magnetic gear bearing and the rear magnetic gear bearing are respectively clamped on the output shaft flange and the bearing seat of the rear end cover of the modulation ring, and the inner rings are respectively clamped on the corresponding shaft shoulders of the rotating shaft.

Preferably, the rotation direction of the inner rotor of the magnetic gear is the same as that of the modulation ring rotor, and the number ratio of the inner pole to the outer pole is 2.

Preferably, the inner rotor permanent magnet adopts a radial magnetizing structure, the inner magnetic ring adopts an outward magnetism gathering structure, and the outer magnetic ring adopts an inward magnetism gathering structure.

The beneficial effects of the invention are:

1. the axial length can be reduced, and errors in design and installation caused by a split structure are reduced;

2. the magnetic gear structure is adopted, so that the vibration and the noise are low, and the magnetic gear structure is applied to special occasions needing special fluid flow and the like;

3. the structure is simple and compact, the installation space is small, the torque is large, and the integration level is high;

4. the magnetic gear integrated motor is based on a magnetic field modulation principle, further improves the induced electromotive force of a winding by utilizing an effective harmonic magnetic field, is suitable for the application field of low speed and large torque, and has important scientific research and application values.

Drawings

FIG. 1 is a schematic perspective view of an embodiment of the present invention;

FIG. 2 is a schematic view along direction A of FIG. 1;

FIG. 3 is a schematic cross-sectional view taken along line B-B of FIG. 2;

FIG. 4 is a schematic structural diagram of a servo motor unit according to the present invention;

FIG. 5 is a cross-sectional view of a servo motor unit of the present invention;

FIG. 6 is a cross-sectional view of a coding unit of the present invention

FIG. 7 is an internal schematic view of the magnetic gear reduction unit of the present invention;

FIG. 8 is a schematic view of the magnetic gear reduction unit of the present invention;

FIG. 9 is a cross-sectional view of the magnetic gear reduction unit of the present invention;

fig. 10 is a cross-sectional view of a modulation ring rotor fixing system of the present invention.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The invention will be described in detail below with reference to exemplary embodiments and with reference to the accompanying drawings.

The invention relates to a motor of a coaxial integrated magnetic gear speed reducer, which comprises a shell 1, a servo motor unit 2, a magnetic gear speed reducer unit 4 and an encoding unit 8;

the shell 1 is provided with a cavity for accommodating the servo motor unit 2 and the magnetic gear reduction unit 4; defining one direction along the axial direction of the shell as a forward direction and the other direction as a backward direction; the direction which is vertical to the axial direction of the shell and is close to the central axis of the shell is defined as inner, and the opposite direction is outer; the servo motor unit 2 and the magnetic gear reduction unit 4 are fixed on the same rotating shaft 6 in the machine shell 1 in an axial parallel arrangement mode, the magnetic gear reduction unit 4 is arranged in front of the servo motor unit 2, and the coding unit 8 is arranged outside the machine shell 1;

the servo motor unit 2 comprises a motor stator 201 and a motor rotor 200 which are coaxially sleeved together from outside to inside in sequence, a motor winding 202 is encapsulated in the motor stator 201 through insulating glue (such as epoxy resin), and the motor winding 202 exceeds the motor stator 201 by a certain length at two axial end parts of the motor stator 201 due to winding so as to form winding end parts exceeding the motor stator 201; the motor rotor 200 comprises a motor rotor yoke 203, an L-shaped support plate 205 and a rotating shaft 6, wherein the rotating shaft 6 is a multi-stage stepped shaft, the rotating shaft 6 is rotatably arranged in the machine shell 1 in a penetrating way, and the rear end part of the rotating shaft 6 extends out of the machine shell 1 and is used for installing the coding unit 8; the motor stator 201 is fixed at the rear end of the inner wall of the casing 1; a rotating gap is formed between the motor rotor yoke 203 and the motor stator 201, so that the motor rotor yoke 203 can freely rotate in the circumferential direction; an inner rotor permanent magnet 204 is arranged at the axial end part of the motor rotor yoke 203; the L-shaped supporting plate 205 is in contact with a magnetic gear inner rotor support of the motor stator 201, and the L-shaped supporting plate and the magnetic gear inner rotor support are fixed together through six hexagon socket head bolts; the L-shaped support plate 205 is sleeved outside the rotating shaft 6 and is in interference fit with the rotating shaft 6; the disc surface of the L-shaped supporting plate 205 is clamped on the shaft shoulder to be fixed, so that the rotation together with the rotating shaft is realized;

the magnetic gear speed reducing unit 4 is arranged in the machine shell 1, is arranged on a rotating shaft 6 in front of the servo motor unit 2, and comprises an output shaft flange 5, and a magnetic gear outer stator 41, a modulation ring rotor 403 and a magnetic gear inner rotor 40 which are coaxially sleeved together from outside to inside in sequence, wherein the magnetic gear outer stator 41 is arranged at the front end part of the machine shell 1 and is fixedly connected with the inner wall of the machine shell 1; the inner rotor of the magnetic gear is arranged on the rotating shaft 6 and is arranged at the shaft shoulder corresponding to the rotating shaft; the modulation ring rotor 403 is arranged between the magnetic gear inner rotor 40 and the magnetic gear outer stator 41, an inner air gap is arranged between the modulation ring rotor 403 and the outer wall of the magnetic gear inner rotor 40, and an outer air gap is arranged between the modulation ring rotor 403 and the inner wall of the magnetic gear outer stator 41; a front insulating spacer 406 and a rear insulating spacer 407 are respectively arranged at two end parts of the modulation ring rotor 403, and a modulation ring rear end cover 408 is arranged at the rear side of the rear insulating spacer 407; the output shaft flange 5 is coaxial with the rotating shaft 6, the output shaft flange 5 can be rotatably arranged at the front end part of the machine shell 1 in a penetrating way, the front end of the output shaft flange 5 extends out of the machine shell 1 to form an output end which can be connected with equipment to be driven, the rear end of the output shaft flange 5 is provided with a flange plate 502, and the flange plate 502 is fixedly connected with the front insulating gasket 406;

the encoding unit 8 comprises an encoder 3 and an encoder shell 103, the encoder 3 is fixed on the outer wall of the rear end cover 102 of the casing 1 through a hexagon socket head cap screw 301, a through hole is formed in the middle of the encoder 3, and the encoder 3 is sleeved on the rear end part of the rotating shaft 6, extending out of the casing 1, and is connected in a rotating mode; the encoder shell 103 is covered outside the encoder 3, is clamped on the rear end cover 102 through a rear end spigot of the rear end cover 102, is provided with a round hole at the upper part thereof for extending out a signal output line of the encoder, and is provided with four hexagon socket head cap bolts which pass through holes on ear plates of the encoder shell 103 and the rear end cover 102 and are fixed on the shell 1.

In some embodiments of the invention, the output shaft flange 5 and the shaft 6 are coaxial.

In some embodiments of the present invention, the casing 1 is in a rectangular parallelepiped shape, and includes a casing 104, a front end cover 101, and a rear end cover 102, where the casing 104 is a cylindrical structure with openings at two ends, and an opening is formed on a rear wall surface of the casing 104, and is reserved for outputting a three-phase power line of a motor; the front end cover 101 and the rear end cover 102 are respectively arranged at the front end opening and the rear end opening of the shell 104 through rabbets, and enclose a cavity for accommodating the servo motor unit 2 and the magnetic gear reduction unit 4 together with the shell 104; the inner side of the front end cover 101 is provided with a bearing seat 1011 and an output shaft bearing 801 arranged on the bearing seat 1011, the outer ring of the output shaft bearing 801 is clamped on the inner side of the front end cover 101, and the inner ring of the output shaft bearing 801 is clamped on the output shaft flange 5, so that the rotation fit between the output shaft flange 5 and the front end cover 102 is realized; the thin bearing 804 is installed on the inner side of the rear end cover 102, the outer ring of the thin bearing 804 is clamped on the inner side of the rear end cover 102, and the inner ring of the thin bearing 804 is clamped on the shaft shoulder at the rear end of the rotating shaft 6, so that the rotating fit between the rotating shaft 6 and the rear end cover 102 is realized.

In some embodiments of the present invention, the front end cover 101 and the rear end cover 102 have the same outer diameter and are both rectangular, stepped rabbets are disposed at the front end opening and the rear end opening of the housing 1, and the front end cover 101 and the rear end cover 102 are mounted on the stepped rabbets of the housing 1, so as to achieve the detachable connection between the front end cover 101, the rear end cover 102 and the housing 1.

In some embodiments of the present invention, the front end cover 101 is in the shape of a rectangular parallelepiped, a through hole is formed in the center of the front end cover, four through holes are formed on the ear plate, a raised boss is arranged on the front end surface to perform the positioning function, a bearing seat 1011 is arranged at the inner hole to clamp the output shaft bearing 801, a spigot is arranged on the rear end surface to be matched with the casing 1, four single round head grooves are symmetrically arranged on the front end surface, and the four single round head grooves can be fixed with the casing 1 through hexagon socket head bolts.

In some embodiments of the present invention, the rear end cap 102 is a rectangular parallelepiped plate, the center of which is provided with a through hole, the ear plate is provided with four through holes, the front side and the rear side of the end cap are provided with protruding step-shaped spigots, the inner side of the end cap is provided with a bearing seat for mounting the thin bearing 804, and the depth of the bearing seat is consistent with the thickness of the thin bearing 804.

In some embodiments of the present invention, the rotating shaft 6 is cylindrical, and has central holes for processing the front and rear ends, and the rotating shaft is configured as a multi-step shaft and is provided with a plurality of shaft shoulders with different shaft diameters for mounting and clamping bearings and components of the different shaft shoulders.

In some embodiments of the present invention, the magnetic gear inner rotor 40 includes a magnetic gear rotor yoke 401 and an inner magnetic ring 402, both the magnetic gear rotor yoke 401 and the inner magnetic ring 402 are cylindrical, and a through hole is formed in the center, wherein the magnetic gear rotor yoke 401 is clamped on the rotating shaft 6 and is installed at a corresponding shaft shoulder, a tool withdrawal groove is formed at the shaft shoulder, so that the tool is withdrawn during processing, and the axial length of the section of the rotating shaft is slightly greater than the axial length of the rotor yoke 402; the inner magnetic ring 402 is coaxially sleeved outside the magnetic gear rotor yoke 401; an inner air gap is provided between the outer wall of the inner magnetic ring 402 and the inner wall of the modulation ring rotor 403. The inner magnetic ring 402 adopts an outward magnetism gathering type sine magnetizing mode.

In some embodiments of the present invention, the magnetic gear outer stator 41 includes a stator yoke 405 and an outer magnetic ring 404, both the stator yoke 405 and the outer magnetic ring 404 are cylindrical, wherein the stator yoke 405 is a cylindrical structure formed by silicon steel sheets laminated in an axial direction and is fixed on an inner wall of the front end of the housing 104; an outer air gap is arranged between the inner wall of the outer magnetic ring 404 and the outer wall of the modulation ring rotor 403.

In some embodiments of the present invention, the modulation ring rotor 403 is a cylindrical structure with a cross section in a gear shape, and an end surface structure of the modulation ring rotor 403 is as shown in fig. 7 to 8, the modulation ring rotor 403 is integrally cut to complete a structure similar to a petal, and includes a plurality of modulation blocks 4031, the modulation blocks 4031 are arranged at intervals along a circumferential direction, two adjacent modulation blocks 4031 are connected by a connecting bridge 4032, and are formed by silicon steel sheets being laminated one by one along an axial direction.

In some embodiments of the present invention, the permanent magnets on the inner rotor permanent magnet 204, the magnetic gear inner rotor 40, and the magnetic gear outer stator 41 are made of neodymium iron boron material with high magnetic performance; the motor stator 201, the modulation ring rotor 403 and the stator yoke 405 of the magnetic gear outer stator 41 are all formed by laminating silicon steel sheets along the axial direction; the shaft 6 and the motor rotor yoke 203 may be made of an alloy material.

In some embodiments of the present invention, the inner rotor permanent magnet 204 is a bread-type permanent magnet, and is uniformly attached to the end of the core of the motor rotor yoke 203 in a surface-mount arrangement, and is magnetized along the circumferential radial direction, and the magnetizing directions of the adjacent main pole permanent magnets are opposite.

In some embodiments of the present invention, the motor rotor 200 and the magnetic gerotor 40 share the same rotating shaft and are fixed separately by the design of a stepped shaft, so as to ensure the simultaneity of their rotation.

In some embodiments of the present invention, the two end portions of the modulation ring rotor 403 are respectively connected to the front insulating spacer 406 and the rear insulating spacer 407 by a snap-fit manner, so as to facilitate assembly and disassembly. The rear side of the front insulating spacer 406 is provided with two front boss structures 4061 protruding backward, the front side of the rear insulating spacer 407 is provided with two rear boss structures 4071 protruding forward, and the front boss structures 4071 can be clamped on a connecting bridge of the modulation ring rotor 403, and are used for matching with the modulation ring rotor to realize the output of torque to realize the output function of the modulation ring rotor 403, the front side of the front insulating spacer 406 and the rear side of the rear insulating spacer 407 are both provided with a spigot, because the front boss structures 4061 and the rear boss structures 4071 can be clamped inside the modulation ring rotor 403, the end faces of the front insulating spacer 406 and the rear insulating spacer 407 are directly contacted with the inner magnetic ring 402, and in order not to damage a magnetic circuit and not to influence the stability of transmission, an insulating spacer made of an insulating material or an insulating layer is sprayed on the insulating spacer.

In some embodiments of the present invention, the modulation ring rear end cover 408 is ring-shaped, the front end of the modulation ring rear end cover is sleeved on the rear insulating spacer 407 through a seam allowance, the rear end of the modulation ring rear end cover is provided with a step, a certain width is reserved for placing the nut 411, the center of the modulation ring rear end cover is provided with an inner hole seam allowance for installing the magnetic gear rear bearing 803, and the minimum diameter of the center of the modulation ring rear end cover is larger than the maximum diameter of the L-shaped support plate 205, so that the modulation ring rear end cover is convenient to directly install or take out during assembly and debugging.

In some embodiments of the invention, the magnetic gear reduction unit 4 uses bolts 410 to secure the modulation ring rotor 403 to the output shaft flange 5 directly through the snap fit on the insulating spacer. Front insulator spacer 406, rear insulator spacer 407, and bolts 410 through the modulation ring rotor are insulated. The bolt 410 in this embodiment is a long hexagon socket bolt.

In some embodiments of the present invention, the high speed inner rotor, the modulation ring rotor and the outer stator are coaxially arranged and have a uniform axial length.

In some embodiments of the present invention, the output shaft flange 5 is a base with a flange plate, and a shaft part protrudes forward from the middle of the flange plate along the central axis direction, so that the integrated structure can ensure the coaxial precision with the rotating shaft 6, as shown in fig. 8, a C-shaped single-round-head key slot is formed at the front end of the output shaft flange 5 for subsequent connection with equipment by a key, and a central hole is formed at the top end surface of the shaft for positioning and guiding; the flange plate 502 at the rear end of the output shaft flange 5 is connected and fixed with the front insulating gasket 406 through a spigot at the front side thereof, a step is arranged at the flange plate 502, a space for placing the head of the long hexagon bolt 410 is reserved, and a bearing seat is arranged at the inner side of the output shaft flange 5 and used for installing and clamping a magnetic gear front bearing 802.

In some embodiments of the present invention, an elastic washer 7, such as a wave washer, is interposed between the bearing seat 1011 and the output shaft bearing 801, the wave washer is in a wave shape, and a front end surface of the wave washer contacts with the bearing seat of the front end cover 101, and a rear end surface of the wave washer contacts with the output shaft bearing 801, because axial tolerance is accumulated during the motor installation process, and the wave washer is used to absorb the accumulated tolerance.

In some embodiments of the present invention, the outer ring of the output shaft bearing 801 is clamped on the bearing seat 1011 of the front end cover and abuts against the wave washer 7, the minimum diameter of the outer ring of the output shaft bearing 801 is smaller than the minimum diameter of the wave washer 7, and the inner ring of the output shaft bearing 801 is clamped on the shaft shoulder of the output shaft flange 5.

In some embodiments of the present invention, the maximum diameter of the L-shaped support plate 205 is less than the minimum diameter of the modulation ring back end cap 408 to facilitate installation and removal during assembly.

In some embodiments of the present invention, the outer rings of the magnetic gear front bearing 802 and the magnetic gear rear bearing 803 are respectively clamped on the bearing seats of the output shaft flange 5 and the modulation ring rear end cover 408, and the inner rings are respectively clamped at the corresponding shaft shoulders of the rotating shaft 6. Specifically, the outer ring of the rear magnetic gear bearing 803 is clamped at the seam allowance of the rear inner hole of the modulation ring rear end cover 408, the front blocking piece of the rear magnetic gear bearing 803 abuts against the blocking opening in the modulation ring rear end cover 408, and the rear blocking piece is in contact with the shaft shoulder of the rotating shaft 6.

In some embodiments of the present invention, the magnetic gear reduction unit 4 adopts a mode that the high-speed magnetic internal rotor 40 is used as the high-speed rotor input, the modulation ring rotor 403 is used as the low-speed rotor output, and the external stator is fixed, the rotation directions of the magnetic internal rotor 40 and the modulation ring rotor 403 are the same, and the internal and external pole pair ratio is 2.

In some embodiments of the present invention, the inner rotor permanent magnet 204 is radially magnetized, the inner magnetic ring 402 is outwardly magnetized, and the outer magnetic ring 404 is inwardly magnetized.

In some embodiments of the present invention, the bolt head of the long hexagon socket head cap bolt 410 is fixed on the end surface of the flange plate 502, and sequentially passes through the end surface of the output shaft flange 5, the front boss structure 4061 of the front insulating spacer 406, the gap between the modulation blocks of the modulation ring rotor 403, the rear boss structure 4071 of the rear insulating spacer 407, and the end surface of the modulation ring rear end cover 408, and the nut 411 is sleeved on the long hexagon socket head cap bolt 410 and fixed on the end surface of the rear end cover 408.

In assembling the present embodiment, the assembly may be performed with reference to the following steps:

firstly, a motor stator 201 (steps of winding, glue filling and the like are finished) is installed and clamped on a positioning ring of a machine shell 1, and then a magnetic gear stator 405 (an outer magnetic ring 404 is fixed by glue) is installed and clamped on the positioning ring of the machine shell 1; because the embodiment of the invention adopts the method that a rotating shaft 6 is sleeved with two rotors, the assembly needs to be assembled together, firstly, the magnetic gear speed reducing unit 4 is assembled, the inner magnetic ring 402 is glued on the magnetic gear rotor yoke 401, then the inner magnetic ring is clamped on the shaft shoulder of the rotating shaft 6, then the magnetic gear rear bearing 803 and the magnetic gear front bearing 802 are in interference fit on the shaft shoulder of the rotating shaft 6, the modulation ring rear end cover 408 is sleeved on the magnetic gear rear bearing 803, then the rear insulating gasket 407 is sleeved on the modulation ring rear end cover 408 through the spigot, then the modulation ring rotor 403 is nested on the rear boss structure 4071 of the rear insulating gasket, when the front insulating gasket 406 is assembled, attention needs to be paid to align the front boss structure 4061 of the front insulating gasket and the rear boss structure 4071 of the rear insulating gasket mutually, then the output shaft flange 5 (the output shaft bearing 801 is already arranged on the output shaft flange 5) is sleeved on the spigot of the front insulating gasket 406, meanwhile, the bearing seat of the output shaft flange 5 is clamped with the magnetic gear front gear bearing 802, the hexagon bolts are just right inserted in the magnetic gear front bearing seat, the hexagonal bolt 802, and the rear end face of the magnetic gear is fixed on the rear end face 411 of the output shaft flange 410 sequentially, and the bolt is locked by the hexagon bolt head 411;

then, a motor rotor part is installed, firstly, an inner rotor permanent magnet 204 (namely bread-shaped magnetic steel) is glued on a motor rotor 203, then an L-shaped supporting plate 205 is in interference fit on a shaft shoulder of a rotating shaft 6, then a rotor bracket of the motor rotor 203 and the L-shaped supporting plate 205 are fixed by six hexagon socket head bolts 206, so that the motor rotor is fixed with the rotating shaft 6, then a thin bearing 804 is in interference fit on the shaft shoulder of the rotating shaft 6, and the rotor part is installed until the whole rotor is installed, the whole rotor is put into the motor from the front end of a shell 1, and the bread-shaped permanent magnet on the motor can generate attraction force on an outer magnetic ring of a magnetic gear and needs to be installed carefully;

after the rotating shaft 6 is placed into the shell 104, the rear end cover 102 is sleeved at the rear end of the shell 104, the thin bearing on the rotating shaft 6 is clamped on a bearing seat of the rear end cover 102, the wave-shaped gasket 7 is placed in the bearing seat of the front end cover 101 and then clamped on the output shaft bearing 801, the front end cover 101 is in contact with the integrated machine shell 1 and is fixed with the integrated machine shell by four hexagon socket head bolts, and the positioning and matching of the rotating shaft 6 are completed;

then, the encoder 3 is sleeved at the tail end of the rotating shaft 6, so that the supporting sheet of the encoder 3 is in contact with the rear surface of the rear end cover, the rear end cover is fixed by two hexagon socket head cap bolts, then the encoder shell 103 is sleeved on the rear end cover 102, and finally, four bolts sequentially penetrate through holes in ear plates of the encoder shell 103 and the rear end cover 102 and are fixed on the rear end cover 102 of the casing 1, so that the integrated motor is installed.

The process of the present embodiment when operating is roughly as follows:

when the motor winding 202 is electrified, the rotor 203 is driven to rotate, so that the rotating shaft 6 rotates, and the magnetic gear rotor yoke 401 which is also clamped on the rotating shaft 6 is driven to rotate, and under the action of magnetic field modulation, the modulation ring rotor 403 and the high-speed inner rotor 401 are driven to rotate in the same direction, so that power transmission is realized, and because the number of pole pairs of the inner magnetic ring 402 and the outer magnetic ring 404 is different, the torque amplification effect can be realized, the ratio of the number of pole pairs of the inner magnetic ring to the number of pole pairs of the outer magnetic ring is 2; in addition, an encoder 3 located at the rear end of the servo motor unit 2 reads the rotor position signal, and a rotary sensor converts the rotary displacement into a series of digital pulse signals, which can be used to control the angular displacement, and thus the servo motor unit 4, to rotate in a prescribed manner.

In summary, the present invention provides a magnetic gear integrated servo motor, wherein a servo motor unit 2 is located at the rear end of the whole, a magnetic gear reduction unit 4 is installed at the front end of the servo motor unit 2, and an output shaft flange 5 is installed at the front end of the magnetic gear reduction unit 4, wherein a casing 1 covers the magnetic gear reduction unit 4 and the servo motor unit 2. According to analysis, the servo motor unit 2 and the magnetic gear reduction unit 4 are integrated, and the rotating shaft 6 of the motor and the input shaft of the magnetic gear reduction unit 4 are shared, so that the installation error caused by a split structure is structurally avoided, and the output precision of the integrated motor is improved. Secondly, the structure of the invention is integrated, which can reduce the time consumed by the model selection of the servo motor and the magnetic gear reduction unit in the initial stage of product design. In addition, because the integrated structure reduces the repeated part, the volume is smaller, the occupied space of the product can be reduced, and because the non-contact magnetic gear transmission structure is used, the vibration is avoided, the noise is low, and some special application scenes can be met.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. The utility model provides an integrated magnetism gear reduction unit's of coaxial-type motor which characterized in that: the magnetic gear speed reducing device comprises a machine shell (1), a servo motor unit (2), a magnetic gear speed reducing unit (4) and an encoding unit (8), wherein the machine shell (1) is provided with a containing cavity for containing the servo motor unit (2) and the magnetic gear speed reducing unit (4); defining one direction along the axial direction of the shell as a forward direction and the other direction as a backward direction; the direction which is vertical to the axial direction of the shell and is close to the central axis of the shell is defined as inner, and the opposite direction is outer;

the servo motor unit (2) and the magnetic gear reduction unit (4) are fixed on the same rotating shaft (6) in the machine shell (1) in an axial parallel arrangement mode, the magnetic gear reduction unit (4) is arranged in front of the servo motor unit (2) and behind the servo motor unit, and the coding unit (8) is arranged outside the machine shell (1);

the servo motor unit (2) comprises a motor stator (201) and a motor rotor (200) which are coaxially sleeved together from outside to inside in sequence, wherein the motor stator (201) is fixed at the rear end part of the inner wall of the casing (1); the motor winding (202) is encapsulated in the motor stator (201) through insulating glue, and the motor winding (202) forms winding end parts exceeding the motor stator (201) at two axial end parts of the motor stator (201); the motor rotor (200) comprises a rotating shaft (6), a motor rotor yoke (203) and an L-shaped supporting plate (205), the rotating shaft (6) is a multi-stage stepped shaft, the rotating shaft (6) can be rotatably arranged in the machine shell (1) in a penetrating mode, and the rear end portion of the rotating shaft (6) extends out of the machine shell (1) and is used for installing the coding unit (8); a rotating gap is formed between the motor rotor yoke (203) and the motor stator (201), and an inner rotor permanent magnet (204) is arranged at the axial end of the motor rotor yoke (203); the L-shaped supporting plate (205) is fixedly connected with a magnetic gear inner rotor bracket of the motor stator (201); the L-shaped supporting plate (205) is sleeved outside the rotating shaft (6) and is in interference fit with the rotating shaft (6);

the magnetic gear speed reducing unit (4) is arranged in the shell (1), is arranged on a rotating shaft (6) in front of the servo motor unit (2), and comprises an output shaft flange (5), and a magnetic gear outer stator (41), a modulation ring rotor (403) and a magnetic gear inner rotor (40) which are sequentially coaxially sleeved together from outside to inside, wherein the magnetic gear outer stator (41) is arranged at the front end part of the shell (1) and is fixedly connected with the inner wall of the shell (1); the inner rotor of the magnetic gear is arranged on the rotating shaft (6) and is arranged at the shaft shoulder corresponding to the rotating shaft; the modulation ring rotor (403) is arranged between the magnetic gear inner rotor (40) and the magnetic gear outer stator (41), an inner air gap is arranged between the modulation ring rotor (403) and the outer wall of the magnetic gear inner rotor (40), and an outer air gap is arranged between the modulation ring rotor and the inner wall of the magnetic gear outer stator (41); a front insulating gasket (406) and a rear insulating gasket (407) are respectively arranged at two end parts of the modulation ring rotor (403), and a modulation ring rear end cover (408) is arranged at the rear side of the rear insulating gasket (407); the output shaft flange (5) is coaxial with the rotating shaft (6), the output shaft flange (5) can rotatably penetrate through the front end part of the shell (1), the front end of the output shaft flange (5) extends out of the shell (1) to form an output end which can be connected with equipment to be driven, a flange plate (502) is arranged at the rear end of the output shaft flange (5), and the flange plate (502) is fixedly connected with the front insulating gasket (406);

the encoding unit (8) comprises an encoder (3) and an encoder shell (103), the encoder (3) is arranged on the outer wall of the rear end of the casing (1), and the encoder (3) is sleeved on the rear end part of the rotating shaft (6) extending out of the casing (1) and is connected in a rotating mode; the encoder shell (103) is covered outside the encoder (3) and is fixedly connected with the machine shell (1).

2. The electric machine of a coaxial type integrated magnetic gear reduction unit according to claim 1, wherein: the shell (1) comprises a shell (104), a front end cover (101) and a rear end cover (102), wherein the shell (104) is of a cylindrical structure with openings at two ends, and the rear wall surface of the shell (104) is provided with an opening for outputting a three-phase power line of the motor; the front end cover (101) and the rear end cover (102) are respectively arranged at the front end opening and the rear end opening of the shell (104) through rabbets, and enclose a cavity for accommodating the servo motor unit (2) and the magnetic gear reduction unit (4) together with the shell (104); a bearing seat (1011) and an output shaft bearing (801) arranged on the bearing seat (1011) are arranged on the inner side of the front end cover (101), the outer ring of the output shaft bearing (801) is clamped on the inner side of the front end cover (101), the inner ring of the output shaft bearing (801) is clamped on the output shaft flange (5), and the output shaft flange (5) is in running fit with the front end cover (102); the thin bearing (804) is arranged on the inner side of the rear end cover (102), the outer ring of the thin bearing (804) is clamped on the inner side of the rear end cover (102), the inner ring of the thin bearing is clamped on a shaft shoulder at the rear end part of the rotating shaft (6), and the rotating matching between the rotating shaft (6) and the rear end cover (102) is realized.

3. A coaxial type integrated magnetic gear reduction unit motor according to claim 2, wherein: the magnetic gear inner rotor (40) comprises a magnetic gear rotor yoke (401) and an inner magnetic ring (402), wherein the magnetic gear rotor yoke (401) and the inner magnetic ring (402) are cylindrical, and a through hole is formed in the center of the magnetic gear rotor yoke (401), and the magnetic gear rotor yoke (401) is clamped on the rotating shaft (6) and is installed at the position corresponding to a shaft shoulder; the inner magnetic ring (402) is coaxially sleeved outside the magnetic gear rotor yoke (401); an inner air gap is arranged between the outer wall of the inner magnetic ring (402) and the inner wall of the modulation ring rotor (403).

4. A coaxial type integrated magnetic gear reduction unit motor according to claim 3, wherein: the magnetic gear outer stator (41) comprises a stator yoke part (405) and an outer magnetic ring (404), the stator yoke part (405) and the outer magnetic ring (404) are both cylindrical, wherein the stator yoke part (405) is a cylindrical structure formed by laminating silicon steel sheets along the axial direction and is fixed on the inner wall of the front end of the shell (104); an outer air gap is arranged between the inner wall of the outer magnetic ring (404) and the outer wall of the modulation ring rotor (403).

5. The electric machine of a coaxial type integrated magnetic gear reduction unit according to claim 4, wherein: the modulation ring rotor (403) is a cylindrical structure with a gear-shaped cross section and comprises a plurality of modulation blocks (4031), the modulation blocks (4031) are arranged at intervals along the circumferential direction, and two adjacent modulation blocks (4031) are connected through a connecting bridge (4032).

6. The electric machine of a coaxial type integrated magnetic gear reduction unit according to claim 5, wherein: a wave washer (7) is arranged between the bearing seat (1011) and the output shaft bearing (801).

7. The electric machine of a coaxial type integrated magnetic gear reduction unit according to claim 6, wherein: the maximum diameter of the L-shaped support plate (205) is smaller than the minimum diameter of the modulation ring rear end cap (408).

8. The electric machine of a coaxial type integrated magnetic gear reduction unit according to claim 7, wherein: the outer rings of the front magnetic gear bearing (802) and the rear magnetic gear bearing (803) are respectively clamped on the bearing seats of the output shaft flange (5) and the rear modulation ring end cover (408), and the inner rings are respectively clamped on the corresponding shaft shoulders of the rotating shaft (6).

9. The electric machine of a coaxial type integrated magnetic gear reduction unit according to claim 8, wherein: the rotation direction of the magnetic gear inner rotor (40) is the same as that of the modulation ring rotor (403), and the internal and external pole pair ratio is 2.

10. The electric machine of a coaxial type integrated magnetic gear reduction unit according to claim 9, wherein: the inner rotor permanent magnet (204) adopts a radial magnetizing structure, the inner magnetic ring (402) adopts an outward magnetism gathering structure, and the outer magnetic ring (404) adopts an inward magnetism gathering structure.

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