CN116175535A

CN116175535A - Flexible joint system with movable teeth for robot and magnetic levitation and control method of flexible joint system

Info

Publication number: CN116175535A
Application number: CN202310199878.1A
Authority: CN
Inventors: 谢艾米
Original assignee: Changsha Lingbao Intelligent Machine Co ltd
Current assignee: Changsha Lingbao Intelligent Machine Co ltd
Priority date: 2023-03-03
Filing date: 2023-03-03
Publication date: 2023-05-30

Abstract

The invention discloses a movable tooth magnetic suspension flexible joint system of a robot. The flexible joint system uses a circular roller as a movable gear, uses an eccentric disc as a shock wave wheel, uses an electromagnetic magnetic suspension bearing as a shock wave bearing, and uses a superposition track generated by respective motion of the movable gear and the shock wave wheel as a tooth profile accurate envelope curve of a fixed gear, thereby realizing radial movable tooth vectors with constant speed ratio and accurate conjugate meshing between the movable tooth and the fixed tooth.

Description

Flexible joint system with movable teeth for robot and magnetic levitation and control method of flexible joint system

Technical Field

The invention relates to the technical field of magnetic suspension and robots, in particular to a flexible joint system of a movable tooth magnetic suspension robot, namely a full-rolling movable tooth magnetic suspension flexible speed reducer (Meglev Oscillatory Roller Transmisssion) of the robot, namely a MORT joint or a MORT speed reducer for short.

Background

The current situation of the industrial robot speed reducer industry is as follows:

1. industrial robots are increasingly demanded to develop rapidly, and the precision reducer enterprises matched with the industrial robots are realized by the phoenix horns.

2. The technical performance index of the precise speed reducer is low, and the functional requirements of most robot equipment cannot be met.

The technical barriers of the precise speed reducer are the highest in the core parts of the robot, in a matched precise system, the small deviation of clearance or interference fit can cause the multiple difference of contact rigidity or engagement rigidity so as to cause the large variation of motion parameters of the precise speed reducer, the technical difficulty of the RV speed reducer is that the parts can transmit large torque and bear large overload impact, the expected service life is ensured, the machining precision of the parts is extremely high, and the RV speed reducer has large improvement space in the aspects of rated torque and transmission efficiency, torsional rigidity, transmission precision, load factor, fatigue strength, noise, joint shake, position repeatability, stability, winding point precision and the like.

3. The standard establishment hysteresis of the precise speed reducer of the robot is not mature in technical process, most manufacturing enterprises are still in the stage of small-batch trial production and stability test, particularly the test and value of the tensile strength, the bending stiffness, the toughness value and the yield strength of materials, the dynamic load stiffness, the wear resistance, the fatigue limit, the processing process of tooth profile of the tooth shape of the bearing, the heat treatment process of parts and the stage of gradual test and continuous improvement.

4. The robot industrial planning is unreasonable, the research and development investment of basic key core parts is too little, most manufacturing enterprises focus on the integration of industrial robots, the research and development investment of the core key parts is too little, and especially the research and development of the core parts such as a precision speed reducer, a servo motor, a controller, a sensor and the like are insufficient, so that the situation of single leg punching is formed, the market demand can not be met, people are restricted in key technology, and the robot is not suitable for the increasingly-increasing demand of the market for robot equipment.

5. The precise speed reducer of the robot is not innovative enough and low in intelligent degree, and most of the precise speed reducer lacks a flexible automatic operation system, so that the requirements of special robot equipment cannot be met, meanwhile, effective remote management of informatization is difficult to realize, and a certain obstacle and an increase of management cost are brought to the realization of modularized intelligent Internet of things management of the robot system.

Disclosure of Invention

The invention aims to provide a flexible joint system of movable teeth of a robot, which can realize radial movable tooth vectors with constant speed ratio and accurate conjugate meshing between movable teeth and fixed teeth, so that the flexible joint system has the advantages of more meshing teeth, large transmission ratio, strong bearing capacity, high transmission efficiency, large output rigidity, small torque fluctuation and return difference variable and the like which are incomparable with other traditional reducers.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

the flexible joint system comprises a mechanical and electromagnetic magnetic levitation transmission system, wherein the mechanical and electromagnetic magnetic levitation transmission system comprises an inner movable tooth magnetic levitation transmission speed reducing structure positioned at the inner side and an outer movable tooth magnetic levitation transmission speed reducing structure positioned at the outer side;

the inner movable tooth magnetic levitation transmission speed reducing structure comprises a shock wave shaft, an inner shock wave wheel flexibly supported on the shock wave shaft through a shock wave bearing, an inner fixed gear left connecting flange, an inner fixed gear right connecting flange, an inner movable gear, an inner movable tooth frame left force transmission disc and an inner movable tooth frame right force transmission disc; the inner movable rack is respectively and fixedly connected with a left force transmission disc of the inner movable rack and a right force transmission disc of the inner movable rack through fasteners to form an inner movable rack assembly; the internal fixed gear is respectively and fixedly connected with a left internal fixed gear connecting flange and a right internal fixed gear connecting flange through fasteners to form an internal fixed gear assembly; the inner movable rack assembly is supported in an inner cavity of the inner fixed gear assembly; one end of the shock wave shaft is arranged in the inner cavity of the left force transmission disc of the inner movable gear frame through a bearing, the other end of the shock wave shaft is arranged in the inner hole corresponding to the right connecting flange of the inner fixed gear and the bearing seat through a bearing, and the bearing seat is arranged on the end face of the right connecting flange of the inner fixed gear through a fastener; the conductive slip ring assembly is fixed on the end face of the bearing seat through a fastener;

The outer oscillating tooth magnetic levitation transmission speed reducing structure comprises an outer shock wave wheel flexibly supported on an inner fixed gear through a shock wave bearing, an outer fixed gear left connecting flange, an outer fixed gear right connecting flange, an outer oscillating gear, an outer oscillating tooth frame left force transmission disc, an outer oscillating tooth frame right force transmission disc and an electric conduction slip ring assembly; the outer movable rack is respectively and fixedly connected with the left force transmission disc of the outer movable rack and the right force transmission disc of the outer movable rack through fasteners to form an outer movable rack assembly; the outer fixed gear is respectively and fixedly connected with the left connecting flange of the outer fixed gear and the right connecting flange of the outer fixed gear through fasteners to form an outer fixed gear assembly; the outer movable gear rack assembly is supported in an inner cavity of the outer fixed gear assembly;

the left force transmission disc of the outer movable gear frame is supported on the left connecting flange of the inner fixed gear through a bearing, and the right force transmission disc of the outer movable gear frame is supported on the right connecting flange of the inner fixed gear through a bearing; the outer shock impeller is arranged on the outer circle of the inner fixed gear, and the left force transmission disc of the inner movable rack is fixed with the left connecting flange of the outer fixed gear; the outer circle central axis of the internal fixed gear is eccentrically arranged with the central axis of the internal fixed gear;

the internal movable gear and the external movable gear are round idler wheels, the internal shock wheel and the external shock wheel are eccentric discs, the shock wave bearing is an electromagnetic shock wave bearing, the superposition track generated by the respective motion of the internal movable gear and the internal shock wheel is used as the accurate tooth profile envelope of the internal fixed gear, and the superposition track generated by the respective motion of the external movable gear and the external shock wheel is used as the accurate tooth profile envelope of the external fixed gear;

The main shaft of the servo motor rotates and transmits to the shock wave shaft, and transmits to the inner shock wave wheel through the electromagnetic shock wave bearing and drives the inner movable gear to rotate, so as to drive the inner fixed gear to rotate, and the rotation vector drives the outer movable gear to rotate through the outer shock wave wheel and make circular motion along the tooth profile curve of the outer fixed gear, and then is output through the right force transmission disc of the outer movable gear frame.

Mechanical transmission aspect: the method is characterized in that a round roller is used as a movable gear, an eccentric disc is used as a shock wave wheel, an electromagnetic shock wave bearing is used as a shock wave bearing, and a superposition track generated by respective motion of the movable gear and the shock wave wheel is used as a tooth profile precise envelope curve of a fixed gear. The radial movable gear vector with constant speed ratio and the accurate conjugate meshing between the movable gear and the fixed gear are realized, so that the radial movable gear vector has the advantages of more meshing teeth, large transmission ratio, strong bearing capacity, high transmission efficiency, large output rigidity, small torque fluctuation and return difference variable and the like, which are incomparable with other traditional reducers.

System control aspects: the intelligent control technology is used, especially for displacement change of shock wave bearings of the speed reducer, various data acquisition, storage and display, remote wireless communication, data transmission and control in good time, and variable stability control of an execution mechanism of the robot system, and the intelligent control technology has a fault self-diagnosis function and the like, so that various execution tasks of the speed reducer of the MORT are realized, for example: the shock wave bearing displacement data are adjusted, the speed reducer is static and running, the electromagnetic coil current parameter and the magnetic flux are changed, the shock wave bearing bears the control of the torque, the working condition parameter of the system is stored and displayed, the temperature of the system running environment is detected, and the like, so that the technical performance of the robot speed reducer is greatly improved, the multipurpose function of the speed reducer is expanded, accurate running conditions and first original data of the robot joints are timely and timely provided for various robot manufacturing companies, reliable basis is provided for the production management of the robot manufacturing and application manufacturers, the management cost is greatly saved, and more importantly, indispensable, effective and reliable key core equipment is provided for realizing intelligent manufacturing, environmental protection and energy conservation.

According to the embodiment of the invention, the invention can be further optimized, and the following technical scheme is formed after the optimization:

in one preferred embodiment, the inner idler gear comprises a first inner idler gear and a second inner idler gear mounted on the inner idler gear frame assembly via respective gear shafts, and the outer idler gear comprises a first outer idler gear and a second outer idler gear mounted on the outer idler gear frame assembly via respective gear shafts; the inner shock wheels comprise a first inner shock wheel arranged on the outer rotor of the fourth electromagnetic shock bearing and a second inner shock wheel arranged on the outer rotor of the second electromagnetic shock bearing; the external shock wave wheel comprises a second external shock wave wheel arranged on the external rotor of the first electromagnetic shock wave bearing and a first external shock wave wheel arranged on the external rotor of the third electromagnetic shock wave bearing; the first internal movable gear, the second internal movable gear and the corresponding gear shafts are respectively arranged in the roller grooves and the pin shaft grooves on the left side and the right side of the internal movable gear rack assembly; the first outer movable gear, the first outer movable gear shaft, the second outer movable gear and the second outer movable gear shaft are respectively arranged on the outer movable gear frame assembly; the inner rotor of the third electromagnetic shock wave bearing and the inner rotor of the first electromagnetic shock wave bearing are respectively arranged on two eccentric outer circles of the internal fixed gear, and the eccentric positions of the first external shock wave wheel and the second external shock wave wheel are mutually staggered by 180 degrees; the inner rotor of the fourth electromagnetic shock wave bearing and the inner rotor of the second electromagnetic shock wave bearing are respectively arranged on two eccentric cylinders of the shock wave shaft, and the eccentric positions of the first inner shock wave wheel and the second inner shock wave wheel are mutually staggered by 180 degrees.

In one preferred embodiment, a second sealing ring, a bearing and a second bushing are arranged at the position of the left force transmission disc of the inner movable rack, which corresponds to the shock wave shaft; the bearing seat, the right force transmission disc of the inner movable gear frame, the shock wave shaft and the right connecting flange of the inner fixed gear are provided with a first sealing ring, a bearing and a first bushing at corresponding positions.

In one preferred embodiment, the electromagnetic shock bearing comprises a first axial stator, a second axial stator, a first axial electromagnetic coil set, a second axial electromagnetic coil set, a permanent magnet ring, a radial stator, a radial electromagnetic coil set, a displacement sensor, a rotor, and a fastener; the first axial electromagnetic coil group is embedded and wound on the circumference of the inner ring of the first axial stator, and the second axial electromagnetic coil group is embedded and wound on the circumference of the inner ring of the second axial stator; the radial electromagnetic coil groups are equally distributed along the circumference and uniformly embedded and wound in the axial grooves of the radial stator to form a radial stator assembly; the displacement sensor is arranged in a radial groove of the radial stator, and the permanent magnet ring, the rotor and the radial stator assembly are respectively arranged between the first axial stators and are connected and fastened through fasteners.

In one preferred embodiment, the inner shock wheel is flexibly supported on the shock shaft through an electromagnetic shock bearing, the outer shock wheel is flexibly supported on the eccentric excircle of the inner fixed gear through the electromagnetic shock bearing, and radial control magnetic flux and axial control magnetic flux are changed by adjusting the current of the coil of the electromagnetic shock bearing, so that the coaxiality and the position degree of rotation between the rotor and the radial stator and the position degree of rotation between the rotor and the axial stator are controlled, and radial and axial runout and position errors of the inner shock wheel and the outer shock wheel during rotary dynamic loading are controlled.

In one preferred embodiment, the invention further comprises an intelligent control electrical system mainly composed of a man-machine dialogue system, a remote wireless communication system, a data acquisition feedback system, a control system and a mechanism execution system;

the man-machine dialogue system comprises a main DSP controller, an LCD display module DM and a system working condition parameter LCD display, wherein the LCD display is connected with the display module DM, and the LCD display module DM is connected with the main controller through a bus;

the remote wireless communication system comprises an embedded ZigBee wireless communication transceiver module, an LCD display module DM and a working condition parameter LCD display in the speed reducer system; the embedded ZigBee wireless communication transmitting module in the speed reducer system is connected with the main controller through a bus, the display is connected with the LCD display module DM and is connected with the main controller through the bus, the embedded ZigBee wireless communication receiving module is connected with the upper computer of the system, and the remote communication between the robot movable tooth magnetic suspension flexible joint system and each terminal of the industrial Internet of things is realized;

the data acquisition and feedback system comprises a displacement sensor, a temperature transmitter, an electronic torque sensor, a photoelectric encoder, a data acquisition and signal conditioning module; the displacement sensor is connected with the data acquisition and signal conditioning module, is connected with the main controller through the RS485 module, is connected with the temperature transmitter, is connected with the main controller through the RS485 module, is connected with the main controller through the bus, and is connected with the photoelectric encoder module through the bus, so that the real data of the position offset, the rotation speed, the rotation direction, the bearing torque and the working temperature of each electromagnetic shock wave bearing in the movable tooth magnetic suspension flexible joint system of the robot are timely acquired and fed back;

The control system comprises a main controller, a power management module, a switching value input module and a DAC digital-to-analog conversion module; the power management module and the switching value input module are respectively connected with the main controller, the DAC digital-to-analog conversion module is connected with the main controller through a bus to form a calculation processing center, data signals respectively acquired from each sensor are respectively input into the main controller through the DAC digital-to-analog conversion module to be respectively subjected to operation processing, corresponding execution driving modules respectively send corresponding execution instruction signals, meanwhile, the data information and the instruction information are transmitted to a system upper computer through the embedded ZigBee wireless communication module and a transmission network thereof, and the data information and the instruction information are transmitted to the industrial Internet of things management terminal through a remote wireless network, so that the accurate timely adjustment control of the control current and the control magnetic flux of each electromagnetic coil in the movable tooth magnetic suspension flexible joint system of the robot is realized;

the mechanism executing system comprises an electromagnetic shock bearing executing system and a servo driving system; the electromagnetic shock wave bearing execution system comprises a power amplifier module, an electromagnetic coil, an electromagnetic shock wave bearing outer rotor, an electromagnetic shock wave bearing inner rotor and a shock wave shaft; the input end of each power amplifier module is respectively connected with the alternating current output end and the direct current output end of the DAC digital-to-analog conversion module and is also connected with the main controller through a bus, the output end of each power amplifier module is respectively connected with the corresponding electromagnet coil, a part of electromagnetic shock bearing rotors corresponding to the electromagnet coil are correspondingly arranged in eccentric circles of the two groups of inner shock wheels, the other part of electromagnetic shock bearing rotors are correspondingly arranged in the eccentric circles of the two groups of outer shock wheels, displacement sensors correspondingly arranged on the outer rotors of each shock bearing are respectively connected with the data acquisition and signal conditioning module through the signal transceiver module, the temperature sensor is connected with the temperature transmitter module and is connected with the main controller through the signal transceiver module;

The servo driving system comprises a servo driving module, a servo motor and a shock wave shaft assembly; the servo driving module is connected with the main controller through a bus, the coil input end of the servo motor is connected with the alternating current output end of the servo driving module, and meanwhile, the coil input end of the electromagnetic shock wave bearing outer rotor assembly is connected with the photoelectric encoder through a signal wire and is connected with the direct current output end of the DAC digital-to-analog conversion module, so that the current and the magnetic flux of each electromagnetic coil are adjusted and controlled.

Based on the same inventive concept, the invention also provides a control method of the robot movable tooth magnetic levitation flexible joint system, which comprises the following steps:

(one), activation of an Electrical control System

Closing a control power switch of the movable tooth magnetic levitation flexible joint system of the robot, and confirming that a green light of a normal working indicator lamp is on, wherein the power of the main controller and the power of each control system are switched on;

(II) working process of man-machine conversation system

The machine dialogue system is characterized in that data information and parameter electric signals transmitted from each sensor in the data acquisition feedback system are transmitted to a DM through operation processing of a main controller, image data and working condition parameters of the system are transmitted to an LCD display through a CAN3 bus, the image data and the working condition parameters are displayed and stored, the working condition technical parameters in the flexible joint control system of the movable teeth of the robot and the position state and position deviation of each shock wave wheel are displayed, meanwhile, the working condition technical parameters of an electromagnetic shock wave bearing and the shock wave wheel are modified, adjusted or reset through the LCD display, and are transmitted to the main controller through the CAN3 bus, and then different instructions are transmitted to each execution driving module of an executing mechanism respectively, so that the adjustment of the running state and the running position, the magnetic flux, the dynamic load torque and the running environment temperature in the flexible joint system of the movable teeth of the robot is realized;

(III) working process of remote wireless communication system

The remote wireless communication system comprises an embedded ZigBee wireless communication module and a sensing network thereof, an upper computer and a GPRS/4G communication module, and comprises a 4G/5G communication module, an LCD display module NH 128M, LCD display and a main controller, when in operation, the running state, movement position deviation, magnetic flux, dynamic load torque and running environment temperature parameter information in the movable tooth magnetic suspension flexible joint system of the robot are transmitted to the ZigBee wireless communication transmitting module and the sensing network thereof through a CAN5 bus, then transmitted to the upper computer of the movable tooth magnetic suspension flexible joint control system through the ZigBee wireless communication receiving module, and transmitted to the management terminal of the robot industrial Internet of things server through the 4G/5G remote communication network based on HTTP communication protocol by a computer system, the management terminal of the Internet of things CAN respectively modify and store corresponding data setting according to each running data and parameter, the server management terminal of the Internet of things transmits the corresponding instructions to an upper computer of the movable tooth magnetic levitation flexible joint control system of the robot through a remote wireless communication network based on an MQTT message queue remote sensing transmission technical protocol, the upper computer transmits the modified or set instruction information to a main controller through a ZigBee wireless transceiver module, a sensing network thereof and a CAN5 bus for comparison and operation processing, then transmits the processed and operated information instructions to a DAC digital-to-analog conversion module through a CAN1 bus, transmits the processed and operated information instructions to a power amplifier module through a CAN2 bus, transmits the processed and operated information instructions to a servo driving system of an actuating mechanism through a CAN7 bus, further drives the actuating mechanism system to execute actions according to the instructions, transmits the parameter data of each working condition to an LCD display module NH12864M through the CAN3 bus, and displayed in an LCD display;

Fourth, working process of data acquisition and feedback system

The data acquisition and feedback system consists of a displacement sensor, a temperature transmitter, an electronic torque sensor, a photoelectric encoder and a data acquisition and signal conditioning module, wherein the displacement sensor is connected with the data acquisition and signal conditioning module, then connected with a main controller through an RS485 module, the temperature sensor is connected with the temperature transmitter, then connected with the main controller through the RS485 module, the electronic torque sensor module is connected with the main controller through a CAN6 bus, the photoelectric encoder module is connected with the main controller through a CAN4 bus, the working condition signal parameters fed back by the displacement sensor, the temperature transmitter, the electronic torque sensor and the photoelectric encoder and the command transmitted by the switching value input module are transmitted to the main controller for classification, comparison and operation processing, and then corresponding commands are sent out, transmitting the data to a DAC digital-to-analog conversion module through a CAN1 bus, controlling a power amplifier module group in an electromagnetic shock wave bearing system through a CAN2 bus, controlling a servo driver of a servo driving system in mechanism execution through a CAN7 bus, transmitting corresponding data to an LCD display module NH12864M in a man-machine conversation system through a CAN3 bus, displaying and storing the data in a working condition parameter LCD display, and timely acquiring and feeding back actual data of position offset of each shock wave wheel, rotation angle, rotation speed, rotation direction, bearing torque and working temperature of an outer rotor of the electromagnetic shock wave bearing in a robot movable tooth magnetic suspension flexible joint system, transmitting the actual data to a ZigBee wireless communication module and a sensing network thereof through a CAN5 bus, and transmitting the actual data to an upper computer of the control system;

Fifthly, the working process of the main controller control system

The main controller performs centralized classification on the received instruction information and the data parameters fed back by the sensors, performs operation processing, and then sends out corresponding execution instructions to control the opening, closing, safety and stability of the actions of other systems.

Preferably, the specific working process of the main controller control system is as follows:

the main controller classifies, calculates and processes instructions or data transmitted by the CAN4 bus, the CAN6 bus and the RS485 communication module, then sends out corresponding instructions, controls a man-machine conversation system through the CAN3 bus, the CAN1 bus, the CAN2 bus and the CAN7 bus respectively, feeds corresponding data parameters and motion states back to the man-machine conversation system through the CAN3 bus, displays the data parameters and the motion states in the LCD, transmits the operation state information of the mechanism execution system and the operation state parameters and the operation states in the man-machine conversation system to the embedded ZigBee wireless communication module and a sensing network thereof through the CAN5 bus, and transmits the information to the upper computer and transmits the information to an Internet of things management terminal of the movable tooth magnetic levitation flexible joint system through the remote wireless communication network so as to accurately provide the operation frequency, the original operation state parameters and reliable shared data of the system;

Classifying working condition signal parameters fed back by a displacement sensor, a temperature transmitter, an electronic torque sensor and a photoelectric encoder, and instructions transmitted by a switching value input module, comparing and operating, then transmitting corresponding instructions, respectively controlling a mechanism executing system through a CAN2 bus and a CAN7 bus, transmitting corresponding data to a man-machine dialogue system through a CAN3 bus, displaying and storing the corresponding data in a working condition parameter LCD display, specifically classifying the working condition signal parameters and the instructions fed back by the sensors, comparing and operating, then transmitting corresponding pulse instructions, transmitting the corresponding pulse instructions to a servo driving module SD through the CAN7 bus for controlling a servo driving system in the mechanism executing system, driving a servo motor SM to rotate, driving an electromagnetic shock bearing outer rotor assembly to rotate under the action of magnetic field force, simultaneously, transmitting the operating direction, operating speed and rotation angle parameter information of the servo motor SM to a main controller through the CAN1 bus, and transmitting the instruction information to a DAC (digital-analog conversion) of electromagnetic coil current of an electromagnetic shock bearing, so that the main controller transmits the instruction information to a DAC (digital-analog-to-analog conversion) module 7724 of the electromagnetic coil of the electromagnetic shock bearing with a large current;

For the control of the electromagnetic shock wave bearing system in the mechanism executing system, the main controller transmits the instruction information to the DAC7724 digital-to-analog conversion module through the CAN1 bus, then transmits the corresponding pulse current to the power amplifier modules AM1, AM2, AM3 and AM4 respectively through the CAN2 bus for amplification, the amplified current is respectively input to the electromagnetic coil groups EM1, EM2, EM3, EM4, EM5, EM6, EM7, EM8, EM9, EM10, EM11 and EM12, wherein the excitation magnetic fluxes of the electromagnetic coils EM1, EM2 and EM3 act on the electromagnetic shock wave bearing rotor BE1, excitation magnetic fluxes of electromagnetic coils EM4, EM5 and EM6 act on a shock bearing rotor BE2, excitation magnetic fluxes of electromagnetic coils EM7, EM8 and EM9 act on a shock bearing rotor BE3, excitation magnetic fluxes of electromagnetic coils EM10, EM11 and EM12 act on a shock bearing rotor BE4, wherein the electromagnetic shock bearing rotors BE1 and BE2 support inner shock wheels, the electromagnetic shock bearing rotors BE3 and BE4 support outer shock wheels, and adjustment of rotation directions, rotation speeds, position deviations, phase deviations, dynamic load torques and various working condition parameters and motion states of the inner shock wheels, inner movable gears, the outer shock wheels and the outer movable gears is achieved.

Compared with the prior art, the invention has the beneficial effects that:

1. the electromagnetic shock wave bearing has the advantages that no mechanical physical contact, no abrasion and no lubrication are required between the inner rotor and the outer rotor of the electromagnetic shock wave bearing, the outer rotor is in a suspension state, no contact is generated between the relative motion surfaces, no mechanical friction and contact fatigue are generated, the problems of loss and replacement of parts are solved, a lubrication system is omitted, and the space is saved.

2. The shock wave wheel is in a magnetic suspension state, so that the shock wave wheel is prevented from vibrating greatly and generating high decibel noise caused by contact collision during operation, the stability of the flexible joint movement is improved, the maintenance cost is reduced, the service life is prolonged, the power consumption is about 10% of that of a traditional mechanical bearing, and the power consumption is only about 15% of that of the mechanical bearing when the rotating speed is more than 10000 r/min; and the energy is effectively saved.

3. The movable tooth magnetic levitation flexible joint has high rotating speed, high precision and high reliability, can work under the working condition of tens of thousands of revolutions, and the rotation precision of the rotating shaft can reach micron level or higher, which is the speed and precision which cannot be achieved by the RV reducer of the common robot, and the reliability of electronic components for controlling and executing actions is greatly higher than that of the traditional mechanical parts.

4. The active hybrid electromagnetic suspension shock wave bearing has compact structure and small volume, and the flexible joint has stronger torsional rigidity and capability of bearing larger impact load, larger axial thrust and cantilever momentum, and the back clearance is less than 1 arc minute.

5. The multi-tooth meshing does not need a special output mechanism, the movable gears can radially stretch and flex and float flexibly, mutual interference between the gear teeth is avoided, therefore, the multi-tooth meshing has extremely high bearing capacity and impact resistance, the bearing capacity is more than 6 times of that of common gear transmission, the multi-tooth meshing is realized at the same time, the torque is directly output by the movable rack assembly without a special output mechanism, and the torque has extremely high torsional rigidity and extremely small return difference, wherein the return difference is about 10% of that of a traditional speed reducer.

6. The rolling contact is high in transmission efficiency, all gear teeth and force transmission parts are in rolling contact, friction loss is reduced, and the transmission efficiency can reach more than 96%.

7. The transmission ratio is large, the structure is compact, and the volume is small, and because the transmission ratio of the movable tooth magnetic levitation flexible joint is equal to the number of teeth of the movable gear, compared with a speed reducer with the same power and the same transmission ratio, the volume of the speed reducer can be reduced by 2/3.

8. The transmission is stable, the torque fluctuation is small, and because the multiple teeth are meshed simultaneously, and the meshing of each tooth is designed and manufactured according to the principle of constant speed conjugation, the influence of manufacturing and processing precision errors on the multiple teeth meshing is generally about 10% of that of single teeth meshing, so that the movable tooth magnetic levitation flexible joint has extremely high transmission stability and extremely small torque fluctuation.

9. The intelligent control, working condition detection and fault self-diagnosis functions can perform full-time on-line control on the static and dynamic performances of the intelligent control, and can perform detection and fault diagnosis on working condition parameters and adjustment and setting of the working condition parameters.

10. Timely collecting and feeding back displacement data of each rotating shaft; remote wireless communication data transmission and control; the variable stability of the control system and the regulation function of the electromagnetic flux.

11. And the DSP main controller CPU is used for displaying and alarming the working condition technical parameters through data signals fed back by a sensor arranged on an actuator, converting and operating, transmitting the data signals to a man-machine dialogue system, displaying the corresponding working condition technical parameters on a display in real time, and realizing dangerous action limitation and alarming when the execution system is out of limit, thereby protecting the overall safety of each corresponding execution system and robot system.

12. The structural design of low resistance coefficient, lightweight fuselage and high strength greatly strengthens the rigidity and bending resistance, tensile and compressive strength of reduction gear.

The flexible joint system of the movable tooth magnetic levitation robot is mainly applied to various industrial robots, space robots, deep sea robots, AGV (automated guided vehicles), space aircrafts, medical equipment, welding position changing machines, numerical control machine tool magazine, precise rotary tables and other precise transmission control, is an important component of intelligent and automatic industrial equipment, and is ideal equipment for realizing industrial intelligent and informationized Internet of things management and production and manufacturing of intelligent factories.

Drawings

FIG. 1 is a schematic cross-sectional view of one embodiment of the present invention;

FIG. 2 is a schematic longitudinal cross-sectional view of an embodiment of the present invention;

FIG. 3 is a diagram of the transmission relationship between the shock axis, inner and outer shock wheels, electromagnetic shock bearings, movable gear rack, movable gear and movable gear shaft and fixed gear;

FIG. 4 is a schematic longitudinal cross-sectional view of an electromagnetic shock bearing of the present invention;

FIG. 5 is a schematic cross-sectional view of an electromagnetic shock bearing of the present invention;

FIG. 6 is an electrical schematic block diagram of the electrical control system of the present invention;

fig. 7 is an electrical schematic of a power amplifier module of the present invention;

FIG. 8 is an electrical schematic diagram of a DAC digital to analog conversion module of the present invention;

FIG. 9 is an electrical schematic of a power management module of the present invention;

FIG. 10 is an electrical schematic diagram (I) of a data acquisition and signal conditioning module of the present invention;

FIG. 11 is an electrical schematic diagram (II) of a temperature sensor/transmitter module of the present invention;

FIG. 12 is an electrical schematic of an LCD display module of the present invention;

FIG. 13 is an electrical schematic of an LCD display module of the present invention;

FIG. 14 is an electrical schematic diagram of a switching value input output module of the present invention;

FIG. 15 is an electrical schematic diagram of the main controller and various module signal and data transmission of the present invention (one);

FIG. 16 is a schematic diagram of the electrical signal and data transmission between the host controller and the various modules according to the present invention;

FIG. 17 is an electrical schematic diagram of the electromagnetic coil and flux distribution control of the present invention;

FIG. 18 is an electrical schematic diagram (III) of the signal and data transmission of the master controller and the various modules of the present invention;

FIG. 19 is an electrical schematic of a servo drive control system module of the present invention.

The drawings are marked with the following description:

1. a first internal idler gear; 2. a first inner movable gear shaft; 3. an internal fixed gear; 4. a first external idler gear; 5. a first outer movable gear shaft; 6. an outer movable rack; 7. a first coupling bolt; 8. a second coupling bolt; 9. a second external shock wheel; 10. a first electromagnetic shock bearing; 11. the right connecting flange of the external fixed gear; 12. a first bearing; 13. a third coupling bolt; 14. a right force transmission disc of the inner movable rack; 15. a right force transmission disc of the outer movable gear rack; 16. a second bearing; 17. a fourth coupling bolt; 18. a bearing seat; 19. a fifth coupling bolt; 20. a conductive slip ring assembly; 21. a first seal ring; 22. a third bearing; 23. a first bushing; 24. a fourth bearing; 25. a second inner shock impeller; 26. a second electromagnetic shock bearing; 27. a sixth coupling bolt; 28. the right connecting flange of the internal fixed gear; 29. a second internal idler gear; 30. a second inner movable gear shaft; 31. a second external idler gear; 32. a second outer movable gear shaft; 33. an external fixed gear; 34. a seventh coupling bolt; 35. the left connecting flange of the external fixed gear; 36. an eighth coupling bolt; 37. a first external shock impeller; 38. a third electromagnetic shock bearing; 39. a fifth bearing; 40. an inner movable rack; 41. a ninth coupling bolt; 42. a sixth bearing; 43. a seventh bearing; 44. a second seal ring; 45. a cylindrical pin; 46. a shock axis; 47. a flat key pin; 48. a left force transmission disc of the inner movable rack; 49. an eighth bearing; 50. a second bushing; 51. a left force transmission disc of the outer movable gear rack; 52. a first inner shock impeller; 53. a fourth electromagnetic shock bearing; 54. a tenth coupling bolt; 55. the left connecting flange of the internal fixed gear; b01, a first axial stator; b02, permanent magnet ring; b03, a second axial electromagnetic coil group; b04, a second axial stator; b05, a second fastening bolt; b06, a displacement sensor; b07, axially controlling magnetic flux; b08, first axial electromagnetic coil group; b09, axial bias magnetic flux; b10, a rotor; b11, radial electromagnetic coil group; b12, radial stator; b13, a first fastening bolt; b14, radial control magnetic flux; b15, radial bias magnetic flux.

Detailed Description

The invention will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. For convenience of description, the words "upper", "lower", "left" and "right" are used hereinafter to denote only the directions corresponding to the upper, lower, left, and right directions of the drawings, and do not limit the structure.

The movable tooth magnetic levitation flexible joint (MORT) system of the robot mainly comprises a precise mechanical and electromagnetic magnetic levitation transmission system and an intelligent control electric system, and the technical scheme is as follows:

the electromagnetic shock wave bearing transmission adopts electromagnetic force transmission without mechanical contact. Firstly, the rotation vector is rotated by a main shaft of a servo motor, is transmitted to a shock shaft 46 (input shaft), is transmitted to an inner shock wheel through an electromagnetic shock bearing, drives an inner movable gear and an inner movable gear shaft to rotate, and further drives an inner fixed gear to rotate, the outer circle central axis of the inner fixed gear is eccentric to the central axis of the rotation of the inner fixed gear, and since the outer shock wheel is arranged on the outer circle of the inner fixed gear, the left force transmission disc 48 of the inner movable gear frame and the left connecting flange 35 of the outer fixed gear frame are fixed together through cylindrical pins, so that the rotation vector drives the outer movable gear and the outer movable gear shaft to rotate through the outer shock wheel and to do circular motion along the tooth profile curve of the outer fixed gear, and the rotation vector is output through the right force transmission disc 15 (output shaft) of the outer movable gear frame;

Referring to fig. 4, 5 and 17, the mechanical structure of the electromagnetic shock wave bearing comprises an axial stator, an axial electromagnetic coil group, a permanent magnet ring, a radial stator, a radial electromagnetic coil group, a displacement sensor, a rotor, a fastening bolt and the like.

The inner shock wave wheel is flexibly supported on a shock wave shaft (input shaft) through an electromagnetic shock wave bearing, the outer shock wave wheel is flexibly supported on an eccentric excircle of the inner fixed gear through the electromagnetic shock wave bearing, and the rotating coaxiality and the position degree between the rotor and the radial stator and the rotating axiality between the rotor and the axial stator as well as the radial and axial runout and the position error when the inner shock wave wheel and the outer shock wave wheel rotate and move are accurately controlled by adjusting the current of coils of the electromagnetic shock wave bearing, so that the rotating high stability and the rotating reliability of the inner and outer movable gears, the inner and outer movable gear frames and the inner and outer movable gear frame force transfer disc under dynamic load are always kept.

The intelligent control electric system of the movable tooth magnetic levitation flexible joint (MORT speed reducer) system consists of five systems, and comprises a man-machine conversation system, a remote wireless communication system, a data acquisition feedback system, a control system and a mechanism execution system.

The mechanical structure of the movable tooth magnetic levitation flexible joint (MORT speed reducer) system consists of two-stage full-rolling movable tooth magnetic levitation transmission, namely inner movable tooth magnetic levitation transmission speed reduction (first stage) and outer movable tooth magnetic levitation transmission speed reduction (second stage). The structure mainly comprises: the shock wave device comprises a shock wave shaft (input shaft), an inner shock wave wheel, an inner movable gear and inner movable gear shaft assembly, an inner movable gear rack assembly, an inner fixed gear assembly, an outer shock wave wheel, an outer movable gear and outer movable gear shaft assembly, an outer movable gear rack assembly, an outer fixed gear assembly, a series of electromagnetic shock wave bearings, a conductive slip ring assembly, other series of bearings, a sealing ring, a connecting bolt and the like.

As shown in fig. 1-3, the mechanical structure of the movable tooth magnetic levitation flexible joint system is described:

the inner movable rack 40 is fixedly connected with the left force transmission disc 48 of the inner movable rack through a ninth connecting bolt 41, is fixedly connected with the right force transmission disc 14 of the inner movable rack through a third connecting bolt 13, and forms an inner movable rack assembly together.

The second seal ring 44, the eighth bearing 49, and the second bushing 50 are respectively mounted at positions corresponding to the shock shaft 46 (input shaft) on the left power transmission disc 48 of the inner movable rack, and the first seal ring 21, the second bearing 16, and the first bushing 23 are respectively mounted at positions corresponding to the bearing housing 18, the right power transmission disc 14 of the inner movable rack, the shock shaft 46, and the right coupling flange 28 of the inner fixed gear.

The first inner movable gear 1, the first inner movable gear shaft 2, the second inner movable gear 29 and the second inner movable gear shaft 30 are respectively arranged in a roller groove and a pin groove on the left side and the right side of the inner movable gear frame assembly, the first inner shock wheel 52 is arranged on an outer rotor of the fourth electromagnetic shock bearing 53, the second inner shock wheel 25 is arranged on an outer rotor of the second electromagnetic shock bearing 26, the inner rotor of the fourth electromagnetic shock bearing 53 and the inner rotor of the second electromagnetic shock bearing 26 are respectively arranged on two eccentric cylinders of the first-stage shock shaft 46, and the eccentric positions of the first inner shock wheel 52 and the second inner shock wheel 25 are mutually staggered by 180 degrees.

Wherein the internal gear 3 is fixedly connected with the left internal gear connecting flange 55 through a tenth connecting bolt 54, and is fixedly connected with the right internal gear connecting flange 28 through a sixth connecting bolt 27, and the internal gear assembly is formed together.

The flat key pin 47 is installed in the key slot of the shock shaft 46, the key slot end of the shock shaft 46 is installed in the inner cavity of the left force transmission disc 48 of the inner oscillating rack through the eighth bearing 49, the other end of the flat key pin is installed in the corresponding inner holes of the right coupling flange 28 of the inner fixed gear and the bearing seat 18 through the third bearing 22, and the bearing seat 18 is fastened on the end face of the right coupling flange 28 of the inner fixed gear through the fourth coupling bolt 17.

The conductive slip ring assembly 20 is fixed to the end face of the bearing housing 18 by a fifth coupling bolt 19.

The inner movable gear rack assembly is formed by a seventh bearing 43 arranged on a left force transmission disc 48 of the inner movable gear rack and a second bearing 16 arranged on a right force transmission disc 14 of the inner movable gear rack, and is respectively supported in an inner cavity of the inner fixed gear assembly which is formed by the inner fixed gear 3, the left connecting flange 55 of the inner fixed gear and the right connecting flange 28 of the inner fixed gear.

The inner ring of the sixth bearing 42 is mounted on the corresponding outer circle of the left coupling flange 55 of the internal fixed gear, the outer ring is mounted in the corresponding inner hole of the left force transmission disc 51 of the external movable gear frame, the inner ring of the fourth bearing 24 is mounted on the corresponding outer circle of the right coupling flange 28 of the internal fixed gear, and the outer ring is mounted in the corresponding inner hole of the right force transmission disc 15 of the external movable gear frame.

The outer movable rack 6 is fixedly connected with the left force transmission disc 51 of the outer movable rack through an eighth connecting bolt 36, is fixedly connected with the right force transmission disc 15 of the outer movable rack through a second connecting bolt 8, and forms an outer movable rack assembly together.

The first external oscillating gear 4, the first external oscillating gear shaft 5, the second external oscillating gear 31 and the second external oscillating gear shaft 32 are respectively arranged in the roller grooves and the pin shaft grooves on the left side and the right side of the external oscillating gear frame assembly, the first external shock wave wheel 37 is arranged on the outer rotor of the third electromagnetic shock wave bearing 38, the second external shock wave wheel 9 is arranged on the outer rotor of the first electromagnetic shock wave bearing 10, the inner rotor of the third electromagnetic shock wave bearing 38 and the inner rotor of the first electromagnetic shock wave bearing 10 are respectively arranged on the two eccentric outer circles of the internal fixed gear 3, and the eccentric positions of the first external shock wave wheel 37 and the second external shock wave wheel 9 are mutually staggered by 180 degrees.

Wherein the outer fixed gear 33 is fixedly connected with the left outer fixed gear connecting flange 35 through a seventh connecting bolt 34, and is fixedly connected with the right outer fixed gear connecting flange 11 through a first connecting bolt 7, and the outer fixed gear assembly is formed together.

The outer movable gear rack assembly is formed by supporting a fifth bearing 39 arranged on a left force transmission disc 51 of the outer movable gear rack and a first bearing 12 arranged on a right force transmission disc 15 of the outer movable gear rack in an inner cavity of an outer fixed gear assembly which is formed by an outer fixed gear 33, an outer fixed gear left connecting flange 35 and an outer fixed gear right connecting flange 11.

Wherein the left coupling flange 35 of the outer fixed gear and the left force transmission disc 48 of the inner movable gear rack are positioned and fixed through cylindrical pins 45.

Description of electromagnetic shock bearing structure:

the mechanical structure of the electromagnetic shock wave bearing comprises a first axial stator B01, a second axial stator B04, a first axial electromagnetic coil group B08, a second axial electromagnetic coil group B03, a permanent magnet ring B02, a radial stator B12, a radial electromagnetic coil group B11, a displacement sensor B06, a rotor B10, a first fastening bolt B13 and a second fastening bolt B05.

The first axial electromagnetic coil group B08 is embedded and wound on the circumference of the inner ring of the first axial stator B01, and the second axial electromagnetic coil group B03 is embedded and wound on the circumference of the inner ring of the second axial stator B04; the displacement sensor B06 is arranged in a radial groove of the radial stator B12, the radial electromagnetic coil group B11 is equally divided along the circumference and uniformly embedded and wound in an axial groove of the radial stator B12 to form a radial stator assembly; the permanent magnet ring B02, the rotor B10 and the radial stator assembly are respectively arranged in the middle of the first axial stator B01 and the second axial stator B04 and are connected and fastened by a first fastening bolt B13 and a second fastening bolt B05.

The precise mechanical and electromagnetic magnetic levitation transmission system of the embodiment is characterized in that a circular idler wheel is used as a movable gear, an eccentric disc is used as a shock wave wheel, an electromagnetic shock wave bearing is used as a shock wave bearing, and a superposition track generated by respective motion of the movable gear and the shock wave wheel is used as a precise tooth profile envelope curve of a fixed gear, so that a radial movable tooth vector with a constant speed ratio and precise conjugate engagement between the movable gear and the fixed gear are realized, and the precise magnetic levitation transmission system is a hybrid transmission of mechanical and electromagnetic force.

Firstly, the rotation vector is transmitted to the inner rotor of the electromagnetic shock wave bearing by the rotating shaft of the servo motor through the shock wave shaft 46 (input shaft), the outer rotor of the shock wave bearing is suspended in the radial radius vector plane taking the eccentric circle of the shock wave shaft as the concentric circle under the action of the magnetic field force between the air gaps of the inner rotor and the outer rotor, and rotates in the same direction along with the inner rotor, so as to drive the shock wheel to rotate in the same direction, the shock wheel drives the movable gear to rotate, wherein the transmission contact between the movable gear and the shock wheel and the tooth profile of the movable gear and the tooth profile of the fixed gear are two high pair contacts, the movable gear shaft is arranged on the movable gear rack, the movable gear shaft rolls slowly in the movable gear slot, and when the movable gear rack is fixed with the left and right force transmission discs, the movable gear rack drives the fixed gear to rotate, otherwise, when the fixed gear is fixed, the movable gear rack and the left and right force transmission discs rotate.

The magnitude and the direction of the control magnetic flux can be changed by changing the magnitude and the direction of the current of the electromagnetic coil of the shock wave bearing, and the magnetic field force generated by the control magnetic flux and the magnetic field force generated by the bias magnetic flux are subjected to vector superposition, so that the magnitude of rigidity and torque carried by the electromagnetic shock wave bearing and a constant radial radius vector are changed, the transmission of a constant power rotation vector is realized, and the rotation direction of the movable gear and the fixed gear can be changed by changing the rotation direction of the servo motor.

The intelligent control electric system is composed of five systems, including a man-machine dialogue system, a remote wireless communication system, a data acquisition feedback system, a control system and an organization executing system.

The precise mechanical and electromagnetic magnetic levitation transmission system adopts two-stage full-rolling movable tooth magnetic levitation transmission speed reduction, namely, the precise mechanical and electromagnetic magnetic levitation transmission system consists of inner movable tooth magnetic levitation transmission speed reduction (a first stage) and outer movable tooth magnetic levitation transmission speed reduction (a second stage).

Internal oscillating tooth magnetic levitation transmission deceleration (first stage) description: the inner movable gear rack and the inner movable gear rack left force transmission disc 48 and the inner movable gear rack right force transmission disc 14 form an inner movable gear rack assembly, a first inner movable gear shaft, a second inner movable gear shaft and a second inner movable gear shaft are respectively arranged in roller grooves and pin shaft grooves on the left side and the right side of the inner movable gear rack assembly, a first inner shock wheel is arranged on an outer rotor of a fourth electromagnetic shock wave bearing, a second inner shock wheel is arranged on an outer rotor of a second electromagnetic shock wave bearing, an inner rotor of the fourth electromagnetic shock wave bearing and an inner rotor of the second electromagnetic shock wave bearing are respectively arranged on two eccentric cylinders of a shock wave shaft (shock wave shaft of a first stage), and the first inner shock wheel and the second inner shock wheel are mutually staggered for 180 degrees.

The internal fixed gear tooth profile is an arc tooth profile formed by double rows of accurate enveloping lines distributed left and right, the two rows of arc tooth profiles are arranged on concentric circumferences and mutually staggered with the tooth pitch of half arc teeth, and the internal fixed gear shell is provided with two eccentric cylinders mutually staggered by 180 degrees, and the internal fixed gear, the internal fixed gear left connecting flange and the internal fixed gear right connecting flange form an internal fixed gear assembly. The (first stage) transmission is to fix the internal movable gear rack assembly, and the torque vector is output by the internal fixed gear assembly.

External oscillating tooth magnetic levitation transmission deceleration (second stage) description: the outer movable gear rack and the outer movable gear rack left force transmission disc and the outer movable gear rack right force transmission disc form an outer movable gear rack assembly, a first outer movable gear shaft, a second outer movable gear shaft and a second outer movable gear shaft are respectively arranged in roller grooves and pin shaft grooves on the left side and the right side of the outer movable gear rack assembly, a first outer shock wheel is arranged on an outer rotor of a third electromagnetic shock wave bearing, a second outer shock wheel is arranged on an outer rotor of the first electromagnetic shock wave bearing, an inner rotor of the third electromagnetic shock wave bearing and an inner rotor of the first electromagnetic shock wave bearing are respectively arranged on two eccentric cylinders of a shock wave shaft (an inner fixed gear) of a second stage, and the first outer shock wheel and the second outer shock wheel are mutually staggered for 180 degrees.

The external fixed gear tooth profile is an arc-shaped tooth profile formed by double rows of accurate enveloping lines distributed left and right, the two rows of arc-shaped tooth profiles are arranged on concentric circumferences and mutually staggered with the tooth pitch of half arc-shaped teeth, and the external fixed gear, the external fixed gear left connecting flange and the external fixed gear right connecting flange form the external fixed gear assembly. The (second stage) transmission is to fix the external fixed gear assembly, and the torque vector is output by the external movable gear frame assembly.

In summary, the two-stage full-rolling movable tooth magnetic levitation transmission can realize a very large reduction ratio and extremely high torque transmission efficiency, the first-stage reduction ratio is i1, the number of inner movable gears is Z1, the second-stage reduction ratio is i2, the number of outer movable gears is Z2, the total reduction ratio is i, and according to the design characteristics of the scheme, i 1=z1, i 2=z2, i=i1×i2, i.e. i=z1×z2, the transmission ratio depends on the product of the number of movable gears.

The coaxiality and the position degree of the rotation of the inner rotor and the outer rotor of the electromagnetic shock wave bearing and the radial and axial runout and the position error of the rotation dynamic load of the inner rotor and the outer rotor can be accurately controlled by adjusting the current of the coil of the electromagnetic shock wave bearing, namely changing the radial control magnetic flux and the axial control magnetic flux, so that the high stability and the reliability of the rotation of the inner rotor and the outer rotor of the electromagnetic shock wave bearing under the dynamic load are always kept.

In the technical scheme, the man-machine interaction system consists of a main DSP Controller (CPU), an LCD display module DM and a system working condition parameter LCD display, wherein the LCD display is connected with the display module DM, and the LCD display module DM is connected with the DSP main Controller (CPU) through a CAN3 bus, so that various technical parameters and operating states in the operation of the movable tooth magnetic levitation flexible joint (MORT) system CAN be displayed or set and adjusted in time.

In the technical scheme, the remote wireless communication system is composed of an embedded ZigBee wireless communication transceiver module, an LCD display module DM and a working condition parameter LCD display in a speed reducer system, wherein the embedded ZigBee wireless communication transmitter module in the speed reducer system is connected with a DSP main Controller (CPU) through a CAN5 bus, the display is connected with the LCD display module DM and is connected with the DSP main Controller (CPU) through a CAN3 bus, and an embedded ZigBee wireless communication receiver module is connected with a system upper computer (computer system), so that the remote communication between a robot movable tooth magnetic levitation flexible joint (MORT) system and each terminal of the industrial Internet of things is realized.

In the technical scheme, the data acquisition and feedback system consists of a displacement sensor, a temperature transmitter, an electronic torque sensor, a photoelectric encoder and a data acquisition and signal conditioning module, wherein the displacement sensor is connected with the data acquisition and signal conditioning module, is connected with a DSP main Controller (CPU) through an RS485 module, the temperature sensor is connected with the temperature transmitter, is connected with the DSP main Controller (CPU) through the RS485 module, and is connected with the DSP main Controller (CPU) through a CAN6 bus, and the photoelectric encoder module is connected with the DSP main Controller (CPU) through a CAN4 bus, so that the real data of the position offset, the rotation speed, the rotation direction and the bearing torque of each electromagnetic shock wave bearing in the robot movable tooth magnetic levitation flexible joint (MORT) system are timely acquired and fed back.

In the technical scheme, the control system consists of a DSP main Controller (CPU), a power management module, a switching value input module and a DAC digital-to-analog conversion module, wherein the power management module and the switching value input module are respectively connected with the DSP main Controller (CPU), the DAC digital-to-analog conversion module is connected with the DSP main Controller (CPU) through a CAN1 bus to form a calculation processing center, data signals respectively collected from each sensor are respectively input into the DSP main Controller (CPU) through the DAC digital-to-analog conversion module to be respectively operated, corresponding execution command signals are respectively sent to corresponding execution driving modules, meanwhile, the data information and the command information are transmitted to a system upper computer (computer system) through an embedded ZigBee wireless communication module and a transmission network thereof, and are transmitted to an industrial Internet of things management terminal through a remote wireless network, so that accurate timely adjustment control of control current and control magnetic flux of each electromagnetic coil in a robot movable tooth magnetic levitation flexible joint (MORT) system is realized, original basis of working condition data and fault analysis CAN be provided for the Internet of things management terminal, management efficiency is improved, and production manufacturing and management operation cost is saved.

In the technical scheme, the mechanism executing system consists of an electromagnetic shock bearing executing system and a servo driving system, and comprises a servo driver, a servo motor, a shock shaft (input shaft), an inner movable gear rack assembly, a second electromagnetic shock bearing, a fourth electromagnetic shock bearing, a first inner shock wheel, a second inner shock wheel, a first inner movable gear, a second inner movable gear, a first inner movable gear shaft, a second inner movable gear shaft, an inner fixed gear assembly, an outer movable gear rack assembly, a first electromagnetic shock bearing, a third electromagnetic shock bearing, a first outer shock wheel, a second outer shock wheel, a first outer movable gear, a second outer movable gear shaft and an outer fixed gear assembly.

The electromagnetic shock bearing execution system consists of power amplifier modules AM1, AM2, AM3, AM4, electromagnetic coils EM1, EM2, EM3, EM4, EM5, EM6, EM7, EM8, EM9, EM10, EM11, EM12, electromagnetic shock bearing outer rotors BE1, BE2, BE3, BE4, electromagnetic shock bearing inner rotor and a shock shaft (input shaft), wherein the input ends of the power amplifier modules are respectively connected with the alternating current output end and the direct current output end of a DAC digital-to-analog conversion module, and are simultaneously connected with a DSP main Controller (CPU) through CAN2 buses, the output ends of the power amplifier modules are respectively connected with corresponding electromagnetic coils, the electromagnetic shock bearing outer rotors BE1 and BE2 corresponding to the electromagnetic coils are correspondingly arranged in eccentric circles of a first inner shock wheel and a second inner shock wheel, the electromagnetic shock bearing rotors BE3 and BE4 are correspondingly arranged in eccentric circles of the first outer shock wheel and the second outer shock wheel respectively, and the corresponding outer rotor rotors are respectively connected with a temperature sensor signal transceiver module 485 through a displacement sensor and a signal transceiver module 485; the servo driving system consists of a servo driving module, a servo motor and a shock wave shaft assembly, wherein the servo driving module is connected with a DSP main Controller (CPU) through a CAN7 bus, the coil input end of the servo motor is connected with the AC output end of the servo driving module, and is connected with a photoelectric encoder through a signal wire, and the electromagnetic coil input end on the electromagnetic shock wave bearing outer rotor assembly is connected with the DC output end of a DAC digital-to-analog conversion module, so that the current and the magnetic flux of each electromagnetic coil are adjusted and controlled, and the parameters of the motion state of each actuator in a robot movable tooth magnetic levitation flexible joint (MORT) system, such as speed vectors, torque sizes, position deviation, temperature change, dynamic load stability and the like are adjusted and controlled.

The working principle and working process of the invention are as follows:

(one), activation of an Electrical control System

And closing a control power switch of a movable tooth magnetic levitation flexible joint (MORT) system of the robot, and confirming that a green light of a normal working indicator lamp is on, wherein a DSP main Controller (CPU) and power supplies of all control systems are connected.

Secondly, working principle and process of man-machine dialogue system

The man-machine interaction system is characterized in that electric signals such as data information and parameters transmitted from each sensor in the data acquisition feedback system are processed through the operation of a DSP main Controller (CPU), image data and working condition parameters of the system are transmitted to a DM (digital control system), namely an LCD display driving module NH12864M, and then transmitted to an LCD display for displaying and storing, and the working condition technical parameters and the position states and position deviations of each shock wave wheel in the flexible joint control system of the movable teeth of the robot are displayed, meanwhile, the working condition technical parameters of the electromagnetic shock wave bearings and the shock wave wheels CAN be modified, adjusted or reset through the LCD display (touch screen), and are transmitted to the DSP main Controller (CPU) through the CAN3 bus, and the DSP main Controller (CPU) transmits different instructions to each execution driving module of an executing mechanism, so that the adjustment of the running state, the running position, the magnetic flux, the dynamic load torque and the running environment temperature of the flexible joint system of the movable teeth of the robot is realized.

Third, working principle and process of remote wireless communication system

The communication system is a remote wireless network communication system comprising an embedded ZigBee wireless communication module and a sensing network thereof, an upper computer (computer system/PC) and a GPRS/4G communication module, and comprises a 4G/5G communication module, an LCD display module NH12864M, LCD display and a main Controller (CPU), when in operation, the running state and the movement position deviation, the magnetic flux, the dynamic load torque, the running environment temperature and other parameter information in the movable tooth magnetic suspension flexible joint system of the robot are transmitted to the ZigBee wireless communication transmitting module and the sensing network thereof from the DSP main Controller (CPU) through a CAN5 bus, then transmitted to the upper computer (computer system/PC) of the movable tooth magnetic suspension flexible joint control system through the ZigBee wireless communication receiving module, and then the computer system is based on the HTTP communication protocol, the system is transmitted to the robot industrial Internet of things server management terminal through a 4G/5G remote communication network, the Internet of things management terminal CAN respectively carry out corresponding data setting modification and storage on the system according to each operation data and parameter and send out corresponding instructions, the Internet of things server management terminal transmits each corresponding instruction to an upper computer (a computer system/PC) of the robot movable tooth magnetic suspension flexible joint control system through a remote wireless communication network based on an MQTT message queue remote sensing transmission technology protocol, the upper computer transmits corresponding instructions to a DSP main Controller (CPU) through a ZigBee wireless transceiver module, a sensor network and a CAN5 bus, carries out comparison and operation processing on the modified or set instruction information, then transmits each information instruction after the processing operation to a DAC module through a CAN1 bus, the data is transmitted to the power amplifier module through the CAN2 bus, is transmitted to the servo driving system of the actuating mechanism through the CAN7 bus, and further drives the actuating mechanism system to execute actions according to instructions, and the data of all working condition parameters are transmitted to the LCD display module NH12864M through the CAN3 bus and are displayed in the LCD display.

Fourth, working principle and process of data acquisition and feedback system

The data acquisition and feedback system consists of a displacement sensor (BL/ZM 1D 2000), a temperature sensor (T/PIC 16F 877), a temperature transmitter, an electronic torque sensor (TN 4000), a photoelectric encoder (E6B 2-CW25B 2000P/R) and a data acquisition and signal conditioning module (DAC 7724), wherein the displacement sensor is connected with the data acquisition and signal conditioning module, then is connected with a DSP main Controller (CPU) through an RS485 module, the temperature sensor is connected with the temperature transmitter, then is connected with the DSP main Controller (CPU) through the RS485 module, the electronic torque sensor module is connected with the DSP main Controller (CPU) through a CAN6 bus, the photoelectric encoder module is connected with the DSP main Controller (CPU) through a CAN4 bus, and the working condition signal parameters fed back by the displacement sensor, the temperature transmitter, the electronic torque sensor and the photoelectric encoder, and instructions transmitted by the switching value input module (HC 202-16) are transmitted to a DSP main Controller (CPU) for classification, comparison and operation processing, then corresponding instructions are transmitted to a DAC digital-to-analog conversion module through a CAN1 bus, then a power amplifier module group in an electromagnetic shock wave bearing system is controlled through a CAN2 bus, a servo driver of a servo driving system in mechanism execution is controlled through a CAN7 bus, corresponding data are transmitted to an LCD display module NH12864M in a man-machine conversation system through a CAN3 bus, and the data are displayed and stored in a working condition parameter LCD display, so that the position offset of each shock wave wheel in a robot movable tooth magnetic levitation flexible joint system, the rotation angle of an electromagnetic shock wave bearing outer rotor, the rotation angle of the electromagnetic shock wave bearing outer rotor are realized, the actual data of the rotation speed, the rotation direction, the bearing torque and the working temperature are timely collected and fed back and are transmitted to the ZigBee wireless communication module and the sensing network thereof through the CAN5 bus, and then are transmitted to an upper computer (computer system/PC) of the control system.

Fifth, working principle and process of DSP main Controller (CPU) control system

The DSP main Controller (CPU) is a command center of the movable tooth magnetic suspension flexible joint control system, and is used for carrying out centralized classification on received instruction information and data parameters fed back by the sensor, carrying out operation processing, and then sending out corresponding execution instructions so as to control the opening, closing, safety and stability of actions of other systems.

The method comprises the steps of classifying, calculating and processing instructions or data transmitted by a CAN4 bus, a CAN6 bus and an RS485 communication module, then sending corresponding instructions, controlling a man-machine conversation system through a CAN3 bus, a CAN1 bus, a CAN2 bus and a CAN7 bus, feeding corresponding data parameters and motion states back to the man-machine conversation system through the CAN3 bus, displaying the data parameters and the motion states in an LCD, transmitting operation state information of the mechanism execution system and the operation state parameters and the operation states in the man-machine conversation system to an embedded ZigBee wireless communication module and a sensing network thereof through a CAN5 bus, transmitting the operation state information and the operation states to an upper computer (a computer system/PC), and transmitting the operation state information and the operation state information to an Internet of things management terminal of the movable tooth magnetic levitation flexible joint system through a remote wireless communication network so as to accurately provide the operation frequency of the system, the original operation state parameters and reliable shared data.

Classifying, comparing and calculating the working condition signal parameters fed back by a displacement sensor (BL/ZM 1D 2000), a temperature sensor (T/PIC 16F 877), a temperature transmitter, an electronic torque sensor (TN 4000), a photoelectric encoder (E6B 2-CW25B 2000P/R) and instructions transmitted by a switching value input module (HC 202-16), then sending out corresponding instructions, respectively controlling a mechanism executing system through a CAN2 bus and a CAN7 bus, transmitting corresponding data to a man-machine dialogue system through a CAN3 bus, displaying and storing the working condition signal parameters and the instructions fed back by the sensors in a working condition parameter LCD display, specifically classifying, comparing and calculating the working condition signal parameters and the instructions fed back by the sensors, and then a corresponding pulse command is sent out, the control of a servo driving system in a mechanism executing system is transmitted to a servo driving module SD through a CAN7 bus, so that a servo motor SM is driven to rotate, a shock wave shaft is driven to rotate under the action of magnetic field force, and simultaneously, a photoelectric encoder EN feeds back parameter information such as the running direction, the running speed and the rotating angle of the servo motor SM to a DSP main Controller (CPU), and for the adjustment of the current of an electromagnetic coil of the electromagnetic shock wave bearing, the DSP main Controller (CPU) transmits the command information to a DAC7724 digital-to-analog conversion module through the CAN1 bus, so that the current size or the current direction of the electromagnetic coil of the electromagnetic shock wave bearing is adjusted.

For the control of the electromagnetic shock wave bearing system in the mechanism execution system, a DSP main Controller (CPU) transmits instruction information to a DAC7724 digital-to-analog conversion module through a CAN1 bus, then corresponding pulse current is respectively transmitted to a power amplifier module AM1, AM2, AM3 and AM4 through a CAN2 bus for amplification, the amplified current is respectively input to electromagnetic coil groups EM1, EM2, EM3, EM4, EM5, EM6, EM7, EM8, EM9, EM10, EM11 and EM12, wherein excitation magnetic fluxes of the electromagnetic coils EM1, EM2 and EM3 act on an electromagnetic shock wave bearing rotor BE1, and excitation magnetic fluxes of the electromagnetic coils EM4, EM5 and EM6 act on a shock wave bearing rotor BE2, excitation magnetic fluxes of electromagnetic coils EM7, EM8 and EM9 act on a shock bearing rotor BE3, excitation magnetic fluxes of electromagnetic coils EM10, EM11 and EM12 act on a shock bearing rotor BE4, wherein electromagnetic shock bearing rotors BE1 and BE2 support an inner shock wheel, and electromagnetic shock bearing rotors BE3 and BE4 support an outer shock wheel, so that adjustment of rotation directions, rotation speeds, position deviations, phase deviations, dynamic load torque, working condition parameters of operating temperature and motion states of the inner shock wheel, an inner oscillating tooth assembly (an inner oscillating gear and an inner oscillating gear shaft) and the outer shock wheel and an outer oscillating tooth assembly (an outer oscillating gear and an outer oscillating gear shaft) is achieved.

The invention CAN timely compare all working condition data of the mechanism executing system and working condition parameter records fed back by each sensor with working condition technical parameters of a preset normal safety requirement, store the working condition parameter records in a DSP main Controller (CPU), respectively calculate corresponding parameter ratios, transmit the corresponding parameter ratios to a man-machine interaction system through a CAN3 bus, display the corresponding parameter data ratios of each system in a display, simultaneously have language or alarm prompt, define the system position where a fault occurs, realize the fault self-diagnosis function, simultaneously CAN query the time of executing action of each mechanism executing system at any time, the environment temperature, the operation workload and the carrying condition of the mechanism executing action of the system, and provide important original basis for technical management personnel to grasp the use working condition and the analysis of maintenance work of the movable tooth magnetic levitation flexible joint system, thereby realizing the fault diagnosis and query function of the control system.

The control system mainly comprises a DSP main Controller (CPU) and various sensor groups, wherein the DSP main Controller (CPU) and the various sensor groups comprise displacement sensors (BL/ZM 1D 2000), temperature sensors (T/PIC 16F 877), temperature transmitters, electronic torque sensors (TN 4000) and photoelectric encoders (E6B 2-CW25B 2000P/R), the working principle and the working process are that when the DSP main Controller (CPU) sends out certain instruction information, a corresponding control system enables the corresponding actuator to execute the instruction action according to the instruction of the information, the sensors arranged on the actuator timely feed back parameters such as angle change vectors, displacement change vectors, speed change vectors, moment change vectors, temperature change values and the like generated during the action of the actuator to the DSP main Controller (CPU), the DSP main controller compares the parameters with corresponding working condition parameters of corresponding preset execution systems through operation processing, and re-sends out corresponding information instructions according to the size of the parameter change values, and enables the corresponding information instructions to be transmitted to the corresponding execution systems through CAN1, CAN bus 7 and the corresponding execution modules and the corresponding execution systems to realize stable and reliable execution of the corresponding control system.

The mathematical model of the control variation of the variable stability is: y=f (x) function

Setting: xo-operating condition parameter value preset by the system

Xn-actual operating mode parameter value during system operation

DeltaY-function value calculated by DSP main controller

Ymax—limit maximum value

Ymin-limit minimum

Then: Δy=f (Xn) -f (Xo)

When Ymin is smaller than delta Y is smaller than Ymax, each corresponding execution system is in a normal and stable working state. When DeltaY is less than or equal to Ymin or DeltaY is more than or equal to Ymax, the corresponding execution systems are in an unstable dangerous critical state, and at the moment, the DSP main Controller (CPU) can send out corresponding instructions to adjust or stop the actions of the corresponding execution mechanisms.

Sixth, working principle of electromagnetic shock wave bearing and motion equation based on same

The design of the electromagnetic shock wave bearing of the movable tooth magnetic suspension flexible joint system adopts a hybrid electromagnetic shock wave bearing with three degrees of freedom of alternating current and direct current as well as radial and axial directions, the axial magnetic buoyancy analysis is as follows, fm is the magnetomotive force provided by a permanent magnet,

the permanent magnet is characterized in that the permanent magnet is used for sending out total magnetic flux, gz1 and Gz2 are respectively left and right axial air gap permeabilities, ga, gb and Gc are respectively radial three air gap permeabilities, nziz is the ampere turn number of an axial control coil, and Naia, nbib, ncic is the ampere turn number of a radial control coil;

Let Sz be the axial single pole area, δz be the axial air gap length, μo be the vacuum permeability, and employ equivalent magnetic circuit method according to magnetic circuit kirchhoff's law Σf=0 and

determining the magnetic flux +.>

According to the basic calculation formula of the resultant force of the rotor subjected to a certain degree of freedom as f=f2-F1 and the magnetic field force ∈ ->

Calculating the magnetic buoyancy of the electromagnetic shock wave bearing on the degree of freedom;

assuming now that the rotor of the electromagnetic shock bearing is offset to the left by Z, the permeance at the axial left and right air gaps is:

Gz1＝μoSz/(δz－Z)

Gz2＝μoSz/(δz+Z)

the magnetic flux at the left and right air gaps in the axial direction is:

the axial synthesized magnetic levitation force of the alternating current-direct current radial and axial three-degree-of-freedom hybrid electromagnetic shock wave bearing is as follows:

under the condition of neglecting the magnetic resistance of a stator in the magnetic suspension bearing, the magnetic induction intensity and the magnetic suspension attraction force of the rotor at the balance position are as follows: b1 =b2, f1=f2

According to the magnetic induction intensity formula:

B＝μoNI/2δ

according to the relationship between magnetic flux and magnetic induction intensity and magnetic pole area:

according to a basic calculation formula of magnetic field force:

deriving

F＝B ² S/μo

F＝μoSN ² I ² /4δ ²

So that the magnetic induction intensity and the magnetic levitation attraction force of the left side and the right side of the rotor are respectively as follows:

B ₁ ＝μoNI ₁ /2δ ₁

B ₂ ＝μoNI ₂ /2δ ₂

in the above formula:

s-permanent magnet pole area (mm) ² )

N-number of turns of electromagnetic coil

I-bias current in coil (A)

Delta-air gap (mm) between rotor and stator

B ₁ Rotor left electromagnetic induction intensity (T)

B ₂ Rotor right electromagnetic induction intensity (T)

F ₁ Rotor left electromagnetic suction (N)

F ₂ Rotor right electromagnetic suction (N)

Mu o-vacuum permeability (mu o=4pi×10) ^-7 H/m)

As is clear from the above, when the rotor of the electromagnetic bearing is at the equilibrium position, the magnetic density of the left and right sides of the rotor, the current of the coils on the two sides, the number of turns of the coils on the two sides, the air gap of the left and right sides, and the magnetic attraction of the left and right sides must be equalized.

In fact, when the rotor of the electromagnetic shock wave bearing is suspended at the balance position, the rotor is subjected to the action of external interference force, so that the rotor generates a certain position deviation, the rotor deviates from the balance position, the deviation is set as delta x (mm), if the direction of the interference force is leftwards, the air gap at the left side of the rotor is reduced to be delta-delta x (mm), the air gap at the right side of the rotor is increased to be delta + delta x (mm), at the moment, the position deviation detected by the displacement sensor is delta x (mm), the generated voltage signal is converted into a corresponding voltage value through the data acquisition and signal conditioning module, the voltage value is compared with a preset voltage value, so as to obtain a voltage value variation delta V (V), the voltage value is subjected to PID regulation through the main Controller (CPU), the control signal is transmitted into the DAC digital-analog conversion module and is subjected to the power amplifier, and the control signal is controlled The control signal is converted into a differential control current Deltai (A), and the differential control current changes and controls the magnitude of the magnetic field force DeltaF (N) thereof, and the electromagnetic attraction force F on the right side ₂ Become large, electromagnetic attraction force F on the left side ₁ And the rotor is reduced, so that the rotor returns to the initial balance position again, and the dynamic balance control of the closed-loop system is completed.

1. The differential control current Δi (a) and the magnetic field force increment Δf (N) are calculated as follows:

wherein:

deltax-displacement of rotor from equilibrium position (mm)

δ ₁ Rotor left air gap (mm)

δ ₂ Rotor right air gap (mm)

I ₁ Rotor left electromagnetic coil current (A)

I ₂ Rotor right electromagnetic coil current (A)

△ _i -differential control current (A)

F ₁ Rotor left electromagnetic suction (N)

F ₂ Rotor right electromagnetic suction (N)

ΔF-increase in magnetic field force (N) (force to return the rotor to the initial equilibrium position)

According to the basic calculation formula of the magnetic field force

△F＝F ₂ －F ₁ And DeltaF > 0, right direction, then

2. Tension analysis of radial electromagnetic shock wave bearing acting on permanent magnet ring

According to Maxwell basic differential equation and air gap medium relation:

D＝εE

B＝μH

J＝σE

wherein:

h-magnetic field strength (A/m)

J-Current Density (A/-square meter)

D-electric displacement vector (C/-square meter)

E-electric field strength (V/m)

B-magnetic induction intensity (T)

ρ -Charge bulk Density (C/m) ³ )

Epsilon-dielectric constant (F/m)

mu-Medium permeability (H/m)

When the dynamic permanent magnet ring and the static permanent magnet ring are coaxial, the radial permanent magnet bearing is in an axisymmetric magnetic field, the corresponding calculation field is an axisymmetric field, if the axisymmetric field is modeled in a roz coordinate system, any vector point A (r, z) is selected in the field, and the vector point A (r, z) meets poisson equation:

1、

2、

3、

wherein:

omega-computational field

Mu-permeability (H/m)

J _c Source current Density (A/-square meter)

S ₁ -boundary of the first kind

K-constant

W _(A) Energy functional

Since the supporting force of the permanent magnet bearing depends on the magnitude of electromagnetic force on the medium interface, according to Maxwell's stress tensor method, the tension force F acting on the permanent magnet ring is:

F＝∮ _s σ·ds

wherein:

f-tension on permanent magnet ring (N)

S-any closed curved surface (present in the air gap around the permanent magnet) surrounding the magnet (mm ² )

Sigma-surface stress tension on the curved surface (N/mm ² )

μ ₀ Air gap permeability (H/m)

n-unit normal vector of curved surface S

According to the magnetic induction intensity formula:

the tension on the permanent magnet ring is:

as can be seen from the above analysis, when the value of W (A) is the minimum min, i.e., when

When, i.e., when the A (r, z) vector point approaches or reaches the maximum media boundary S infinitely ₁ When the tension F on the permanent magnet rings on the stator and the rotor reaches the maximum value, the radial supporting force of the electromagnetic shock wave bearing reaches the maximum value.

3. Radial stiffness analysis of radial electromagnetic shock bearings

For a permanent magnet bearing formed by two coaxial magnetic rings, the axial rigidity and the radial rigidity of the permanent magnet bearing have a mutually restricted relation, and if the axial rigidity is stable, the axial rigidity is unstable; if axially stable, radially unstable. In general, radial electromagnetic shock bearings use their radial stiffness as a primary analytical indicator.

Generally in practical application, the radial stiffness K of the bearing _r The empirical calculation formula is:

wherein the function f (x) is:

wherein x is ₁ 、x ₂ 、x ₃ The values of (2) are d, d+h and d-h respectively,

wherein: k=j·n, j is the face pole density of the magnet, n is the surface normal of the magnet, μ ₀ Is the magnetic permeability of an air gap, R _m The average radius of the bearing is h is the thickness of the magnet, l is the width of the magnet, d is the axial displacement, g is the working air gap, and the axial force is F _z 。

From the above analysis, when the axial displacement d=0, the axial bearing force is F _z =0, at this time, the axisRadial stiffness K of the bearing _r Reaching a maximum value K _r (max), axial bearing force F _z Increasing with increasing axial displacement d value, whereas the radial stiffness K _r Decreasing with increasing d value, thus increasing R under certain conditions _m The geometric dimensions of h and l or g and d can be reduced, so that the radial rigidity K of the magnetic suspension bearing can be effectively improved _r The radial bearing capacity of the bearing is increased.

Seventh, analysis of magnetic field and electromagnetic torque of load air gap of outer rotor of electromagnetic shock wave bearing

Because the load magnetic field is changed along with the rotation position of the outer rotor and the current instantaneous value of the electromagnetic coil winding, the load magnetic field is a composite magnetic field formed by superposition of a permanent magnet bias magnetic field and a control magnetic field generated by energizing the electromagnetic coil winding, and under the condition that the magnetic conductivity of a coil winding iron core is assumed to be infinity, the radial component of the air gap flux density at the inner radius r of an air gap is set to be B _r Scalar magnetic potential in the air gap is m, and maximum outer diameter of the coil is 2R _r The minimum inner diameter of the outer rotor is 2R _s And R is _s -R _r Alpha is the span angle of a single permanent magnet and alpha is the working air gap between the inner rotor and the outer rotor _y The span angle of a single-turn coil is i is the coil current, mu ₀ For the air gap permeability, the radial component B of the air gap flux density generated by the single-turn coil can be known according to the fact that the scalar magnetic potential in the air gap meets the Laplacian equation _r The method comprises the following steps:

in the case of neglecting core magnetic saturation, N _s I is the number of turns of the energizing coil _t For instantaneous value of current, alpha, of coil phase winding ₀ For the width angle of the coil slot b ₀ For the width of the notch, n is the number of parallel branches of the coil winding, the coil current in the coil slot can be equivalent to a current sheet J on the surface of a smooth coil _(t) And the width of the current sheet and the width b of the notch ₀ Equal, its current piece distributes as:

the coil winding is designed as a double-layer superposition winding, and is provided with 2P coil groups in P pairs of pole coil windings, each coil group is provided with q coils, and alpha is _t For the coil slot angle, the axis of the a-phase coil winding is taken as a polar coordinate axis, 2P coil groups on the a-phase coil winding are symmetrically distributed on the inner rotor due to the symmetry of the spatial distribution of the coil winding, and are separated from each other by pi/P space angles,

as a function of air gap relative specific conductance (correction factor), when the a-phase coil winding has instantaneous current i _a When passing through, the coil reaction magnetic field B generated at the radius r in the air gap _ra (r, α, t) is:

the same method can be used to obtain the b-phase and c-phase coil windings with instantaneous current i _b 、i _c When passing through, the coil reaction magnetic field generated at the radius r in the air gap is B _rb (r,α,t)、B _rc (r,α,t)。

Because the inner rotor and outer rotor load air gap magnetic fields are formed by superposing permanent magnet bias magnetic fields and coil reaction magnetic fields, if the axis of an a-phase coil winding is taken as a polar coordinate axis, and when the N-pole axis of an outer rotor permanent magnet is coincident with the axis of the a-phase coil winding, the axis is taken as the rotation starting moment (namely t=0), when the outer rotor rotates to be positioned at a gamma angle position, the load magnetic field B in the air gap _load (r, α, γ) is:

wherein: gamma=ω·t, B _load (r, alpha-gamma) is the bias magnetic field generated by the permanent magnet rings of the inner and outer rotors in the air gap when the outer rotor rotates to be positioned at the gamma angle position, omega is the angular velocity of the outer rotor, and when the electromagnetic shock wave bearing is positioned outside the electromagnetic shock wave bearing according to the electromagnetic force f= Bil generated by the energizing coil and the rotating torque t=f·rElectromagnetic torque T of rotor _(t) The method comprises the following steps:

wherein: i.e _a (α,t)、i _b (α,t)、i _c And (alpha, t) are the current space distribution of the phase a phase, the phase b phase and the phase c phase coil at the time t respectively, and l is the effective iron core length of the coil.

Under the condition of constant power operation of the servo motor, the relation between the electromagnetic torque of the load air gaps of the inner rotor and the outer rotor of the electromagnetic shock wave bearing, the angular velocity of the electromagnetic torque and the current of each electric coil winding communicated with the electromagnetic torque is further analyzed, and the power output by the servo motor at the time t is set as P _e ^(t) Angular velocity of omega _e ^(t) The load torque is T _e ^(t) The method comprises the steps of carrying out a first treatment on the surface of the The output power of the inner rotor is P _n ^(t) Angular velocity of omega _n ^(t) The load torque is T _n ^(t) The method comprises the steps of carrying out a first treatment on the surface of the The output power of the outer rotor is P _w ^(t) Angular velocity of omega _w ^(t) The load torque is T _w ^(t) The relationships between them are:

P _e ^(t) ＝T _e ^(t) ·ω _e ^(t)

P _n ^(t) ＝T _n ^(t) ·ω _n ^(t)

P _w ^(t) ＝T _w ^(t) ·ω _w ^(t)

due to P _e ^(t) ＝P _n ^(t) ，ω _e ^(t) ＝ω _n ^(t) Torque T of the servo motor _e ^(t) Load torque T with inner rotor _n ^(t) The values of the two are equal to each other,

because R is _r ＜R _s ,

In accordance with the principle of the present invention,

so T is _n ^(t) ＜T _w ^(t) Due to P _n ^(t) ＝P _w ^(t) Then:

ω _w ^(t) ＜ω _n ^(t) ，

the description above shows that at constant power P of the servo motor _e ^(t) In the case of an external oscillating carrier assembly load torque T _w ^(t) Load torque T greater than internal gear assembly _n ^(t) While the angular velocity ω of its rotation _w ^(t) Less than the angular velocity omega of the internal gear assembly _n ^(t) Thereby realizing that the inner rotor and the outer rotor rotate at different angular speeds, and under the condition that other conditions are not changed, the current i of each phase winding coil is only regulated _t Can change the torque T of the external shock wave wheel _w ^(t) Thereby changing the angular velocity omega of the outer movable rack assembly _w ^(t) The size of the internal movable gear rack assembly and the external movable gear rack assembly, thereby realizing stepless adjustment of radial vectors of the internal movable gear rack assembly and the external movable gear rack assembly, and further realizing flexible engagement of the internal movable gear and the internal fixed gear and flexible engagement of the external movable gear and the external fixed gear.

The current of each phase winding coil is regulated by processing input signals of a position sensor and a torque sensor through a main Controller (CPU), sending corresponding instructions to a DAC digital-to-analog conversion module, transmitting the instructions to a power amplifier to regulate the current, simultaneously realizing control of a switch circuit, correctly judging the electrifying or de-electrifying condition of each phase winding coil, further changing the logical sequence of current conduction of each winding coil, realizing current commutation of each winding, thus realizing that an outer rotor rotates clockwise or anticlockwise, and regulating the rotation direction or torque of an inner rotor.

The foregoing examples are set forth in order to provide a more thorough description of the present invention, and are not intended to limit the scope of the invention, since modifications of the present invention, in which equivalents thereof will occur to persons skilled in the art upon reading the present invention, are intended to fall within the scope of the invention as defined by the appended claims.

Claims

1. The flexible joint system is characterized by comprising a mechanical and electromagnetic magnetic levitation transmission system, wherein the mechanical and electromagnetic magnetic levitation transmission system comprises an inner movable tooth magnetic levitation transmission speed reducing structure positioned at the inner side and an outer movable tooth magnetic levitation transmission speed reducing structure positioned at the outer side;

the inner movable tooth magnetic levitation transmission speed reducing structure comprises a shock wave shaft (46), an inner shock wave wheel flexibly supported on the shock wave shaft (46) through a shock wave bearing, an inner fixed gear (3), an inner fixed gear left connecting flange (55), an inner fixed gear right connecting flange (28), an inner movable gear rack (40), an inner movable gear rack left force transmission disc (48) and an inner movable gear rack right force transmission disc (14); the inner movable rack (40) is respectively and fixedly connected with the left force transmission disc (48) and the right force transmission disc (14) of the inner movable rack through fasteners to form an inner movable rack assembly; the internal gear (3) is respectively and fixedly connected with the left internal gear connecting flange (55) and the right internal gear connecting flange (28) through fasteners to form an internal gear assembly; the inner movable rack assembly is supported in an inner cavity of the inner fixed gear assembly;

The outer oscillating tooth magnetic levitation transmission speed reducing structure comprises an outer shock wave wheel flexibly supported on an inner fixed gear (3) through a shock wave bearing, an outer fixed gear (33), an outer fixed gear left connecting flange (35), an outer fixed gear right connecting flange (11), an outer oscillating gear frame (6), an outer oscillating gear frame left force transmission disc (51), an outer oscillating gear frame right force transmission disc (15) and a conductive slip ring assembly; the outer movable rack (6) is respectively and fixedly connected with the left force transmission disc (51) and the right force transmission disc (15) of the outer movable rack through fasteners to form an outer movable rack assembly; the external fixed gear (33) is respectively in fastening connection with the left external fixed gear connecting flange (35) and the right external fixed gear connecting flange (11) through fasteners to form an external fixed gear assembly; the outer movable gear rack assembly is supported in an inner cavity of the outer fixed gear assembly;

one end of the shock wave shaft (46) is arranged in the inner cavity of the left force transmission disc (48) of the inner movable gear rack through a bearing, the other end of the shock wave shaft is arranged in the corresponding inner holes of the right connecting flange (28) of the inner fixed gear and the bearing seat (18) through a bearing, and the bearing seat (18) is arranged on the end face of the right connecting flange (28) of the inner fixed gear through a fastener; the conductive slip ring assembly (20) is fixed on the end face of the bearing seat (18) through a fastener;

The left force transmission disc (51) of the outer movable gear frame is supported on the left connecting flange (55) of the inner fixed gear through a bearing, and the right force transmission disc (15) of the outer movable gear frame is supported on the right connecting flange (28) of the inner fixed gear through a bearing; the outer shock impeller is arranged on the outer circle of the internal fixed gear (3), and the left force transmission disc (48) of the internal movable rack is fixed with the left connecting flange (35) of the external fixed gear; the outer circle central axis of the internal fixed gear (3) is eccentrically arranged with the central axis of the rotation of the internal fixed gear;

the internal movable gear and the external movable gear are round idler wheels, the internal shock wheel and the external shock wheel are eccentric discs, the shock wave bearing is an electromagnetic shock wave bearing, the superposition track generated by the respective motion of the internal movable gear and the internal shock wheel is used as the accurate tooth profile envelope of the internal fixed gear (3), and the superposition track generated by the respective motion of the external movable gear and the external shock wheel is used as the accurate tooth profile envelope of the external fixed gear;

the main shaft of the servo motor rotates and transmits to a shock wave shaft (46), and transmits to an inner shock wave wheel through an electromagnetic shock wave bearing and drives an inner movable gear to rotate, so as to drive an inner fixed gear (3) to rotate, and a rotation vector drives an outer movable gear to rotate through an outer shock wave wheel and make circular motion along the tooth profile curve of the outer fixed gear, and then is output through an outer movable gear frame right force transmission disc (15).

2. The robotic movable tooth magnetic levitation flexible joint system of claim 1, wherein the inner movable gear comprises a first inner movable gear (1) and a second inner movable gear (29) mounted on an inner movable tooth rack assembly by respective gear shafts, and the outer movable gear comprises a first outer movable gear (4) and a second outer movable gear (31) mounted on an outer movable tooth rack assembly by respective gear shafts; the inner shock wheels comprise a first inner shock wheel (52) arranged on the outer rotor of the fourth electromagnetic shock bearing (53) and a second inner shock wheel (25) arranged on the outer rotor of the second electromagnetic shock bearing (26); the external shock wave wheel comprises a second external shock wave wheel (9) arranged on the external rotor of the first electromagnetic shock wave bearing (10) and a first external shock wave wheel (37) arranged on the external rotor of the third electromagnetic shock wave bearing (38);

the first internal movable gear (1), the second internal movable gear (29) and the corresponding gear shafts are respectively arranged in the roller grooves and the pin roll grooves on the left side and the right side of the internal movable gear rack assembly; the first outer movable gear (4), the first outer movable gear shaft (5), the second outer movable gear (31) and the second outer movable gear shaft (32) are respectively arranged on the outer movable gear frame assembly; the inner rotor of the third electromagnetic shock wave bearing (38) and the inner rotor of the first electromagnetic shock wave bearing (10) are respectively arranged on two eccentric excircles of the internal fixed gear (3), and the eccentric positions of the first external shock wave wheel (37) and the second external shock wave wheel (9) are mutually staggered by 180 degrees; the inner rotor of the fourth electromagnetic shock wave bearing (53) and the inner rotor of the second electromagnetic shock wave bearing (26) are respectively arranged on two eccentric cylinders of the shock wave shaft (46), and the eccentric positions of the first inner shock wave wheel (52) and the second inner shock wave wheel (25) are staggered by 180 degrees.

3. The flexible joint system of the movable teeth of the robot according to claim 1, wherein a second sealing ring (44), a bearing and a second bushing (50) are arranged at the position of the left force transmission disc (48) of the inner movable tooth frame corresponding to the shock wave shaft (46); the bearing seat (18), the right force transmission disc (14) of the inner movable gear frame, the shock shaft (46) and the right connecting flange (28) of the inner fixed gear are provided with a first sealing ring (21), a bearing and a first bushing (23) at corresponding positions.

4. The robotic tooth magnetic levitation flexible joint system of claim 1, wherein the electromagnetic shock bearing comprises a first axial stator (B01), a second axial stator (B04), a first axial electromagnetic coil set (B08), a second axial electromagnetic coil set (B03), a permanent magnet ring (B02), a radial stator (B12), a radial electromagnetic coil set (B11), a displacement sensor (B06), a rotor (B10), and a fastener;

the first axial electromagnetic coil group (B08) is embedded and wound on the circumference of the inner ring of the first axial stator (B01), and the second axial electromagnetic coil group (B03) is embedded and wound on the circumference of the inner ring of the second axial stator (B04); the radial electromagnetic coil groups (B11) are equally distributed along the circumference and uniformly embedded and wound in the axial grooves of the radial stator (B12) to form a radial stator assembly; the displacement sensor (B06) is arranged in a radial groove of the radial stator (B12), and the permanent magnet ring (B02), the rotor (B10) and the radial stator assembly are respectively arranged between the first axial stator (B01) and the second axial stator (B04) and are connected and fastened through fasteners.

5. The flexible joint system of movable teeth of a robot according to claim 1, wherein the inner shock wheel is flexibly supported on the shock shaft through an electromagnetic shock bearing, the outer shock wheel is flexibly supported on the eccentric outer circle of the inner fixed gear through the electromagnetic shock bearing, and the radial control magnetic flux and the axial control magnetic flux are changed by adjusting the current of the coil of the electromagnetic shock bearing, so as to control the rotation coaxiality and the position degree between the rotor and the radial stator and between the rotor and the axial stator, and the radial and axial runout and the position error of the inner shock wheel and the outer shock wheel during the rotation dynamic load.

6. The robotic tooth system according to any one of claims 1-5, further comprising an intelligent control electrical system consisting essentially of a human-machine dialogue system, a remote wireless communication system, a data acquisition feedback system, a control system, and a mechanism execution system;

the remote wireless communication system is used for realizing remote communication between the movable tooth magnetic levitation flexible joint system of the robot and each terminal of the industrial Internet of things;

The data acquisition and feedback system is used for timely acquiring and feeding back the actual data of the position offset, the rotation speed, the rotation direction, the bearing torque and the working temperature of each electromagnetic shock wave bearing in the movable tooth magnetic levitation flexible joint system of the robot;

the control system is used for realizing accurate timely adjustment and control of the control current and the control magnetic flux of each electromagnetic coil in the movable tooth magnetic levitation flexible joint system of the robot;

The servo driving system is used for adjusting and controlling the current and the magnetic flux of each electromagnetic coil.

7. The flexible joint system of the movable teeth of the robot according to claim 6, wherein the remote wireless communication system comprises an embedded ZigBee wireless communication transceiver module, an LCD display module DM and a working condition parameter LCD display in a speed reducer system; the embedded ZigBee wireless communication transmitting module in the speed reducer system is connected with the main controller through a bus, the display is connected with the LCD display module DM and is connected with the main controller through the bus, and the embedded ZigBee wireless communication receiving module is connected with the upper computer of the system.

8. The flexible joint system of the movable teeth of the robot according to claim 6, wherein the data acquisition and feedback system comprises a displacement sensor, a temperature transmitter, an electronic torque sensor, a photoelectric encoder, a data acquisition and signal conditioning module; the displacement sensor is connected with the data acquisition and signal conditioning module, the temperature sensor is connected with the temperature transmitter through the RS485 module, the temperature sensor is connected with the main controller through the RS485 module, the electronic torque sensor module is connected with the main controller through a bus, and the photoelectric encoder module is connected with the main controller through the bus, so that the position offset, the rotation speed, the rotation direction, the bearing torque and the actual data of the working temperature of each electromagnetic shock wave bearing in the movable tooth magnetic suspension flexible joint system of the robot are timely acquired and fed back.

9. The flexible joint system of the movable teeth of the robot according to claim 6, wherein the control system comprises a main controller, a power management module, a switching value input module and a DAC digital-to-analog conversion module; the power management module and the switching value input module are respectively connected with the main controller, the DAC digital-to-analog conversion module is connected with the main controller through a bus to form a calculation processing center, data signals respectively acquired from each sensor are respectively input into the main controller through the DAC digital-to-analog conversion module to be respectively subjected to operation processing, corresponding execution driving modules respectively send corresponding execution instruction signals, and meanwhile, the data information and the instruction information are transmitted to a system upper computer through the embedded ZigBee wireless communication module and a transmission network thereof, and are transmitted to the industrial Internet of things management terminal through a remote wireless network.

10. The robotic tooth system according to claim 6, wherein the servo drive system includes a servo drive module, a servo motor, and a shock axis assembly; the servo driving module is connected with the main controller through a bus, the coil input end of the servo motor is connected with the alternating current output end of the servo driving module, and is connected with the photoelectric encoder through a signal wire, and the electromagnetic coil input end on the electromagnetic shock wave bearing outer rotor assembly is connected with the direct current output end of the DAC digital-to-analog conversion module.