CN215010004U - Two-stage magnetic gear transmission motor for robot joint - Google Patents
Two-stage magnetic gear transmission motor for robot joint Download PDFInfo
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- CN215010004U CN215010004U CN202023312848.8U CN202023312848U CN215010004U CN 215010004 U CN215010004 U CN 215010004U CN 202023312848 U CN202023312848 U CN 202023312848U CN 215010004 U CN215010004 U CN 215010004U
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Abstract
The utility model relates to a second grade magnetic gear drive motor towards robot joint, a serial communication port, the motor is including separating the solid fixed ring of magnetism, separates the solid fixed ring periphery of magnetism and sets up vernier motor part, separates the solid fixed ring of magnetism and sets up magnetic gear part in week, and vernier motor part includes stator winding, and the stator winding periphery sets up vernier motor rotor, sets up vernier motor stator core in the stator winding. The utility model has the advantages as follows: 1. the two-stage magnetic gear transmission motor for the robot joint expands the speed reduction transmission characteristic, the intrinsic flexibility and the inherent overload protection characteristic of a magnetic gear to the field of man-machine integration, and lays a foundation for the design and the application of a novel robot integrated joint; 2. the two-stage magnetic gear transmission motor facing the robot joint combines a magnetic gear and a vernier motor into a whole with a compact structure, has the characteristic of large transmission ratio, realizes the purposes of reducing speed and improving torque under the condition of not using a mechanical gear reducer, and achieves the direct driving effect.
Description
Technical Field
The utility model belongs to the technical field of the robot is melted altogether to the people, relate to towards articulated second grade magnetic gear drive motor of robot.
Background
At present, a robot joint realizes transmission through shaft coupling by a motor and a speed reducer. On one hand, the structure, volume and mass of the joint are restricted by non-functional parts, and the joint is large in volume and heavy in mass; on the other hand, the speed reducer is manufactured by using a conventional mechanical gear, and the contact engagement of the mechanical gear inevitably causes problems of friction, heat generation, vibration, noise, and the like, and requires periodic lubrication and maintenance.
Compared with a mechanical gear, the magnetic gear has obvious advantages that (1) the magnetic gear has transmission ratio and can replace the mechanical gear to realize low-speed and high-torque transmission; (2) the input shaft and the output shaft of the magnetic gear are mutually isolated, the speed and the torque are transmitted through magnetic coupling, the non-contact friction-free transmission is realized, the transmission efficiency is high, the noise is low, the lubrication is avoided, and the maintenance is less; (3) the magnetic gear has flexibility and overload protection characteristics, meets the requirement of intrinsic safety of the man-machine co-fusion robot, and can relieve impact strength by virtue of intrinsic flexibility during collision; (4) the coaxial magnetic gear is easy to couple with the permanent magnet brushless motor to form a highly integrated magnetic gear composite motor, and the requirement of compact structure of the lightweight integrated joint is met.
However, for a traditional single-stage magnetic gear, the transmission ratio is relatively small, and is generally 2-12. For robot joint applications, magnetic gears are required to have a large transmission ratio.
Disclosure of Invention
The utility model discloses to prior art's not enough, combine magnetic gear structure advantage, provide one kind towards articulated second grade magnetic gear drive motor of robot, satisfy big drive ratio magnetic gear and use.
According to the utility model provides a technical scheme: the utility model provides a two-stage magnetic gear drive motor towards robot joint, its characterized in that, the motor is including separating the solid fixed ring of magnetism, it sets up vernier motor part to separate the solid fixed ring periphery of magnetism, it sets up magnetic gear part to separate the solid fixed ring internal periphery of magnetism.
As the utility model discloses a further improvement, the vernier motor part includes vernier motor stator core, vernier motor stator core stator inslot sets up stator winding, vernier motor stator core periphery sets up vernier motor rotor.
As a further improvement of the present invention, the magnetic gear member includes a high-speed rotor, the high-speed rotor periphery is sequentially provided with a magnetic modulating ring rotor, a stator permanent magnet ring and a stator permanent magnet ring back iron from inside to outside.
As the utility model discloses a further improvement, vernier motor rotor comprises vernier motor rotor core and vernier motor rotor permanent magnet, vernier motor rotor permanent magnet adopts the embedded form of homopolar permanent magnet, inlay in space between the vernier motor rotor core utmost point.
As a further improvement of the utility model, the vernier motor component adopts an outer rotor form, and the stator teeth adopt an open slot structure.
As a further improvement, the high-speed rotor does the inner rotor of the magnetic gear component, the magnetic ring rotor of adjusting is low-speed rotor, output torque and rotational speed, stator permanent magnetic ring gluing in stator permanent magnetic ring back iron internal surface constitutes the fixed external rotor of magnetic gear component.
As a further improvement of the present invention, the vernier motor rotor is fixedly connected to the high-speed rotor.
As a further improvement of the present invention, the stator core of the vernier motor and the back iron of the permanent magnet ring of the stator are fixedly connected to the magnetic isolation fixing ring to form the stator core.
As a further improvement, the permanent magnet material adopts neodymium iron boron, and rotor permanent magnet core and stator core material adopt the silicon steel sheet.
The positive progress effect of this application lies in:
the utility model has the advantages as follows: 1. The two-stage magnetic gear transmission motor for the robot joint expands the speed reduction transmission characteristic, the intrinsic flexibility and the inherent overload protection characteristic of a magnetic gear to the field of man-machine integration, and lays a foundation for the design and the application of a novel robot integrated joint; 2. the two-stage magnetic gear transmission motor facing the robot joint combines a magnetic gear and a vernier motor into a whole with a compact structure, and achieves the purposes of reducing speed and improving torque under the condition of not using a mechanical gear reducer, thereby achieving the direct driving effect; 3. the two-stage magnetic gear transmission motor for the robot joint overcomes the defect of small transmission ratio of the existing single-stage magnetic gear (motor), adopts a two-stage magnetic gear transmission mode, has the characteristics of low speed and large torque, and meets the requirements of a human-machine co-fusion robot.
Drawings
FIG. 1 is a cross-sectional view of a two-stage magnetic gear motor.
Fig. 2 shows a two-stage magnetic gear motor shared rotor.
Fig. 3 is a two-stage magnetic gear motor stator.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances for purposes of describing the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover such processes, methods, systems, articles, or apparatus that comprise a list of steps or elements, are not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such processes, methods, articles, or apparatus.
In fig. 1-3, the magnetic field-isolating vernier motor comprises a vernier motor rotor 1, a stator winding 2, a stator core 3, a stator permanent magnet ring 4, a magnetic field-modulating ring rotor 5, a high-speed rotor 6, a vernier motor rotor core 101, a vernier motor rotor permanent magnet 102, a vernier motor stator core 301, a magnetic field isolating fixing ring 302, a stator permanent magnet ring back iron 303, a high-speed rotor permanent magnet 601, a high-speed rotor permanent magnet back iron 602, and the like.
As shown in fig. 1-3, the utility model relates to a two-stage magnetic gear drive motor towards robot joint, including outside vernier motor part, separate solid fixed ring 302 of magnetism, inside magnetic gear part, be single stator, three rotors and three-layer air gap form.
The magnetic gear component of the two-stage magnetic gear transmission motor facing the robot joint comprises a high-speed rotor 6, a magnetic adjusting ring rotor 5, a stator permanent magnet ring 4 and a stator permanent magnet ring back iron 303. The periphery of the high-speed rotor 6 is sequentially provided with a magnetic adjusting ring rotor 5, a stator permanent magnet ring 4 and a stator permanent magnet ring back iron 303 from inside to outside. The high-speed rotor 6 consists of a high-speed rotor permanent magnet 601 and a high-speed rotor permanent magnet back iron 602, and the high-speed rotor permanent magnet 601 is glued on the outer surface of the high-speed rotor permanent magnet back iron 602; the stator permanent magnet ring 4 is glued to the inner surface of the stator permanent magnet ring back iron 303 to form a fixed outer rotor of the magnetic gear component. The pole pair number P6 of the high-speed rotor 6, the pole block number N5 of the magnetic adjusting ring rotor 5 and the pole pair number P4 of the stator permanent magnet ring 4 structurally meet the following requirements:
P6 + P4 = N5
the flux ring rotor 5 serves as a low-speed output rotor of the magnetic gear member. The transmission ratio of the magnetic gear component is as follows:
Gmg = N5 / P6
the high-speed rotor 6 and the magnetic adjusting ring rotor 5 rotate in the same direction.
The vernier motor component of the two-stage magnetic gear transmission motor facing the robot joint comprises a vernier motor rotor 1, a stator winding 2 and a vernier motor stator core 301.
The vernier motor rotor permanent magnet 102 is made of neodymium iron boron. The vernier motor stator core 301 and the vernier motor rotor core 101 are made of silicon steel sheets respectively.
The number of pole pairs P1 of the vernier motor rotor 1, the number of stator teeth N3 of the vernier motor stator core 301 and the number of pole pairs P2 of the stator winding 2 structurally satisfy the following conditions:
P1 + P2 = N3
the transmission ratio of the vernier motor part is as follows:
Gvm = – P1 / P2
the negative sign indicates that the rotor 1 of the vernier motor is opposite to the direction of the rotating magnetic field of the stator.
As shown in fig. 2, a vernier motor rotor 1 of a two-stage magnetic gear transmission motor facing a robot joint is fixedly connected with a high-speed rotor 6 of a magnetic gear component. As shown in fig. 3, a stator permanent magnet ring back iron 303 and a vernier motor stator core 301 of the two-stage magnetic gear transmission motor facing the robot joint are fixedly connected to a magnetic isolation fixing ring 302 to form a stator core 3. The transmission ratio of the two-stage magnetic gear transmission motor facing the robot joint is as follows:
Gr = Gmg ∙ Gvm = – N5 ∙ P1 / (P6 ∙ P2)
thereby realizing the two-stage magnetic gear transmission.
The working principle of the two-stage magnetic gear transmission motor facing the robot joint is that three-phase alternating current with the frequency f is conducted to the stator winding 2 on the stator iron core 3, so that a rotating magnetic field with the rotating speed Ve =60f/P2 is generated, the cursor motor rotor 1 is driven to rotate at the rotating speed Vh = Ve/Gvm, and the electromagnetic torque generated by the cursor motor rotor 1 is Th. Since the vernier motor rotor 1 is fixedly connected with the high-speed rotor 6, the rotating speed of the high-speed rotor 6 is Vh = Ve/Gvm. Under the action of the magnetic gear component, the output speed of the magnet adjusting ring rotor 5 is Vo = Vh/Gmg = Ve/Gr, and the output torque is To = GmbTh.
The two-stage magnetic gear transmission motor facing the robot joint can be provided with an encoder at one end of the high-speed rotor 6 to realize servo control or directly adopt a sensorless control mode.
It is to be understood that the above embodiments are merely exemplary embodiments that have been employed to illustrate the principles of the present invention, and that the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (6)
1. The two-stage magnetic gear transmission motor facing the robot joint is characterized by comprising a magnetism isolating fixing ring (302), wherein a vernier motor part is arranged on the outer periphery of the magnetism isolating fixing ring (302), and a magnetic gear part is arranged on the inner periphery of the magnetism isolating fixing ring (302);
the vernier motor component comprises a vernier motor stator core (301), a stator winding (2) is arranged in a stator slot of the vernier motor stator core (301), and a vernier motor rotor (1) is arranged on the periphery of the vernier motor stator core (301);
the magnetic gear component comprises a high-speed rotor (6), and the periphery of the high-speed rotor (6) is sequentially provided with a magnetic adjusting ring rotor (5), a stator permanent magnet ring (4) and a stator permanent magnet ring back iron (303) from inside to outside;
the vernier motor rotor (1) is fixedly connected with the high-speed rotor (6);
vernier motor stator core (301) with stator permanent magnet ring back iron (303) link firmly in separate solid fixed ring (302), constitute stator core (3).
2. The robot joint-oriented two-stage magnetic gear drive motor of claim 1, wherein: the vernier motor rotor (1) is composed of a vernier motor rotor iron core (101) and vernier motor rotor permanent magnets (102), wherein the vernier motor rotor permanent magnets (102) are embedded in permanent magnets with the same polarity in a gap between iron core poles of the vernier motor rotor iron core (101).
3. The robot joint-oriented two-stage magnetic gear drive motor of claim 1, wherein: the vernier motor component adopts an outer rotor form, and the stator teeth adopt an open slot structure.
4. The robot joint-oriented two-stage magnetic gear drive motor of claim 1, wherein: the high-speed rotor (6) is an inner rotor of the magnetic gear component, the magnetic adjusting ring rotor (5) is a low-speed rotor and outputs torque and rotating speed, and the stator permanent magnet ring (4) is glued on the inner surface of the stator permanent magnet ring back iron (303) to form a fixed outer rotor of the magnetic gear component.
5. The robot joint-oriented two-stage magnetic gear drive motor of claim 2, wherein: the rotor permanent magnet (102) of the vernier motor is made of neodymium iron boron.
6. The robot joint-oriented two-stage magnetic gear drive motor according to claim 1 or 2, wherein: the vernier motor stator core (301) and the vernier motor rotor core (101) are made of silicon steel sheets respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023312848.8U CN215010004U (en) | 2020-12-31 | 2020-12-31 | Two-stage magnetic gear transmission motor for robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023312848.8U CN215010004U (en) | 2020-12-31 | 2020-12-31 | Two-stage magnetic gear transmission motor for robot joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215010004U true CN215010004U (en) | 2021-12-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023312848.8U Active CN215010004U (en) | 2020-12-31 | 2020-12-31 | Two-stage magnetic gear transmission motor for robot joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215010004U (en) |
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2020
- 2020-12-31 CN CN202023312848.8U patent/CN215010004U/en active Active
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