JP5177670B2 - Magnetic wave gear device and magnetic transmission speed reducer - Google Patents

Description

  The present invention relates to a magnetic wave gear device using a magnetic machine transmission mechanism.

  Conventionally, motors have been used as power sources in various fields. Also, a high rotational speed is required to drive the motor with high efficiency. On the other hand, loads driven by motors often require low speed and high torque (electronic locks, robot arms, etc.).

  For applications that require low-speed drive, direct drive motors that can directly drive loads have also been proposed. However, such direct drive motors have problems such as large volume with respect to output, large heat generation at low speed, and difficulty in control. For this reason, in many applications, it is effective to use a reduction gear combined with a motor driven at a high speed. The required performance of the reducer includes the reduction ratio (input speed / output speed), transmission efficiency (output energy / input energy), allowable torque, allowable speed, degree of backlash, size, cost, and durability. Sex and so on.

  Of the reduction gears described above, mechanical types are the mainstream, and mechanical force transmission mechanisms and reduction mechanisms include spur gears, planetary gears, mysterious planetary gears, cycloid reduction gears, and more recently, harmonic gear wave gear devices. Has been developed. However, since these speed reduction mechanisms are mechanical contact types, they are inefficient and have problems such as vibration, noise, and life.

  In recent years, along with higher performance of magnets (for example, development of NbFeB-based high-energy rare earth magnets), magnetic machine transmission mechanisms using magnetic gears have been developed. Such a magnetic transmission mechanism is disclosed in, for example, Patent Documents 1 to 4 and Non-Patent Documents 1 to 3.

  The magnetic transmission mechanism that transmits torque by magnetic force does not involve mechanical contact, so it can achieve high transmission efficiency, and also has the advantages of low vibration and low noise, no dust generation, wear-free and maintenance-free. . In addition, when a torque exceeding the allowable torque is generated, the driving force is not transmitted because the magnetic teeth are disengaged (sliding the magnetic teeth). Since the gears are not engaged, the gears are not damaged, and the torque limiter function is provided.

  However, in the magnetic transmission mechanisms disclosed in the above Patent Documents 1 to 4 and Non-Patent Documents 1 to 3, the magnetic teeth themselves are formed by permanent magnets, so that it takes a manufacturing cost to form a large number of magnetic teeth. There's a problem. That is, since the structure is complicated such as the complex multipolar magnetization of the magnet, the manufacturing cost increases. Further, the permanent magnet cannot be processed in the same manner as normal metal processing, and there is a problem that processing accuracy is lowered.

  The present inventors have proposed a new magnetic wave gear device that can solve these problems in Non-Patent Document 4. The structure of the magnetic wave gear device proposed in Non-Patent Document 4 is shown in FIGS. The wave gear device has an advantage that a large reduction ratio can be obtained even if it is small.

  The magnetic wave gear device includes a high speed rotor 100, a low speed rotor 110, and a fixed portion 120, as shown in FIGS. FIG. 9 is a top view of the magnetic wave gear device, and FIG. 10 is a cross-sectional view.

  The high-speed rotor 100 is a member disposed on the innermost periphery, and is configured by laminating a permanent magnet 101 and two magnetic bodies 102 and 103 in the rotation axis direction. The permanent magnet 101 is polarized along the rotation axis direction. The magnetic body 102 is attached to one magnetic pole (S pole in FIG. 10) side of the permanent magnet 101, and the magnetic body 103 is attached to the other magnetic pole (N pole in FIG. 10) side. Yes. Further, as shown in FIG. 9, the high-speed rotor 100 has a shape obtained by cutting two portions of the circumference with parallel strings as viewed from the direction of the rotation axis. This shape is a configuration example when the number of magnetic poles of the high-speed rotor 100 is two.

  The low-speed rotor 110 is a member arranged on the outermost periphery, and here, an internal tooth-shaped magnetic gear is used.

  In addition, the fixed portion 120 has a configuration in which a plurality of magnetic body pieces 122 and 123 made of a rod-like magnetic body are attached at upper and lower sides of an annular member 121 made of a non-magnetic body at a predetermined pitch. The fixed portion 120 is disposed between the high speed rotor 100 and the low speed rotor 110. In the fixing portion 120, the annular member 121 made of a non-magnetic material is a member for allowing the adjacent magnetic material pieces 122 and 123 not to contact each other and to be arranged at a predetermined pitch.

  The pitch of the magnetic pieces 122 and 123 in the fixed portion 120 is set to be slightly different from the pitch of the magnetic teeth in the low speed rotor 110. In the configuration shown in FIG. 9, the pitch of the magnetic pieces 122 and 123 is set to be slightly narrower than the pitch of the magnetic teeth of the low speed rotor 110. For this reason, the number of the magnetic piece 122 or 123 arrange | positioned in the circumferential direction becomes larger than the number of the magnetic teeth which oppose this.

  In the magnetic wave gear device having the above configuration, as shown in FIG. 10, a closed magnetic field passing through all of the high speed rotor 100, the magnetic pieces 122 and 123 of the fixed portion 120, and the low speed rotor 110 is generated. When the high-speed rotor 100 rotates in the above configuration, a restoring force is generated that tends to balance the magnetic field generated between the high-speed rotor 100 and the low-speed rotor 110 via the fixed portion 120, and this magnetic field restoring force. Causes torque transmission force to be generated in the low-speed rotor 110. And while the high-speed rotor 100 continues to rotate, this torque transmission force continues to act on the low-speed rotor 110, so the low-speed rotor 110 also continues to rotate. Note that the roles of the fixed portion 120 and the low speed rotor 110 may be reversed.

The magnetic teeth in the high-speed rotor 100 and the low-speed rotor used in the magnetic wave gear device act as magnetic teeth by magnetizing a gear-shaped portion made of a magnetic metal by a magnetic field from a permanent magnet. For this reason, it is not necessary to form the magnetic teeth of the gear itself with a permanent magnet, and the cost can be reduced by reducing the number of parts and simplifying the manufacturing process. Moreover, since the said gear shape part can be manufactured with magnetic body metals, such as iron, it can manufacture using a general metal processing method, and it also becomes easy to set it as a small and highly accurate component.
JP 2005-114162 A (publication date: April 28, 2005) JP 2005-114163 A (publication date: April 28, 2005) JP 2006-336666 A (publication date: December 14, 2006) JP 2007-10157 A (Publication date: January 18, 2007) K. Atallah and D. Howe, “A novel high-performance magnetic gear”, IEEE Trans.Magn. 37, 2844 (2001) K. Atallah, J. Wang, and D. Howe, “A high-performance linear magnetic gear”, J. Appl. Phys. 97, 10N516 (2005) S. Mezani, K. Atallah, and D. Howe, “A high-performance axial -field magnetic gear”, J. Appl. Phys. 99, 08R303 (2005) Masafumi Yamamoto, Katsuhiro Hirata: Research on HB-type magnetic transmission deceleration mechanism, 20th Symposium on "Dynamics related to electromagnetic force", pp77-80 (2008)

  However, the configuration of Non-Patent Document 4 also has problems related to size and manufacturing process as described below.

  That is, the magnetic wave gear device in Non-Patent Document 4 has a problem that it is difficult to reduce the axial size (thinner) because the magnetic teeth have a longitudinal direction parallel to the rotation axis.

  Further, since the magnetic pieces 122 and 123 in the fixed portion 120 are arranged along the circumferential surface (that is, along the curved surface), it is difficult to arrange them with high accuracy, resulting in an increase in cost in the manufacturing process. .

  The present invention has been made in view of the above problems, and an object of the present invention is to realize a magnetic wave gear device that can be downsized and easily manufactured.

In order to solve the above problems, a magnetic wave gear device according to the present invention is a magnetic wave gear in which a first member, a second member, and a third member are arranged so as to have the same rotation axis. In the apparatus, the first member is formed by mounting a plurality of permanent magnets on one side of a disk-shaped core made of a magnetic material, and the permanent magnets are sector-shaped polarized in the direction of the rotation axis. The second member includes a plurality of magnetic body pieces arranged opposite to the magnet mounting surface of the first member and arranged radially at equal pitches with respect to the rotation axis. The third member is disposed opposite to the second member, and a plurality of teeth having the same shape are arranged on the surface facing the second member in a disk made of a magnetic material. It is formed at equal pitches radially with respect to the rotation axis, and the magnetic field in the second member is The pitch of the body pieces, the third pitch of the teeth are formed differently in the member, the number of magnets n _h of the first _member, the number of teeth n _l in the third member, when the number of magnetic body pieces in the second member and the n _s,
n _s = n _l ± n _h
It is characterized by satisfying.

  Here, when the first member is a high-speed rotor and the second member is a fixed portion, the third member is a low-speed rotor. When the first member is a high speed rotor and the third member is a fixed portion, the second member is a low speed rotor.

  According to said structure, since a magnetic tooth does not have a longitudinal direction in a rotating shaft direction, it is easy to reduce in size (it is easy to reduce in thickness) to an axial direction.

  Further, since the magnet in the first member and the teeth in the third member are formed on the disk surface, the magnetic piece on the second member facing these is also arranged in a plane. For this reason, it becomes easy to arrange | position a magnetic body piece accurately.

In the magnetic wave gear device, the central angle θ _m of the permanent magnet in the first member is
θ _m = 90-180 / _{n s}
It is preferable that it is set to.

  According to said structure, it becomes possible to reduce the cogging torque of a 1st member.

  In the magnetic wave gear device, it is preferable that the magnetic piece in the second member and the teeth in the third member have a fan shape when viewed from the rotation axis direction.

  According to the above configuration, by making the pole piece into a fan shape, the edge of the magnet in the first member and the edge part of the pole piece of the second member, and the edge of the pole piece of the second member and the third When the edge portions of the pole pieces of the member face each other in parallel, the magnetic flux component in the rotational direction increases, and the allowable transmission torque improves.

As described above, the magnetic wave gear device of the present invention is a magnetic wave gear device in which the first member, the second member, and the third member are arranged so as to have the same rotation axis. The first member is formed by mounting a plurality of permanent magnets on one side of a disk-shaped core made of a magnetic material, and the permanent magnets are fan-shaped magnets polarized in the rotation axis direction. The second member has a plurality of magnetic body pieces arranged to face the magnet mounting surface of the first member and arranged radially at equal pitches with respect to the rotation shaft, The third member is disposed to face the second member, and a plurality of teeth having the same shape are disposed on the surface of the disc made of a magnetic material facing the second member with respect to the rotation shaft. Are formed radially at equal pitches, and the pitch of the magnetic pieces in the second member is Said third and pitch of the teeth are formed differently in member, in the number of magnets n _h of the first _member, the number of teeth n _l in the third _member, the second member when the number of magnetic strips and n _s,
n _s = n _l ± n _h
Meet.

  Therefore, since the magnetic tooth does not have a longitudinal direction in the rotation axis direction, it is easy to miniaturize in the axial direction, and the magnetic piece in the second member can be arranged in a plane, so the magnetic piece is arranged with high accuracy. It becomes easy.

[Embodiment 1]
An embodiment of the present invention will be described below with reference to FIGS. As shown in FIG. 1, the magnetic wave gear device according to the present embodiment includes a high-speed rotor 10 that is a first member, a low-speed rotor 20 that is a third member, and a fixing portion 30 that is a second member. Configured. These members have a common rotation axis, and are arranged in the order of the high-speed rotor 10, the fixed portion 30, and the low-speed rotor 20 along the rotation axis direction.

  In the present embodiment, the member 30 in FIG. 1 is a fixed portion, and the member 20 is a low-speed rotor, but the roles of the member 20 and the member 30 can be interchanged. That is, if the member 20 that is the third member is a fixed portion, the member 30 that is the second member functions as a low-speed rotor. In the following description, the case where the member 30 is a fixed portion and the member 20 is a low-speed rotor is described as an example.

  The high-speed rotor 10 has a structure in which two permanent magnets 11 and 12 are attached to a core 13 (see FIG. 2) made of a magnetic material. The core 13 is a disk-shaped member, while the permanent magnets 11 and 12 are fan-shaped magnets polarized in the direction of the rotation axis. In FIG. 1, a shaft hole for passing the motor shaft is provided in the center of the core 13. The permanent magnets 11 and 12 are arranged and mounted on one side of the core 13 (the surface facing the fixed portion 30) so as to be symmetric with respect to the rotation axis. Furthermore, the polarization directions in each of the permanent magnets 11 and 12 are opposite to each other.

  The low-speed rotor 20 is a member made of a magnetic material, and a plurality of teeth 21 having the same tooth width on the one surface of the disk-shaped base (opposite surface to the fixed portion 30) with respect to the rotation axis. It is radially formed at an equal pitch. However, the tooth 21 is not formed near the center of the rotating shaft.

  The fixed part 30 is formed by arranging a plurality of magnetic body pieces 31 radially with respect to the rotation axis at an equal pitch. In FIG. 1, only the magnetic piece 31 is illustrated, but actually, these magnetic pieces 31 are integrated with a resin or the like so as to maintain a mutual relationship such as a pitch.

  The pitch of the magnetic pieces 31 in the fixed portion 30 is set to be slightly different from the pitch of the magnetic teeth 21 in the low speed rotor 20. In the configuration shown in FIG. 1, the pitch of the magnetic piece 31 is set to be slightly narrower than the pitch of the magnetic teeth 21. For this reason, the number of the magnetic body pieces 31 arranged in the circumferential direction is larger than the number of magnetic teeth facing the magnetic piece 31.

  In the magnetic wave gear device having the above configuration, the permanent magnets 11 and 12 provided in the high-speed rotor 10 generate a closed magnetic field that passes through all of the high-speed rotor 10, the low-speed rotor 20, and the fixed portion 30 as shown in FIG. 2. .

  Here, the operation principle of the magnetic wave gear device will be described with reference to FIGS. 3 and 4 are views of the magnetic wave gear device as seen from the radial direction side, and are enlarged views in the vicinity of one magnet of the high-speed rotor 10 (the permanent magnet 11 is shown in FIG. 3).

  First, FIG. 3 shows a state in which the magnetic field generated between the high-speed rotor 10 and the low-speed rotor 20 does not generate rotational torque for the low-speed rotor 20 in the magnetic wave gear device. That is, FIG. 3 illustrates a configuration in which the four magnetic teeth 21 in the low-speed rotor 20 and the three magnetic body pieces 31 in the fixed portion 30 are opposed to one magnet of the high-speed rotor 51. At this time, between the high-speed rotor 10 and the low-speed rotor 20, four strong magnetic fields (thick line arrows in the figure) directed to the magnetic teeth 21 of the low-speed rotor 20 through the four magnetic pieces 31 in the fixed portion 30. Occur. In FIG. 3, since the four magnetic fields are balanced, no rotational torque is generated in the low-speed rotor 20.

  When the high-speed rotor 10 rotates from the state of FIG. 3 and moves by approximately one pitch of the magnetic teeth, the magnetic field generated between the high-speed rotor 10 and the low-speed rotor 20 becomes the state shown in FIG. Since this magnetic field has a restoring force that tends to be balanced (that is, the state shown in FIG. 3), this magnetic restoring force acts on the magnetic teeth 21 of the low-speed rotor 20, and the torque transmission force to the low-speed rotor 20. Give rise to

  While the high-speed rotor 10 continues to rotate, the torque transmission force shown in FIG. 4 continues to act on the low-speed rotor 20, so the low-speed rotor 20 also continues to rotate.

  3 and 4, the pitch of the magnetic material pieces 31 in the fixed portion 30 is set to be slightly narrower than the pitch of the magnetic teeth 21 of the low speed rotor 20. That is, the number of magnetic body pieces 31 in the fixed portion 30 is set to be larger than the number of magnetic teeth 21 of the low speed rotor 20. In this case, as shown in FIG. 4, the rotation direction (torque transmission direction) of the low-speed rotor 20 is opposite to the rotation direction of the high-speed rotor 10.

  However, the magnetic wave gear device of the present invention is not limited to the above example, and the pitch of the magnetic material pieces 31 in the fixed portion 30 is set to be slightly wider than the pitch of the magnetic teeth 21 of the low speed rotor 20. It may be. That is, the number of the magnetic material pieces 31 in the fixed portion 30 may be set to be smaller than the number of magnetic teeth 21 of the low speed rotor 20. In this case, the rotational direction (torque transmission direction) of the low-speed rotor 20 is the same as the rotational direction of the high-speed rotor 10.

  That is, in the magnetic wave gear device, the rotation direction of the low-speed rotor 20 with respect to the rotation direction of the high-speed rotor 10 is set to the same direction or the reverse direction by setting the pitch between the magnetic piece 31 and the magnetic teeth 21 of the low-speed rotor 20 Either of these can be set.

  The magnetic wave gear device can be suitably used as a magnetic transmission speed reducer. For example, in the configuration of FIG. 1, if the high-speed rotor 10 is the input side and the low-speed rotor 20 is the output side, a reduction gear having a large reduction ratio and transmission torque can be obtained (of course, when the member 20 is a fixed portion) The member 30 can be the output side). Further, by combining a magnetic transmission speed reducer equipped with the magnetic wave gear device with a motor, a low-speed and high-torque drive source having advantages such as low vibration, low noise, and long life can be obtained. Further, the input and output can be reversed and used as an accelerator.

The reduction ratio of the magnetic wave gear device, comprising a number of magnets of the high-speed rotor 10 with _{n h,} when _n l / _{n h} of the number of teeth of the low speed rotor 20 and the _{n l.} Further, the number of magnetic material pieces n _s of the fixed portion 30 is set to n _s = n ₁ ± n _h . That is, when the rotation direction of the low-speed rotor 20 is the same as the rotation direction of the high-speed rotor 10, n _s = n ₁ −n _h is set, and when the rotation direction is reversed, n _s = n ₁ + n _h is set. You only have to set it. In either case, the reduction ratio is n ₁ / n _h .

  In the magnetically toothed gear device in the above description, the roles of the low speed rotor 20 and the fixed portion 30 can be reversed. That is, if the low-speed rotor 20 is fixed, torque can be output from the fixed portion 30 in response to the input to the high-speed rotor 10. Further, the input and output can be reversed and used as an accelerator.

The magnetic wave gear device according to the first embodiment has the following advantages.
(1) Wide effective range of torque generation.
(2) A high reduction ratio can be obtained in one stage.
(3) Simple magnet shape.
(4) The air gap can be set small.

  From the above, a high allowable transmission torque can be obtained. Further, the reduction ratio and the torque transmission direction can be freely set only by processing the magnetic metal.

  Further, even when compared with the magnetic wave gear device in Non-Patent Document 4, there are the following advantages. In the following description, the magnetic wave gear device in Non-Patent Document 4 is a radial type (because an air gap between members is generated in the radial direction), and the magnetic wave gear device according to the present invention is an axial type (between members). The air gap is generated in the axial direction).

  First, in the radial type, since the magnetic teeth have a longitudinal direction parallel to the rotation axis, it is difficult to reduce the axial size (it is difficult to reduce the thickness), but in the axial type, it is easy to reduce the thickness. As a result, when generating the same level of transmission torque, the axial type can be reduced to about 2/3 of the volume compared to the radial type.

  Further, in the radial type, since an air gap between members is generated in the radial direction, it is necessary to form a highly accurate air gap on the circumferential surface. This leads to an increase in cost in the member manufacturing process. In particular, in the fixing portion 120 shown in FIG. 9, the magnetic pieces 122 and 123 are arranged along the circumferential surface (that is, along the curved surface), and thus it is difficult to integrate them after arranging them with high accuracy. . On the other hand, in the axial type, the magnetic piece 31 in the fixed portion 30 is disposed on a plane. For this reason, it is easy to integrate the magnetic material pieces 31 after accurately arranging them.

[Embodiment 2]
Another embodiment of the present invention will be described below with reference to FIGS.

  First, in the magnetic wave gear device shown in the first embodiment, the transmission torque (LR) of the low-speed rotor when the high-speed rotor 10 is rotated 180 ° from the stable position (θ = 0 °) while the low-speed rotor 20 is fixed. FIG. 5 shows the simulation result of the cogging torque waveform (HR) of the high-speed rotor by the three-dimensional finite element method. The parameters of the magnetic wave gear device at this time are as shown in Table 1 below.

  From FIG. 5, it was shown that when the rotation angle of the high-speed rotor is 50 °, the maximum torque that can be obtained on the low-speed rotor side is about 4 Nm. It can also be seen that the cogging torque acting on the high-speed rotor is about 1 Nm, and the torque waveform of the low-speed rotor is also distorted. Since this can cause vibration and noise, it must be resolved. In the magnetic wave gear device according to the second embodiment, optimization of the magnet dimensions has been studied in order to suppress the cogging torque.

  That is, in the magnetic wave gear device according to the second embodiment, the central angle of the permanent magnets 11 and 12 in the high speed rotor 10 is reduced from 90 ° to 8 ° to 82 °. FIG. 6 shows the simulation results when the central angle of the permanent magnets 11 and 12 is 82 ° and the other parameters are the same as in Table 1.

  Thus, in the model in which the central angle of the permanent magnets 11 and 12 is 82 °, the torque waveform (HR) on the high speed rotor side is the high speed rotor side torque waveform (HR90) when the central angle of the magnet is 90 °. In comparison, it can be confirmed that the size can be reduced to about half. In addition, there is no influence on the transmission torque (LR) of the low-speed rotor. That is, by optimizing the magnet size (center angle), the cogging torque of the high-speed rotor can be significantly suppressed.

Here, in the second embodiment, the cogging torque is reduced by manipulating the phase angle with the half-cycle of the cogging torque of the high-speed rotor as a mechanical angle. In this case, instead of adjusting the center angle of the permanent magnet, the phase angle of the two magnets can be shifted from 180 ° by a half cycle (180 / _ns = about 8 °), but the rotational balance of the high-speed rotor is poor. Therefore, in this study, the cogging torque is reduced by changing the central angle of the permanent magnet from 90 ° to 82 °.

In the above example, the central angle of the permanent magnets 11 and 12 is reduced by 90 ° to 8 ° because the magnitude of the generated cogging torque corresponding to a half cycle is about 8 °. The period of the cogging torque is dependent on the number of teeth _{n s} of the fixing portion, (the period of the cogging torque) is = 360 / _{n s} (half cycle is 180 _{/ n} s). From this, if the central angle of the permanent magnets 11 and 12 is θ _m (°), θ _m is
θ _m = 90-180 / _{n s}
Setting to is effective in reducing the cogging torque of the high-speed rotor.

[Embodiment 3]
Another embodiment of the present invention is described below with reference to FIGS. In the magnetic wave gear device according to the third embodiment, the shapes of the magnetic piece 31 in the fixed portion 30 and the magnetic teeth 21 in the low speed rotor 20 are changed to improve the transmission torque.

  The shape of the magnetic pole pieces of the fixed portion 30 and the low-speed rotor 20 has a great influence on the torque transmission characteristics, so that the shapes and dimensions thereof need to be optimized. In the third embodiment, the shape of the magnetic pole pieces of the fixed portion 30 and the low speed rotor 20 is changed from a rectangular shape to a sector shape.

  That is, in the magnetic piece 31 and the magnetic teeth 21 in the first embodiment, as shown in FIG. 7A, the long side is parallel to the axial direction, and the long side is the radius of the gear. Does not match. For this reason, the overlapping of the edges of the magnet and the magnetic pole piece occurs sequentially from the inner diameter side to the outer diameter side.

  On the other hand, in the magnetic wave gear device according to the third embodiment, as shown in FIG. 7B, the pole piece shape is a fan shape, so that the long sides of the magnetic piece 31 and the magnetic teeth 21 are Matches the radius of the gear.

  In order to confirm the superiority of the fan-shaped pole piece over the rectangular pole piece, the transmission torque was obtained using the three-dimensional finite element method as in the rectangular pole piece model, and the two were compared. The dimensions and conditions of the analysis model of the sector pole piece are as shown in Table 2 below.

  In both models, the dimensions other than the fixed portion and the low-speed rotor are the same as those of the rectangular pole piece model. Here, FIG. 8 shows the analysis results of the transmission torque of the low speed rotor and the cogging torque waveform of the high speed rotor when the high speed rotor is rotated from the stable position while the low speed rotor is fixed.

  As shown in FIG. 8, the maximum value of the torque obtained on the low-speed rotor side when the rotation angle of the high-speed rotor is 50 ° is about 5.5 Nm. That is, in the sector pole piece, the transmission torque is improved by about 1.5 Nm compared to the rectangular pole piece model. This is because by making the pole pieces fan-shaped, the edge of the magnet in the high speed rotor and the edge portion of the pole piece of the fixed portion, and the edge of the pole piece of the fixed portion and the edge portion of the pole piece of the low speed rotor are parallel to each other. It is considered that the opposing magnetic flux component in the rotational direction increased and the transmission allowable torque was improved.

  The magnetic wave gear device can be provided at low cost and with high accuracy, and the magnetic wave gear device can be applied to applications such as an electronic lock and a robot arm by using the magnetic wave gear device in a reduction gear or the like.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view illustrating an outer diameter of a magnetic wave gear device according to an embodiment of the present invention. It is sectional drawing of the said magnetic wave gear apparatus. It is a figure which shows the principle of operation of the said magnetic wave gear apparatus, and is a figure which shows the state which does not produce a rotational torque with respect to a low speed rotor. It is a figure which shows the principle of operation of the said magnetic wave gear apparatus, and is a figure which shows the state which the rotational torque has arisen with respect to the low speed rotor. In the said magnetic wave gear apparatus, it is a graph which shows the simulation result by the three-dimensional finite element method of the transmission torque of a low speed rotor, and the cogging torque waveform of a high speed rotor. In the said magnetic wave gear apparatus, it is a graph which shows the simulation result by the three-dimensional finite element method of the transmission torque of a low speed rotor at the time of optimizing the center angle of a magnet, and the cogging torque waveform of a high speed rotor. (A) is a top view which shows the model at the time of making the pole piece shape of a fixed part and a low-speed rotor into a rectangle, (b) is a plane which shows the model at the time of making the pole piece shape of a fixed part and a low-speed rotor into a fan shape FIG. 4 is a graph showing a simulation result by a three-dimensional finite element method of a transmission torque of a low-speed rotor and a cogging torque waveform of a high-speed rotor when the magnetic pole piece has a sector shape in the magnetic wave gear device. It is a top view which shows the structural example of the magnetic wave gear apparatus in a nonpatent literature 4. It is sectional drawing which shows the structural example of the magnetic wave gear apparatus in a nonpatent literature 4.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 High-speed rotor 11, 12 Permanent magnet 20 Low-speed rotor 21 Magnetic tooth 30 Fixed part 31 Magnetic body piece

Claims (5)

A magnetic wave gear device in which a first member, a second member, and a third member are arranged so as to have the same rotation axis,
The first member is formed by mounting a plurality of permanent magnets on one side of a disk-shaped core made of a magnetic material, and the permanent magnets are fan-shaped magnets polarized in the rotation axis direction.
The second member is arranged to face the magnet mounting surface of the first member, and has a plurality of magnetic body pieces arranged radially at equal pitches with respect to the rotation axis,
The third member is arranged to face the second member, and a plurality of teeth having the same shape are arranged on the rotating shaft on a surface facing the second member in a disk made of a magnetic material. On the other hand, it is formed radially at equal pitches,
The pitch of the magnetic piece in the second member is different from the pitch of the teeth in the third member,
When the number of magnets in the first member is n _h , the number of teeth in the third member is n _l , and the number of magnetic material pieces in the second member is n _s ,
n _s = n _l ± n _h (where n _h , n _l , and n _s are all natural numbers)
Magnetic wave gear device characterized by satisfying. The central angle θ _m ° of the permanent magnet in the first member is
_{θ m ° = 90 ° -180 °} / n s
The magnetic wave gear device according to claim 1, wherein the magnetic wave gear device is set. The number of the permanent magnets in the first member is two,
Magnetic wave gear device according to claim 1, characterized in that the phase angle of the two magnets are offset 180 ° / n _s from 180 °. The magnetic body pieces in the second member, and the said teeth in the third member, any one of claims 1 3, characterized in that when viewed from the axial direction and has a fan shape The magnetic wave gear device described in 1. 請 Motomeko includes a magnetic wave gear device according to 1, from the any one of 4, characterized in that the said first member input side and the output side the second member or the third member Magnetic transmission speed reducer.

Images