A two-stage magnetic gear drive motor for a robot joint

Abstract

The present invention relates to a two-stage magnetic gear drive motor for a robot joint, which is characterized in that the motor includes a magnetic isolation fixing ring, a cursor motor component is arranged on the outer periphery of the magnetic isolation fixing ring, and a magnetic gear component is arranged on the inner periphery of the magnetic isolation fixing ring. The cursor motor component includes a stator winding, a cursor motor rotor is arranged on the outer periphery of the stator winding, and a cursor motor stator core is arranged on the inner periphery of the stator winding. The beneficial effects of the present invention are as follows: 1. The two-stage magnetic gear drive motor for a robot joint extends the deceleration drive characteristics, inherent compliance and inherent overload protection characteristics of the magnetic gear to the field of human-robot coexistence, laying a foundation for the design and application of a new type of robot integrated joint; 2. The two-stage magnetic gear drive motor for a robot joint combines the magnetic gear and the cursor motor into a compact whole, has the characteristics of a large transmission ratio, and realizes the purpose of reducing speed and increasing torque without using a mechanical gear reducer, achieving a direct drive effect.

Description

Technical Field

[0001] The present invention belongs to the technical field of human-robot coexistence robots and relates to a two-stage magnetic gear drive motor for robot joints. Background Art

[0002] At present, a robot joint is driven by connecting a motor and a reducer through a shaft. On the one hand, the structure, volume, and mass of the joint are restricted by non-functional components, resulting in a large volume and heavy mass. On the other hand, the reducer is made of traditional mechanical gears, and problems such as friction, heat generation, vibration, and noise inevitably occur during the contact meshing of mechanical gears, and lubrication and maintenance need to be carried out regularly.

[0003] Compared with mechanical gears, magnetic gears have obvious advantages: (1) Magnetic gears have a transmission ratio and can replace mechanical gears to achieve low-speed and high-torque transmission; (2) The input and output shafts of magnetic gears are isolated from each other, and the speed and torque are transmitted through magnetic coupling, which belongs to non-contact and frictionless transmission, with high transmission efficiency, low noise, no need for lubrication, and less maintenance; (3) Magnetic gears have both flexibility and overload protection characteristics, meeting the requirements of the essential safety of human-robot coexistence robots. During a collision, the magnetic gear can relieve the impact intensity by its inherent flexibility; (4) Coaxial magnetic gears are easily coupled with permanent magnet brushless motors to form a highly integrated magnetic gear composite motor, meeting the requirements of a compact lightweight integrated joint structure.

[0004] However, for traditional single-stage magnetic gears, their transmission ratios are relatively small, generally 2-12. For robot joint applications, a magnetic gear with a large transmission ratio is required. Summary of the Invention

[0005] In view of the deficiencies of the prior art and combining the structural advantages of magnetic gears, the present invention provides a two-stage magnetic gear drive motor for robot joints to meet the application of magnetic gears with large transmission ratios.

[0006] According to the technical solution provided by the present invention: A two-stage magnetic gear drive motor for robot joints, characterized in that the motor includes a magnetic isolation fixing ring, a vernier motor component is arranged on the outer periphery of the magnetic isolation fixing ring, and a magnetic gear component is arranged on the inner periphery of the magnetic isolation fixing ring.

[0007] As a further improvement of the present invention, the vernier motor component includes a vernier motor stator core, a stator winding is arranged in the stator slots of the vernier motor stator core, and a vernier motor rotor is arranged on the outer periphery of the vernier motor stator core.

[0008] As a further improvement of the present invention, the magnetic gear component includes a high-speed rotor, and a magnetic modulation ring rotor, a stator permanent magnet ring, and a stator permanent magnet ring back iron are sequentially arranged on the outer periphery of the high-speed rotor from inside to outside.

[0009] As a further improvement of the present invention, the cursor motor rotor is composed of a cursor motor rotor iron core and a cursor motor rotor permanent magnet. The cursor motor rotor permanent magnet adopts the form of embedding permanent magnets with the same polarity, and is embedded in the gap between the core poles of the cursor motor rotor iron core.

[0010] As a further improvement of the present invention, the cursor motor component adopts an outer rotor form, and the stator teeth adopt an open slot structure.

[0011] As a further improvement of the present invention, the high-speed rotor is the inner rotor of the magnetic gear component, the magnetic flux regulating ring rotor is the low-speed rotor, which outputs torque and speed. The stator permanent magnet ring is adhesively bonded to the inner surface of the stator permanent magnet ring back iron to form a fixed outer rotor of the magnetic gear component.

[0012] As a further improvement of the present invention, the cursor motor rotor is fixedly connected to the high-speed rotor.

[0013] As a further improvement of the present invention, the cursor motor stator iron core and the stator permanent magnet ring back iron are fixedly connected to the magnetic isolation fixing ring to form the stator iron core.

[0014] As a further improvement of the present invention, the permanent magnet material is neodymium iron boron, and the rotor permanent magnet iron core and the stator iron core material are silicon steel sheets.

[0015] The positive and progressive effects of this application are as follows:

[0016] The beneficial effects of the present invention are as follows: 1. The two-stage magnetic gear drive motor for robot joints extends the speed reduction drive characteristics, inherent compliance, and inherent overload protection characteristics of magnetic gears to the field of human-robot coexistence, laying a foundation for the design and application of new robot integrated joints; 2. The two-stage magnetic gear drive motor for robot joints combines magnetic gears and cursor motors into a compact whole, achieving the purpose of reducing speed and increasing torque without using a mechanical gear reducer, achieving a direct drive effect; 3. The two-stage magnetic gear drive motor for robot joints overcomes the disadvantage of the small transmission ratio of existing single-stage magnetic gears (motors), adopts a two-stage magnetic gear drive form, has the characteristics of low speed and large torque, and meets the requirements of human-robot coexistence robots. Description of the Drawings

[0017] Figure 1 It is a cross-sectional view of a two-stage magnetic gear motor.

[0018] Figure 2 It is a common rotor of a two-stage magnetic gear motor.

[0019] Figure 3 It is a stator of a two-stage magnetic gear motor. Detailed Embodiment

[0020] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0021] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in 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. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to implement the embodiments of the present invention described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover their inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0023] Figures 1-3 It includes a cursor motor rotor 1, a stator winding 2, a stator core 3, a stator permanent magnet ring 4, a magnetic flux regulating ring rotor 5, a high-speed rotor 6, a cursor motor rotor core 101, a cursor motor rotor permanent magnet 102, a cursor motor stator core 301, a magnetic isolation 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, etc.

[0024] As Figures 1-3 shown, the present invention is a two-stage magnetic gear transmission motor for a robot joint, including an external cursor motor component, a magnetic isolation fixing ring 302, and an internal magnetic gear component, which is in the form of a single stator, three rotors, and three-layer air gaps.

[0025] The magnetic gear component of the two-stage magnetic gear drive motor for robot joints includes a high-speed rotor 6, a magnetic flux regulating ring rotor 5, a stator permanent magnet ring 4, and a stator permanent magnet back iron 303. The high-speed rotor 6 is externally provided with the magnetic flux regulating ring rotor 5, the stator permanent magnet ring 4, and the stator permanent magnet back iron 303 in sequence from the inside to the outside. Among them, the high-speed rotor 6 is composed 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 adhesively bonded to the outer surface of the high-speed rotor permanent magnet back iron 602; the stator permanent magnet ring 4 is adhesively bonded to the inner surface of the stator permanent magnet back iron 303 to form a fixed outer rotor of the magnetic gear component. The number of pole pairs P6 of the high-speed rotor 6, the number of pole blocks N5 of the magnetic flux regulating ring rotor 5, and the number of pole pairs P4 of the stator permanent magnet ring 4 satisfy the following in structure:

[0026] P6 + P4 = N5

[0027] The magnetic flux regulating ring rotor 5 serves as the low-speed output rotor of the magnetic gear component. The transmission ratio of the magnetic gear component is:

[0028] Gmg = N5 / P6

[0029] The high-speed rotor 6 and the magnetic flux regulating ring rotor 5 rotate in the same direction.

[0030] The vernier motor component of the two-stage magnetic gear drive motor for robot joints includes a vernier motor rotor 1, a stator winding 2, and a vernier motor stator iron core 301.

[0031] The stator winding 2 is arranged in the stator slots of the vernier motor stator iron core 301, and the vernier motor rotor 1 is arranged on the outer circumference of the vernier motor stator iron core 301. Among them, the vernier motor rotor 1 is composed of a vernier motor rotor iron core 101 and a vernier motor rotor permanent magnet 102. The vernier motor rotor permanent magnet 102 is embedded in the form of permanent magnets with the same polarity in the gaps between the poles of the vernier motor rotor iron core 101. The three-phase stator winding 2 is wound in the tooth grooves of the vernier motor stator iron core 301. The number of pole pairs P1 of the vernier motor rotor 1, the number of stator teeth N3 of the vernier motor stator iron core 301, and the number of pole pairs P2 of the stator winding 2 satisfy the following in structure:

[0032] P1 + P2 = N3

[0033] The transmission ratio of the vernier motor component is:

[0034] Gvm = – P1 / P2

[0035] The negative sign indicates that the rotation direction of the vernier motor rotor 1 is opposite to the direction of the stator rotating magnetic field.

[0036] As Figure 2 shown, the vernier motor rotor 1 of the two-stage magnetic gear drive motor for robot joints is fixedly connected to the high-speed rotor 6 of the magnetic gear component. As Figure 3As shown, the back iron 303 of the stator permanent magnet ring and the stator core 301 of the cursor motor of the two-stage magnetic gear drive motor for a robot joint are fixedly connected to the magnetic isolation fixing ring 302 to form the stator core 3. The transmission ratio of the two-stage magnetic gear drive motor for a robot joint is:

[0037] Gr = Gmg ∙ Gvm = – N5 ∙ P1 / (P6 ∙ P2)

[0038] Thus, two-stage magnetic gear transmission is achieved.

[0039] The working principle of the two-stage magnetic gear drive motor for a robot joint is that a three-phase alternating current with a frequency of f is passed through the stator winding 2 on the stator core 3, thereby generating a rotating magnetic field with a speed of Ve = 60f / P2, driving the cursor motor rotor 1 to rotate at a speed of Vh = Ve / Gvm, and the electromagnetic torque generated by the cursor motor rotor 1 is Th. Since the cursor motor rotor 1 is fixedly connected to the high-speed rotor 6, the speed of the high-speed rotor 6 is Vh = Ve / Gvm. Under the action of the magnetic gear component, the output speed of the magnetic field modulation ring rotor 5 is Vo = Vh / Gmg = Ve / Gr, and the output torque is To = GmgTh.

[0040] For the two-stage magnetic gear drive motor for a robot joint, an encoder can be configured at one end of the high-speed rotor 6 to achieve servo control or directly adopt a sensorless control method.

[0041] It can be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principle of the present invention. However, the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also regarded as the protection scope of the present invention.

Claims

1. A two - stage magnetic gear drive motor for a robot joint, characterized in that, The motor includes a magnetic isolation fixing ring (302). A vernier motor component is arranged on the outer periphery of the magnetic isolation fixing ring (302), and a magnetic gear component is arranged on the inner periphery of the magnetic isolation fixing ring (302). The vernier motor component includes a vernier motor stator core (301). A stator winding (2) is arranged in the stator slots of the vernier motor stator core (301), and a vernier motor rotor (1) is arranged on the outer periphery of the vernier motor stator core (301). The magnetic gear component includes a high-speed rotor (6). A magnetic modulation ring rotor (5), a stator permanent magnet ring (4), and a stator permanent magnet back iron (303) are sequentially arranged on the outer periphery of the high-speed rotor (6) from inside to outside. The vernier motor rotor (1) is composed of a vernier motor rotor core (101) and a vernier motor rotor permanent magnet (102). The vernier motor rotor permanent magnet (102) is embedded in the form of permanent magnets with the same polarity in the gaps between the core poles of the vernier motor rotor core (101). The high-speed rotor (6) is the inner rotor of the magnetic gear component, and the magnetic modulation ring rotor (5) is the low-speed rotor, outputting torque and speed. The stator permanent magnet ring (4) is adhesively bonded to the inner surface of the stator permanent magnet back iron (303) to form the fixed outer rotor of the magnetic gear component. The vernier motor rotor (1) and the high-speed rotor (6) are fixedly connected. The vernier motor stator core (301) and the stator permanent magnet back iron (303) are fixedly connected to the magnetic isolation fixing ring (302) to form a stator core (3).

2. The secondary magnetic gear drive motor for a robot joint according to claim 1, characterized in that: The vernier motor component adopts an outer rotor form, and the stator teeth adopt an open slot structure.

3. The secondary magnetic gear drive motor for a robotic joint according to claim 1, wherein: The permanent magnet material is neodymium iron boron, and the rotor permanent magnet core and the stator core material are silicon steel sheets.

Images