Two-stage nutating reducer based on magnetic transmission and working method thereof

Abstract

A two-stage nutating reducer based on magnetic transmission includes a box body with an opening facing right, an input shaft is passed through the left side of the box body, a nutating magnetic gear for nutating motion is arranged at the right end of the input shaft, an output shaft is arranged at the right side of the box body, a rotating disk matched with the nutating magnetic gear is arranged at the left end of the output shaft, the nutating magnetic gear and the box body are connected by a first magnetic transmission group, and the nutating magnetic gear and the rotating disk are connected by a second magnetic transmission group. The invention has a compact structure and high reliability. Due to the use of two-stage nutating transmission, the transmission ratio is large and the transmission is stable; based on magnetic non-contact transmission, there is no wear, low vibration and noise, no need for lubrication, and an overload protection function.

Description

Technical Field

[0001] The invention relates to a two-stage nutating reducer based on magnetic transmission and a working method thereof. Background Art

[0002] The research and development and application of industrial robots and their key components are one of the important indicators of the country's scientific and technological innovation and high-end manufacturing development level, and are also key supporting equipment for advanced manufacturing. As a key component of industrial robots, speeding up the research and development of reducers and achieving technological breakthroughs is of great significance to improving the overall performance of industrial robots.

[0003] In recent years, the nutation reducer has become a new type of industrial robot joint reducer after RV reducer, cycloid reducer and harmonic reducer due to its advantages of large transmission ratio and smooth transmission, and has received widespread attention and developed rapidly. At the same time, in the context of global advocacy of carbon neutrality, energy conservation and environmental protection have become the main theme of economic development in various countries in the world today. Permanent magnetic transmission technology has become a current research hotspot with its advantages of non-contact, no wear, low loss, no lubrication, energy conservation and environmental protection. Summary of the invention

[0004] The object of the present invention is to provide a two-stage nutating reducer based on magnetic transmission and a working method thereof, wherein the reducer has a compact structure, high reliability, a large transmission ratio, and high transmission efficiency, and meets the needs of a large transmission ratio.

[0005] The technical solution of the present invention is: a two-stage nutating reducer based on magnetic transmission, including a box body with an opening facing right, an input shaft is passed through the left side of the box body, a nutating magnetic gear for nutating motion is arranged at the right end of the input shaft, an output shaft is arranged on the right side of the box body, a rotating disk matched with the nutating magnetic gear is arranged at the left end of the output shaft, the nutating magnetic gear and the box body are connected by a first magnetic transmission group, and the nutating magnetic gear and the rotating disk are connected by a second magnetic transmission group.

[0006] Furthermore, a nutating sleeve is provided at the right end of the output shaft. The nutating sleeve is a cylinder whose axis is inclined relative to the axis of the input shaft. The nutating sleeve and the input shaft are integrally formed. The angle between the axis of the nutating sleeve and the axis of the input shaft is 4° to 6°, which is the nutating angle.

[0007] Furthermore, a boss is provided at the left end of the nutating sleeve, a retaining ring groove is provided at the right end of the nutating sleeve, an elastic retaining ring for the shaft is provided in the retaining ring groove, at least one bearing is provided between the boss and the elastic retaining ring for the shaft, and the nutating magnetic gear and the nutating sleeve are rotatably connected through the bearing.

[0008] Furthermore, the first magnetic transmission group includes a first fixed magnetic gear ring arranged on the left side inside the casing, the fixed magnetic gear ring includes a plurality of first active permanent magnets evenly distributed along the circumferential direction of the input shaft, the first active permanent magnets are arranged alternately with N and S poles, and a plurality of first driven permanent magnets evenly distributed along the circumferential direction of the nutating magnetic gear are arranged on the side of the nutating magnetic gear opposite to the first fixed magnetic gear ring, the first driven permanent magnets are arranged alternately with N and S poles, and the first active permanent magnet and the first driven permanent magnet are both axially magnetized.

[0009] Furthermore, the second magnetic transmission group includes a second fixed magnetic gear ring arranged on the side wall of the rotating disk, the second fixed magnetic gear ring includes a plurality of second driven permanent magnets evenly distributed along the circumferential direction of the output shaft, the second driven permanent magnets are arranged alternately with N and S poles, and a plurality of second active permanent magnets evenly distributed along the circumferential direction of the nutating magnetic gear are arranged on the side opposite to the second fixed magnetic gear ring, the second active permanent magnets are arranged alternately with N and S poles, and the second active permanent magnets and the second driven permanent magnets are both radially magnetized.

[0010] Furthermore, a surface of the first driven permanent magnet opposite to the first fixed magnetic gear ring forms an angle with the axis of the nutating magnetic gear, and the angle is complementary to the nutating angle, so that the first active permanent magnet and the first driven permanent magnet face each other at the minimum air gap, and the minimum air gap is 1 mm.

[0011] Furthermore, a surface of the second active permanent magnet opposite to the second fixed magnetic gear ring forms an angle with the axis of the nutating magnetic gear, and the angle is equal to the nutating angle, so that the second active permanent magnet and the second driven permanent magnet face each other at the minimum air gap, and the minimum air gap is 1 mm.

[0012] Furthermore, a detachable cover plate is provided at the right end of the box body, the output shaft and the cover plate are rotatably connected via a bearing, and the cover plate and the box body are fixedly connected via bolts.

[0013] Furthermore, a keyway for connecting to an external power source is provided at the left end of the input shaft, and the input shaft is rotatably connected to the housing via a bearing and is provided with a sealing end cover.

[0014] A working method of a two-stage nutating reducer based on magnetic transmission comprises the following steps:

[0015] ①. The external power source drives the input shaft to rotate, and then the nutating magnetic gear swings with the rotation of the input shaft;

[0016] ② When the nutating magnetic gear swings, the first active permanent magnet and the first driven permanent magnet are magnetically coupled to drive the nutating magnetic gear to rotate, and the nutating magnetic gear begins to nutate;

[0017] ③. When the nutating magnetic gear nutates, the second active permanent magnet and the second driven permanent magnet are magnetically coupled to drive the rotating disk to rotate. Under the action of the rotating disk, the output shaft rotates and outputs power to the outside.

[0018] Compared with the prior art, the present invention has the following advantages: the present invention has a compact structure and high reliability. Since the two-stage nutating transmission is used, the transmission ratio is large and the transmission is smooth. Based on the magnetic non-contact transmission, there is no wear, low vibration and noise, no need for lubrication, and an overload protection function. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] In the figure: 1-housing, 2-input shaft, 3-nutating magnetic gear, 4-output shaft, 5-rotating plate, 6-nutating sleeve, 7-positioning snap ring, 8-shoulder, 9-shaft elastic retaining ring, 10-bearing, 11-first active permanent magnet, 12-first driven permanent magnet, 13-second driven permanent magnet, 14-second active permanent magnet, 15-cover plate, 16-keyway, 17-sealing end cover. DETAILED DESCRIPTION

[0021] In order to make the above features and advantages of the present invention more understandable, embodiments are given below with reference to the accompanying drawings for detailed description, but the present invention is not limited thereto.

[0022] refer to Figure 1 .

[0023] In a preferred embodiment of the present invention: a two-stage nutating reducer based on magnetic transmission, comprising a housing with an opening facing right, an input shaft passing through the left side of the housing, a nutating magnetic gear for nutating motion being provided at the right end of the input shaft, an output shaft being provided at the right side of the housing, a rotating disk matching the nutating magnetic gear being provided at the left end of the output shaft, the nutating magnetic gear and the housing being connected by a first magnetic transmission group, and the nutating magnetic gear and the rotating disk being connected by a second magnetic transmission group.

[0024] In this embodiment, a nutating sleeve is provided at the right end of the output shaft. The nutating sleeve is a cylinder whose axis is inclined relative to the axis of the input shaft. The nutating sleeve and the input shaft are integrally formed to ensure structural strength and simplify the structure. The angle between the axis of the nutating sleeve and the axis of the input shaft is 4° to 6°, preferably 5°, which is the nutating angle. The nutating magnetic gear undergoes nutating motion through the rotation of the nutating sleeve.

[0025] In this embodiment, a boss is provided at the left end of the nutating sleeve, a retaining ring groove is provided at the right end of the nutating sleeve, an elastic retaining ring for the shaft is provided in the retaining ring groove, at least one bearing is provided between the boss and the elastic retaining ring for the shaft, and the nutating magnetic gear and the nutating sleeve are rotatably connected through the bearing, which fully ensures the stability of the swing and rotation of the nutating magnetic gear and improves the overall working performance.

[0026] In this embodiment, the first magnetic transmission group includes a first fixed magnetic gear ring arranged on the left side inside the casing, the fixed magnetic gear ring includes a plurality of first active permanent magnets evenly distributed along the circumferential direction of the input shaft, the first active permanent magnets are arranged alternately with N and S poles, and there are 32 first active permanent magnets in total. A plurality of first driven permanent magnets evenly distributed along the circumferential direction of the nutating magnetic gear are arranged on the side opposite to the first fixed magnetic gear ring, the first driven permanent magnets are arranged alternately with N and S poles, and there are 30 first driven permanent magnets in total to ensure the stability of the first magnetic transmission and reduce vibration and dead points. The first active permanent magnet and the first driven permanent magnet are both axially magnetized.

[0027] In this embodiment, the second magnetic transmission group includes a second fixed magnetic gear ring arranged on the side wall of the rotating disk, the second fixed magnetic gear ring includes a plurality of second driven permanent magnets evenly distributed along the circumferential direction of the output shaft, the second driven permanent magnets are arranged alternately with N and S poles, there are 26 second active permanent magnets, and a plurality of second active permanent magnets evenly distributed along the circumferential direction of the nutating magnetic gear are arranged on the side opposite to the second fixed magnetic gear ring, the second active permanent magnets are arranged alternately with N and S poles, there are 28 second driven permanent magnets to ensure the stability of the second magnetic transmission, reduce vibration and dead points, and the second active permanent magnet and the second driven permanent magnet are both radially magnetized.

[0028] In this embodiment, a side of the first driven permanent magnet opposite to the first fixed magnetic gear ring forms an angle with the axis of the nutating magnetic gear, and the angle is complementary to the nutating angle, so that the first active permanent magnet and the first driven permanent magnet are directly opposite to each other at the minimum air gap, and the minimum air gap is 1 mm, so as to strengthen the magnetic coupling effect and increase the torque.

[0029] In this embodiment, a surface of the second active permanent magnet opposite to the second fixed magnetic gear ring forms an angle with the axis of the nutating magnetic gear, and the angle is equal to the nutating angle, so that the second active permanent magnet and the second driven permanent magnet are directly opposite to each other at the minimum air gap, and the minimum air gap is 1 mm, so as to strengthen the magnetic coupling effect and increase the torque.

[0030] In this embodiment, a removable cover plate is further provided at the right end of the box body, the output shaft and the cover plate are rotatably connected via a bearing, a positioning clamping ring sleeved on the output shaft is provided between the cover plate and the rotating disk, and the cover plate and the box body are fixedly connected by bolts for easy maintenance.

[0031] In this embodiment, a keyway for connecting to an external power source is provided at the left end of the input shaft, and the input shaft is rotatably connected to the housing via a bearing and is provided with a sealing end cover.

[0032] In this embodiment, the overall transmission ratio of the reducer reaches 105 through nutation motion and a two-stage magnetic transmission group.

[0033] A working method of a two-stage nutating reducer based on magnetic transmission comprises the following steps:

[0034] ①. The external power source drives the input shaft to rotate, and then the nutating magnetic gear swings with the rotation of the input shaft;

[0035] ② When the nutating magnetic gear swings, the first active permanent magnet and the first driven permanent magnet are magnetically coupled to drive the nutating magnetic gear to rotate, and the nutating magnetic gear begins to nutate;

[0036] ③. When the nutating magnetic gear nutates, the second active permanent magnet and the second driven permanent magnet are magnetically coupled to drive the rotating disk to rotate. Under the action of the rotating disk, the output shaft rotates and outputs power to the outside.

[0037] The above description is only a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, designing different forms of two-stage nutating reducers based on magnetic transmission and working methods thereof does not require creative labor. Without departing from the principles and spirit of the present invention, all equal changes, modifications, substitutions and variations made within the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A working method of a two-stage nutating reducer based on magnetic transmission, the two-stage nutating reducer based on magnetic transmission comprising a box body with an opening facing right, characterized in that: An input shaft is provided on the left side of the box body, a nutating magnetic gear for nutating motion is provided on the right end of the input shaft, an output shaft is provided on the right side of the box body, a rotating disk matched with the nutating magnetic gear is provided on the left end of the output shaft, the nutating magnetic gear is connected to the box body through a first magnetic transmission group, and the nutating magnetic gear is connected to the rotating disk through a second magnetic transmission group; A nutating sleeve is provided at the right end of the output shaft. The nutating sleeve is a cylinder whose axis is inclined relative to the axis of the input shaft. The nutating sleeve is integrally formed with the input shaft. The angle between the axis of the nutating sleeve and the axis of the input shaft is 4° to 6°, which is the nutating angle. The left end of the nutating sleeve is provided with a convex shoulder, the right end of the nutating sleeve is provided with a retaining ring groove, an elastic retaining ring for the shaft is provided in the retaining ring groove, at least one bearing is provided between the convex shoulder and the elastic retaining ring for the shaft, and the nutating magnetic gear and the nutating sleeve are rotatably connected through the bearing; The first magnetic transmission group includes a first fixed magnetic gear ring arranged on the left side of the box body, the fixed magnetic gear ring includes a plurality of first active permanent magnets uniformly distributed along the circumferential direction of the input shaft, the first active permanent magnets are arranged alternately with N and S poles, and a plurality of first driven permanent magnets uniformly distributed along the circumferential direction of the nutating magnetic gear are arranged on a surface of the nutating magnetic gear opposite to the first fixed magnetic gear ring, the first driven permanent magnets are arranged alternately with N and S poles, and the first active permanent magnet and the first driven permanent magnet are both axially magnetized; The second magnetic transmission group includes a second fixed magnetic gear ring arranged on the side wall of the rotating disk, the second fixed magnetic gear ring includes a plurality of second driven permanent magnets uniformly distributed along the circumferential direction of the output shaft, the second driven permanent magnets are arranged alternately with N and S poles, a plurality of second active permanent magnets uniformly distributed along the circumferential direction of the nutating magnetic gear are arranged on a surface of the nutating magnetic gear opposite to the second fixed magnetic gear ring, the second active permanent magnets are arranged alternately with N and S poles, and the second active permanent magnets and the second driven permanent magnets are both radially magnetized; The side of the first driven permanent magnet opposite to the first fixed magnetic gear ring forms an angle with the axis of the nutating magnetic gear, and the angle is complementary to the nutating angle, so that the first active permanent magnet and the first driven permanent magnet face each other at the minimum air gap, and the minimum air gap is 1 mm; The side of the second active permanent magnet opposite to the second fixed magnetic gear ring forms an angle with the axis of the nutating magnetic gear, and the angle is equal to the nutating angle, so that the second active permanent magnet and the second driven permanent magnet face each other at the minimum air gap, and the minimum air gap is 1 mm; A working method of a two-stage nutating reducer based on magnetic transmission comprises the following steps: ①. The external power source drives the input shaft to rotate, and then the nutating magnetic gear swings with the rotation of the input shaft; ② When the nutating magnetic gear swings, the first active permanent magnet and the first driven permanent magnet are magnetically coupled to drive the nutating magnetic gear to rotate, and the nutating magnetic gear begins to nutate; ③. When the nutating magnetic gear nutates, the second active permanent magnet and the second driven permanent magnet are magnetically coupled to drive the rotating disk to rotate. Under the action of the rotating disk, the output shaft rotates and outputs power to the outside.

2. The working method of a two-stage nutating reducer based on magnetic transmission according to claim 1 is characterized in that: A detachable cover plate is also provided at the right end of the box body, the output shaft and the cover plate are rotatably connected via a bearing, and the cover plate and the box body are fixedly connected via bolts.

3. The working method of a two-stage nutating reducer based on magnetic transmission according to claim 1 is characterized in that: The left end of the input shaft is provided with a keyway for connecting with an external power source. The input shaft is rotatably connected to the housing through a bearing and is provided with a sealing end cover.

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