A double-sided coupling axial nutation magnetic force reducer and a working method thereof

Abstract

The application relates to a double-side coupling axial nutational magnetic speed reducer and a working method thereof. The speed reducer comprises a box, an input shaft is arranged at the left end of the box, a rotating disc is arranged at the right side in the box, a nutational disc is arranged in the box and rotates with the input shaft, first and second nutational magnetic gears are arranged at the left and right end faces of the nutational disc respectively, a fixed magnetic gear is arranged at the left end of the box and is magnetically coupled with the first nutational magnetic gear, and a movable magnetic gear is arranged at the left end face of the rotating disc and is magnetically coupled with the second nutational magnetic gear. The double-side coupling axial nutational magnetic speed reducer can realize few-pole difference, has simple structure, large transmission ratio and high transmission efficiency, the axial forces generated by the axial magnetic gears on the two sides can be effectively offset, the service life of bearings is prolonged, the axial force is small, and transmission is stable.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of speed reducer, in particular to a double-side coupling axial nutational magnetic force speed reducer and its working method. BACKGROUND

[0002] With the development of precision machinery, higher and higher requirements are put forward for mechanical transmission, and the friction and wear, vibration and noise of parts in the transmission process are particularly concerned. In addition, in the field of deep space exploration, the lubrication failure caused by ultra-low temperature environment leads to cold welding of parts, which has become a key problem in the field of mechanical transmission. Magnetic force transmission belongs to non-contact transmission, which relies on magnetic field coupling for power transmission. Compared with traditional contact transmission, magnetic force transmission has the advantages of no friction and wear, high transmission efficiency, low vibration and noise, and no cold welding problem due to no contact between components. The existing nutational magnetic force speed reducer is usually composed of a radial magnetic gear pair and an axial magnetic gear pair. The axial magnetic gear pair generates a large axial force, so that the prototype has problems such as excessive one-way axial force and bolt failure during operation. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a double-side coupling axial nutational magnetic force speed reducer with simple structure, large transmission ratio, high transmission efficiency, small axial force and stable transmission.

[0004] The present application adopts the following scheme: a double-side coupling axial nutational magnetic force speed reducer, comprising a box body, an input shaft is arranged at the left end of the box body, a rotating disc is arranged at the right side in the box body, a nutational disc is arranged in the box body and performs nutational movement with the rotation of the input shaft, a first nutational magnetic gear and a second nutational magnetic gear are arranged at the left and right end faces of the nutational disc respectively, a fixed magnetic gear is arranged at the left inner side of the box body and magnetically coupled with the first nutational magnetic gear, and a movable magnetic gear is arranged at the left end face of the rotating disc and magnetically coupled with the second nutational magnetic gear.

[0005] Further, the fixed magnetic gear, the first nutational magnetic gear, the second nutational magnetic gear and the movable magnetic gear are all arranged with a plurality of permanent magnets in the circumferential direction, the pole pair numbers of the fixed magnetic gear, the first nutational magnetic gear, the second nutational magnetic gear and the movable magnetic gear are 9, 8, 9 and 10 respectively, and N and S poles are arranged alternately.

[0006] Further, a nutational sleeve is connected to the input shaft through a key, and the nutational disc is assembled on the nutational sleeve through a bearing; an outer thread is arranged on the outer peripheral part of the nutational sleeve, a limiting shoulder part is arranged at the left end of the nutational sleeve and abuts against the left end of the bearing, and a lock nut is threadedly connected to the nutational sleeve and abuts against the right end of the bearing.

[0007] Further, the box is formed by a left box and a right box connected by bolts, a left end cover is connected to the left end of the left box by bolts, a right end cover is connected to the right end of the right box by bolts, the input shaft is rotatably connected to the left box by a bearing, and the rotating disc is rotatably connected to the right box by a bearing.

[0008] Further, gaps are left between adjacent two permanent magnets on all magnetic gears, recesses for embedding permanent magnets one by one are arranged on the inner side of the left box, the left end of the nutating disc, the right end of the nutating disc and the left end of the rotating disc, the diameter of the first nutating magnetic gear is smaller than that of the second nutating magnetic gear.

[0009] Another technical solution of the application is a working method of the double-side coupling axial nutating magnetic force speed reducer, power is input from the input shaft, the input shaft drives the nutating sleeve to rotate synchronously, the first nutating magnetic gear and the fixed magnetic gear form a first-stage magnetic gear pair, the first nutating magnetic gear swings first following the rotation of the nutating sleeve, then starts to rotate around its axis under the action of the magnetic field in the air gap between the first nutating magnetic gear and the fixed magnetic gear, and the rotation angular velocity of the first nutating magnetic gear around its axis is the output of the first-stage reduction; the first nutating magnetic gear and the second nutating magnetic gear have the same angular velocity, the second nutating magnetic gear and the movable magnetic gear form a second-stage magnetic gear pair, the second nutating magnetic gear and the movable magnetic gear are axially coupled to form the second-stage reduction, power is further reduced and torque is increased through the second-stage magnetic gear pair, and finally the rotating disc outputs power as an output member.

[0010] Compared with the prior art, the double-side coupling axial nutating magnetic force speed reducer has the following beneficial effects: few poles are used, the structure is simple, the transmission ratio is large, and the transmission efficiency is high; the axial forces generated by the two-side coupled axial magnetic gears can be effectively offset, the service life of the bearing is improved, the axial force is small, and the transmission is stable.

[0011] In order to make the purpose, technical solutions and advantages of the application more clear and explicit, the application will be further described in detail below through specific examples and related drawings. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a perspective view of an embodiment of the application;

[0013] Figure 2 is a sectional view of an embodiment of the application;

[0014] Figure 3 is a schematic view of an embodiment of the application without a box;

[0015] Figure 4 is a perspective view of a nutating disc of an embodiment of the application;

[0016] Figure 5is a perspective view of the rotating disc of an embodiment of the application;

[0017] Figure 6 is a perspective view of the left box of an embodiment of the application;

[0018] Label explanation in the figure: 100-box, 110-fixed magnetic gear, 120-left box, 130-right box, 140-left end cover, 150-right end cover, 200-input shaft, 210-nutation cover, 211-limiting shoulder, 212-lock nut, 300-rotating disc, 310-movable magnetic gear, 400-nutation disc, 410-first nutation magnetic gear, 420-second nutation magnetic gear, 500-groove. DETAILED DESCRIPTION

[0019] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0020] It is to be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components and / or combinations thereof.

[0021] As Figures 1-6As shown, a bilateral coupling axial nutation magnetic force reducer includes a box body 100, an input shaft 200 is arranged at the left end of the box body 100, a rotating disc 300 is arranged at the right side in the box body, a nutation disc 400 is arranged in the box body and nutates with the rotation of the input shaft, the left and right end faces of the nutation disc 400 are respectively provided with a first nutation magnetic gear 410 and a second nutation magnetic gear 420, a fixed magnetic gear 110 is arranged at the left end inside of the box body 100 and magnetically coupled with the first nutation magnetic gear, and the left end face of the rotating disc is provided with a movable magnetic gear 310 magnetically coupled with the second nutation magnetic gear. The reducer is a two-stage reducer, four magnetic gears constitute main components of the two-stage magnetic force reducer, the first nutation magnetic gear 410 and the second nutation magnetic gear 420 are connected together, the fixed magnetic gear 110 and the first nutation magnetic gear 410 form a first magnetic gear pair through the interaction between magnetic fields, and first-stage reduction is realized through magnetic field coupling, similarly, the second nutation magnetic gear 420 and the movable magnetic gear 310 form a second magnetic gear pair, and second-stage reduction is realized through magnetic field coupling, the axial force of the nutation magnetic gear and the nutation sleeve in the bilateral coupling nutation magnetic force reducer is far less than that in a unilateral coupling nutation magnetic force reducer, and the transmission stability and the service life of the reducer are effectively improved. The bilateral coupling axial nutation magnetic force reducer based on magnetic force transmission and nutation transmission can realize few-pole difference, has simple structure, large transmission ratio and high transmission efficiency, the axial forces generated by the bilateral coupling axial magnetic gears can be effectively offset, the service life of the bearing is improved, the axial force is small, and the transmission is stable.

[0022] In the embodiment, the fixed magnetic gear, the first nutation magnetic gear, the second nutation magnetic gear and the movable magnetic gear are all arranged with a plurality of permanent magnets in the circumferential direction, the pole pair numbers of the fixed magnetic gear, the first nutation magnetic gear, the second nutation magnetic gear and the movable magnetic gear are respectively 9, 8, 9 and 10, and N and S poles are alternately arranged, according to the "N / S" array, one magnetic pole corresponds to two permanent magnets, the number of permanent magnets of the fixed magnetic gear is 18, the number of permanent magnets of the first nutation magnetic gear is 16, the number of permanent magnets of the second nutation magnetic gear is 18, and the number of permanent magnets of the movable magnetic gear is 20.

[0023] In the embodiment, the input shaft is connected with a nutation sleeve 210 through a key, the nutation angle necessary for the nutation magnetic gear reducer to work is formed by the key transmission and the nutation sleeve on the input shaft, the nutation sleeve is necessary to realize the nutation movement, the center point of the nutation sleeve is on the input shaft axis in the embodiment, and the dynamic balance performance is improved compared with the conventional nutation sleeve; the nutation disc is assembled on the nutation sleeve through a bearing, and an angular contact ball bearing is specifically adopted; the outer periphery of the nutation sleeve is provided with external threads, the left end of the nutation sleeve is provided with a limiting shoulder 211 abutting against the left end of the bearing, and the nutation sleeve is further provided with a lock nut 212 abutting against the right end of the bearing and connected with the nutation sleeve through threads, and the limiting shoulder 211 and the lock nut 212 cooperate to limit the axial displacement of the nutation sleeve bearing.

[0024] In the embodiment, the box is formed by the left box 120 and the right box 130 through bolt connection, the left end of the left box is connected with a left end cover 140 through bolt connection, the right end of the right box is connected with a right end cover 150 through bolt connection, the input shaft is rotatably connected with the left box through a bearing, the right end of the input shaft is rotatably connected with the middle part of the rotating disc through a bearing, the right end of the rotating disc is rotatably connected with the right box through a bearing, and the right end of the rotating disc needs to be connected with an output shaft (not shown in the figure); the left box 120 and the right box 130 form a closed reducer internal space, and the left and right end covers are arranged on the left and right boxes respectively to limit the axial displacement of the bearings of the input shaft and the rotating disc.

[0025] The magnetic gear includes a permanent magnet and a yoke iron, the permanent magnet is attached to the surface of the yoke iron through magnetic steel glue, two nutation magnetic gears in the reducer share a yoke iron, that is, the nutation disc, and have the same movement state; the left box is used as the main part of the reducer box in structure and also as the yoke iron part of the fixed magnetic gear, and the rotating disc is used as the yoke iron part of the movable magnetic gear.

[0026] In the embodiment, gaps are left between the adjacent two permanent magnets on all the magnetic gears; the left box, the left end of the nutation disc, the right end of the nutation disc, and the left end of the rotating disc are respectively provided with a plurality of grooves 500 for embedding the permanent magnets one by one, and the diameter of the first nutation magnetic gear is smaller than that of the second nutation magnetic gear.

[0027] Another technical solution of the present application: a working method of the double-side coupled axial nutation magnetic speed reducer, the power is input from the input shaft, the input shaft drives the nutation sleeve to rotate synchronously, the first-stage magnetic gear pair is formed by the first nutation magnetic gear and the fixed magnetic gear, the first nutation magnetic gear will swing first following the rotation of the nutation sleeve, and then start to rotate around its own axis under the action of the magnetic field inside the air gap between the first nutation magnetic gear and the fixed magnetic gear, because the fixed magnetic gear is fixedly connected to the box body, the angular velocity of the fixed magnetic gear is zero, according to the nutation transmission principle and the magnetic field coupling principle, the rotation angular velocity of the first nutation magnetic gear around its own axis is the output of the first-stage reduction; the first nutation magnetic gear and the second nutation magnetic gear have the same angular velocity, the second nutation magnetic gear and the movable magnetic gear form the second-stage magnetic gear pair, the second nutation magnetic gear and the movable magnetic gear are axially coupled to form the second-stage reduction, the power is further reduced and the torque is increased through the second-stage magnetic gear pair, and finally the rotating disc is used as the output component to output the power.

[0028] Both of the magnetic gear pairs are axial magnetic gear pairs, the axial forces generated by the air gap magnetic fields in the two magnetic gear pairs interact to generate axial forces in opposite directions, compared with the single-side axial magnetic gear pair, most of the axial forces are offset, the axial tension of the bearing and the end cover bolt is reduced, and the transmission stability and service life of the speed reducer are improved.

[0029] In the structure of the double-side coupled axial nutation magnetic speed reducer, the number of magnetic pole pairs in the same magnetic gear pair should satisfy the following relationship:

[0030] (1)

[0031] Among them, N1 represents the number of magnetic pole pairs of the first nutation magnetic gear (or the second nutation magnetic gear), N2 represents the number of magnetic pole pairs of the fixed magnetic gear (or the movable magnetic gear).

[0032] The total transmission ratio of the speed reducer can be calculated by the following formula,

[0033] (2)

[0034] Among them, N0 represents the rotation speed of the input shaft, N2 represents the rotation speed of the movable magnetic gear, N1 represents the number of magnetic pole pairs of the first nutation magnetic gear, N1 represents the number of magnetic pole pairs of the second nutation magnetic gear, N2 represents the number of magnetic pole pairs of the movable magnetic gear.

[0035] If the above-mentioned any technical solution of the present application discloses a numerical range, the disclosed numerical range is a preferred numerical range, and any person skilled in the art should understand that the preferred numerical range is only one of the many implementable numerical values with more obvious technical effects or representative values. Because there are too many numerical values to enumerate, the present application discloses some numerical values to illustrate the technical solutions of the present application, and the above-mentioned enumerated numerical values should not constitute a limitation on the protection scope of the present application.

[0036] If the present application discloses or involves mutually fixed connecting parts or structural parts, the fixed connection can be understood as: detachable fixed connection (such as bolt or screw connection), or as: non-detachable fixed connection (such as riveting, welding), of course, the mutually fixed connection can also be replaced by an integral structure (such as using casting process to integrally form) (except for obvious cases that cannot use integral forming process).

[0037] In addition, the terms used to represent the positional relationship or shape in any technical solution disclosed above, unless otherwise stated, include states or shapes that are approximate, similar or close to them.

[0038] Any component provided by the present application can be assembled from multiple individual components, or can be a single component manufactured by integral forming process.

[0039] The above is only a preferred embodiment of the present application, and is not a limitation on other forms of the present application. Any person skilled in the art can modify or change the above-mentioned disclosed technical content to equivalent embodiments. However, any simple modification, equivalent change and modification made according to the technical essence of the present application without departing from the technical solution content of the present application still belongs to the protection scope of the present application.

Claims

1. A dual-sided coupled axial nutating magnetic reducer, characterized in that: The device includes a housing, an input shaft passing through its left end, a rotating disk inside the housing on the right side, and a nutating disk fitted onto the input shaft and nutating with the rotation of the input shaft. The nutating disk has a first nutating magnetic gear and a second nutating magnetic gear on its left and right ends, respectively. A fixed magnetic gear, magnetically coupled to the first nutating magnetic gear, is located on the inner side of the left end of the housing. A movable magnetic gear, magnetically coupled to the second nutating magnetic gear, is located on the left end of the rotating disk. A nutating sleeve is connected to the input shaft via a key, and the nutating disk is mounted on the nutating sleeve via a bearing. The outer periphery of the nutating sleeve has an external thread, and the left end of the nutating sleeve has a limiting shoulder that abuts against the left end of the bearing. A set nut, threaded onto the nutating sleeve, abuts against the right end of the bearing. Power is input from the input shaft, which drives the nutating sleeve to rotate synchronously. The first moving magnetic gear and the fixed magnetic gear form the first stage magnetic gear pair. The first moving magnetic gear will first oscillate with the rotation of the nutating sleeve, and then start to rotate around its own axis under the action of the magnetic field inside the air gap of the first moving magnetic gear and the fixed magnetic gear. The rotational angular velocity of the first moving magnetic gear around its own axis is the output of the first stage of deceleration. The first moving magnetic gear and the second moving magnetic gear have the same angular velocity. The second moving magnetic gear and the movable magnetic gear form the second stage magnetic gear pair. The second moving magnetic gear and the movable magnetic gear are axially coupled to form the second stage of deceleration. The power is further decelerated and increased in torque through the second stage magnetic gear pair, and finally the rotating disk is used as the output component to output the power.

2. The dual-sided coupled axial nutating magnetic reducer according to claim 1, characterized in that: The fixed magnetic gear, the first moving magnetic gear, the second moving magnetic gear, and the movable magnetic gear are all composed of several permanent magnets arranged circumferentially. The fixed magnetic gear, the first moving magnetic gear, the second moving magnetic gear, and the movable magnetic gear have 9, 8, 9, and 10 pole pairs, respectively, and all of them use alternating N and S poles.

3. The dual-sided coupled axial nutating magnetic reducer according to claim 1, characterized in that: The housing is composed of a left housing and a right housing connected by bolts. The left end of the left housing is bolted to a left end cover, and the right end of the right housing is bolted to a right end cover. The input shaft is rotatably connected to the left housing via a bearing, and the right end of the rotating disk is rotatably connected to the right housing via a bearing.

4. The dual-sided coupled axial nutating magnetic reducer according to claim 3, characterized in that: There is a gap between adjacent permanent magnets on all magnetic gears; the inner side of the left box, the left end of the nutating disk, the right end of the nutating disk, and the left end of the rotating disk are respectively provided with several grooves for embedding permanent magnets one by one. The diameter of the first nutating magnetic gear is smaller than the diameter of the second nutating magnetic gear.

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