A motor of a coaxial integrated magnetic gear reduction device

Abstract

The invention discloses a motor of a coaxial integrated magnetic gear reduction device, which comprises a housing, a servo motor unit, a magnetic gear reduction unit and an encoding unit. The servo motor unit and the magnetic gear reduction unit are fixed on the same rotating shaft in the housing in an axially parallel arrangement manner, and the encoding unit is arranged outside the housing. The servo motor unit includes a rotating shaft and a motor stator and a motor rotor which are coaxially sleeved together from outside to inside in sequence. The magnetic gear reduction unit is arranged in the housing and installed on the rotating shaft in front of the servo motor unit, and includes an output shaft flange and a magnetic gear outer stator, a modulation ring rotor and a magnetic gear inner rotor which are coaxially sleeved together from outside to inside in sequence. The encoding unit includes an encoder and an encoder housing. The encoder is installed on the outer wall of the rear end of the housing and sleeved on the rear end part of the rotating shaft. The encoder housing covers the encoder outside and is fixedly connected with the housing. The beneficial effects of the invention are as follows: the output precision of the motor is improved, the volume is small, and the vibration is small.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and particularly to a motor with a coaxial integrated magnetic gear reduction device. Background Art

[0002] As the application scope of motors in the field of robots is getting wider and wider, the requirements for the volume, assembly accuracy, output torque, vibration and noise of motors are also getting higher and higher. In order to achieve a low-speed and high-torque output, currently commonly used motors generally need to be connected to a load through a speed reducer. However, the separate use of a motor and a speed reducer has certain defects. The volume is larger, the space utilization rate is low, and at the same time, the accuracy of the final output shaft will be reduced. The external structure is complex, the assembly is troublesome, and the later maintenance is also very cumbersome, which directly affects the production and maintenance costs. From the perspective of the speed reducer, most of the currently used ones are mechanical gears, such as planetary speed reducers, harmonic speed reducers, etc. However, due to the contact relationship, mechanical gears will have failure forms such as tooth root fracture, wear, tooth root gluing, and plastic deformation. Therefore, it is necessary to find a more suitable alternative. Compared with mechanical gears, magnetic gears have no contact, no wear, and no vibration in structure, so they have the advantages of low maintenance cost and high reliability. The derived magnetic gear motor has significant advantages such as simple structure, high efficiency, and strong torque output ability. However, the current magnetic gear motors have high requirements for the motor during assembly, and errors are easily generated during assembly, thus affecting the coaxiality of the motor and the accuracy of the output shaft. Summary of the Invention

[0003] In order to solve the above problems, the present invention proposes a motor with a coaxial integrated magnetic gear reduction device. By designing the motor and the reduction mechanism to be axially arranged side by side on the same shaft, the redundant dimensions in the axial direction are greatly reduced, and the influence of installation errors during the assembly process on the motor accuracy is also avoided. At the same time, the integrated design also reduces problems such as the selection and matching of the motor and the speed reducer.

[0004] In order to solve the technical problems in the related art, the present invention provides the following technical solutions:

[0005] The motor with a coaxial integrated magnetic gear reduction device according to the present invention is characterized in that: it includes a housing, a servo motor unit, a magnetic gear reduction unit, and a coding unit. Among them, the servo motor unit and the magnetic gear reduction unit are fixed on the same rotating shaft in the housing in an axially parallel arrangement, and the coding unit is arranged outside the housing;

[0006] The housing is provided with a cavity for accommodating the servo motor unit and the magnetic gear reduction unit; one direction along the axial direction of the housing is defined as the forward direction, and the other direction is defined as the backward direction; the direction close to the central axis of the housing perpendicular to the axial direction of the housing is defined as the inner side, and the opposite is the outer side;

[0007] The described servo motor unit includes a rotating shaft, a motor stator, and a motor rotor that are coaxially sleeved together from the outside to the inside in sequence. The motor stator is fixed at the rear end of the inner wall of the housing; the motor stator is filled with motor windings using insulating glue, and the motor windings form winding ends that extend beyond the motor stator at both axial ends of the motor stator; the motor rotor includes a rotating shaft, a motor rotor yoke, and an L-shaped support plate. The rotating shaft is a multi-stage stepped shaft and is rotatably passed through the housing. The rear end of the rotating shaft extends out of the housing for installing the coding unit; there is a rotational gap between the motor rotor yoke and the motor stator, and inner rotor permanent magnets are provided at the axial ends of the motor rotor yoke; the L-shaped support plate is fixedly connected to the magnetic gear inner rotor bracket of the motor stator; the L-shaped support plate is sleeved outside the rotating shaft and is in interference fit with the rotating shaft.

[0008] The described magnetic gear reduction unit is arranged inside the housing and is installed on the rotating shaft in front of the servo motor unit. It includes an output shaft flange, a magnetic gear outer stator, a modulation ring rotor, and a magnetic gear inner rotor that are coaxially sleeved together from the outside to the inside in sequence. The magnetic gear outer stator is installed at the front end of the housing and is fixedly connected to the inner wall of the housing; the magnetic gear inner rotor is installed on the rotating shaft and is installed at the corresponding shaft shoulder of the rotating shaft; the modulation ring rotor is arranged between the magnetic gear inner rotor and the magnetic gear outer stator, and there is an inner air gap between the outer wall of the modulation ring rotor and the magnetic gear inner rotor, and an outer air gap between the inner wall of the modulation ring rotor and the magnetic gear outer stator; front insulating gaskets and rear insulating gaskets are respectively installed at both ends of the modulation ring rotor, and a modulation ring rear end cover is installed behind the rear insulating gasket; the output shaft flange is coaxial with the rotating shaft, and the output shaft flange is rotatably passed through the front end of the housing. The front end of the output shaft flange extends out of the housing to form an output end that can be connected to the device to be driven. A flange is provided at the rear end of the output shaft flange, and the flange is fixedly connected to the front insulating gasket.

[0009] The described coding unit includes an encoder and an encoder housing. The encoder is installed on the rear outer wall of the housing, the encoder is sleeved on the rear end of the rotating shaft that extends out of the housing, and is connected in a rotational manner; the encoder housing covers the outside of the encoder and is fixedly connected to the housing.

[0010] Preferably, the casing includes a housing, a front end cover, and a rear end cover. The housing is a cylindrical structure with openings at both ends. An opening is provided on the rear wall of the housing for the output of the three-phase power supply line of the motor. The front end cover and the rear end cover are respectively installed at the front and rear openings of the housing through rabbets, and together with the housing, they enclose a cavity for accommodating the servo motor unit and the magnetic gear reduction unit. A bearing seat and an output shaft bearing provided on the bearing seat are installed inside the front end cover. The outer ring of the output shaft bearing is clamped inside the front end cover, and the inner ring is clamped on the output shaft flange to achieve rotational cooperation between the output shaft flange and the front end cover. A thin bearing is installed inside the rear end cover. The outer ring of the thin bearing is clamped inside the rear end cover, and the inner ring is clamped on the shoulder at the rear end of the rotating shaft to achieve rotational cooperation between the rotating shaft and the rear end cover.

[0011] Preferably, the inner rotor of the magnetic gear includes a magnetic gear rotor yoke and an inner magnetic ring. Both the magnetic gear rotor yoke and the inner magnetic ring are cylindrical and have a through hole in the center. The magnetic gear rotor yoke is clamped on the rotating shaft and installed at the corresponding shoulder. The inner magnetic ring is coaxially sleeved outside the magnetic gear rotor yoke. An inner air gap is provided between the outer wall of the inner magnetic ring and the inner wall of the modulation ring rotor.

[0012] Preferably, the outer stator of the magnetic gear includes a stator yoke portion and an outer magnetic ring. Both the stator yoke portion and the outer magnetic ring are cylindrical. The stator yoke is a cylindrical structure laminated axially by silicon steel sheets and is fixed on the inner wall at the front end of the housing. An outer air gap is provided between the inner wall of the outer magnetic ring and the outer wall of the modulation ring rotor.

[0013] Preferably, the modulation ring rotor is a cylindrical structure with a gear-shaped cross-section, including a plurality of modulation blocks. The modulation blocks are arranged at intervals along the circumferential direction, and two adjacent modulation blocks are connected by a connecting bridge.

[0014] Preferably, a wave washer is clamped between the bearing seat and the output shaft bearing.

[0015] Preferably, the maximum diameter of the L-shaped support plate is smaller than the minimum diameter of the modulation ring rear end cover.

[0016] Preferably, the outer rings of the front magnetic gear bearing and the rear magnetic gear bearing are respectively clamped on the bearing seats of the output shaft flange and the modulation ring rear end cover, and the inner rings are respectively clamped on the corresponding shoulders of the rotating shaft.

[0017] Preferably, the magnetic gear inner rotor and the modulation ring rotor rotate in the same direction, and the ratio of the inner and outer pole pairs is 2:13.

[0018] Preferably, the inner rotor permanent magnet adopts a radial magnetization structure, the inner magnetic ring adopts an outward magnetic focusing structure, and the outer magnetic ring adopts an inward magnetic focusing structure.

[0019] The beneficial effects of the present invention are:

[0020] 1. It can reduce the axial length and reduce the design and installation errors caused by the split structure;

[0021] 2. Adopting a magnetic gear structure, it has low vibration and noise and is applicable to some special occasions such as the flow of special fluids;

[0022] 3. The structure is simple and compact, with a small installation space, large torque and high integration;

[0023] 4. The magnetic gear integrated motor is based on the magnetic field modulation principle and uses the effective harmonic magnetic field to further improve the winding induced electromotive force. It is applicable to the field of low-speed and high-torque applications and has important scientific research and application values. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional structure schematic diagram of an embodiment of the present invention;

[0025] Figure 2 It is Figure 1 a schematic diagram along direction A in

[0026] Figure 3 It is Figure 2 a sectional structure schematic diagram along line B-B in

[0027] Figure 4 It is a schematic diagram of the servo motor unit structure of the present invention;

[0028] Figure 5 It is a sectional view of the servo motor unit of the present invention;

[0029] Figure 6 It is a sectional view of the coding unit of the present invention

[0030] Figure 7 It is an internal schematic diagram of the magnetic gear reduction unit of the present invention;

[0031] Figure 8 It is a schematic diagram of the structure of the magnetic gear reduction unit of the present invention;

[0032] Figure 9 It is a sectional view of the magnetic gear reduction unit of the present invention;

[0033] Figure 10 It is a sectional view of the fixing method of the modulation ring rotor of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0034] The following will describe in detail the specific embodiments of the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining and illustrating the embodiments of the present invention and are not used to limit the embodiments of the present invention.

[0035] 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.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0037] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms such as "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0040] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0041] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0042] The motor of a coaxial integrated magnetic gear reduction device according to the present invention includes a housing 1, a servo motor unit 2, a magnetic gear reduction unit 4, and a coding unit 8;

[0043] The housing 1 is provided with a cavity for accommodating the servo motor unit 2 and the magnetic gear reduction unit 4; one direction along the axial direction of the housing is defined as the forward direction, and the other direction is defined as the backward direction; the direction close to the central axis of the housing perpendicular to the axial direction of the housing is defined as the inner side, and the opposite is defined as the outer side; the servo motor unit 2 and the magnetic gear reduction unit 4 are fixed on the same rotating shaft 6 in the housing 1 in a parallel arrangement along the axial direction, with the magnetic gear reduction unit 4 in the front and the servo motor unit 2 in the rear, and the coding unit 8 is arranged outside the housing 1;

[0044] The described servo motor unit 2 includes a motor stator 201 and a motor rotor 200 that are coaxially sleeved together from outside to inside in sequence. Inside the motor stator 201, a motor winding 202 is potted with an insulating glue (such as epoxy resin). Due to winding, the motor winding 202 extends beyond the motor stator 201 by a certain length at both axial ends of the motor stator 201, forming winding ends that extend beyond the motor stator 201. The motor rotor 200 includes a motor rotor yoke 203, an L-shaped support plate 205, and a rotating shaft 6. The rotating shaft 6 is a multi-stage stepped shaft and is rotatably inserted into the machine housing 1. The rear end of the rotating shaft 6 extends out of the machine housing 1 for installing a coding unit 8. The motor stator 201 is fixed to the rear end of the inner wall of the machine housing 1. A rotating gap is provided between the motor rotor yoke 203 and the motor stator 201 to facilitate the free rotation of the motor rotor yoke 203 in the circumferential direction. Inner rotor permanent magnets 204 are provided at the axial ends of the motor rotor yoke 203. The L-shaped support plate 205 is in contact with the magnetic gear inner rotor support of the motor stator 201 and is fixed to the latter with six hexagon socket head cap screws. The L-shaped support plate 205 is sleeved outside the rotating shaft 6 and has an interference fit with the rotating shaft 6. Moreover, the disk surface of the L-shaped support plate 205 is clamped and fixed on the shaft shoulder to achieve co-rotation with the rotating shaft.

[0045] The described magnetic gear reduction unit 4 is arranged inside the machine housing 1 and is installed on the rotating shaft 6 in front of the servo motor unit 2. It includes an output shaft flange 5 and a magnetic gear outer stator 41, a modulation ring rotor 403, and a magnetic gear inner rotor 40 that are coaxially sleeved together from outside to inside in sequence. The magnetic gear outer stator 41 is installed at the front end of the machine housing 1 and is fixedly connected to the inner wall of the machine housing 1. The magnetic gear inner rotor is installed on the rotating shaft 6 and at the corresponding shaft shoulder of the rotating shaft. The modulation ring rotor 403 is arranged between the magnetic gear inner rotor 40 and the magnetic gear outer stator 41. An inner air gap is provided between the modulation ring rotor 403 and the outer wall of the magnetic gear inner rotor 40, and an outer air gap is provided between the modulation ring rotor 403 and the inner wall of the magnetic gear outer stator 41. Front insulating gaskets 406 and rear insulating gaskets 407 are respectively installed at both ends of the modulation ring rotor 403, and a modulation ring rear end cover 408 is installed at the rear side of the rear insulating gasket 407. The output shaft flange 5 is coaxial with the rotating shaft 6 and is rotatably inserted through the front end of the machine housing 1. The front end of the output shaft flange 5 extends out of the machine housing 1 to form an output end that can be connected to a device to be driven. A flange plate 502 is provided at the rear end of the output shaft flange 5, and the flange plate 502 is fixedly connected to the front insulating gasket 406.

[0046] The described encoding unit 8 includes an encoder 3 and an encoder housing 103. The encoder 3 is fixed to the outer wall of the rear end cover 102 of the machine housing 1 by an internal hexagonal bolt 301. There is a through hole in the middle. The encoder 3 is sleeved on the rear end portion of the rotating shaft 6 extending out of the machine housing 1 and is connected in a rotatable manner. The encoder housing 103 covers the outside of the encoder 3 and is clamped to the rear end cover 102 through the rear end stop of the rear end cover 102. A round hole is opened in its upper part for the extension of the encoder signal output line. And four internal hexagonal bolts pass through the through holes on the encoder housing 103 and the ear plates of the rear end cover 102 and are fixed to the housing 1.

[0047] In some embodiments of the present invention, the output shaft flange 5 and the rotating shaft 6 are coaxial.

[0048] In some embodiments of the present invention, the machine housing 1 is in a cuboid shape and includes a housing 104, a front end cover 101 and a rear end cover 102. The housing 104 is a cylindrical structure with openings at both ends. An opening is provided on the rear wall surface of the housing 104 for the output of the three-phase power supply line of the motor. The front end cover 101 and the rear end cover 102 are respectively installed at the front and rear openings of the housing 104 through the stop to jointly enclose a cavity for accommodating the servo motor unit 2 and the magnetic gear reduction unit 4. A bearing seat 1011 and an output shaft bearing 801 provided on the bearing seat 1011 are installed inside the front end cover 101. The outer ring of the output shaft bearing 801 is clamped inside the front end cover 101, and the inner ring is clamped on the output shaft flange 5 to realize the rotational cooperation between the output shaft flange 5 and the front end cover 102. A thin bearing 804 is installed inside the rear end cover 102. The outer ring of the thin bearing 804 is clamped inside the rear end cover 102, and the inner ring is clamped on the shoulder of the rear end portion of the rotating shaft 6 to realize the rotational cooperation between the rotating shaft 6 and the rear end cover 102.

[0049] In some embodiments of the present invention, the outer diameters of the front end cover 101 and the rear end cover 102 are the same, both in a cuboid shape. Step-shaped stops are provided at the front and rear openings of the housing 1. The front end cover 101 and the rear end cover 102 are installed on the step-shaped stops of the housing 1 to realize the detachable connection between the front end cover 101, the rear end cover 102 and the housing 1.

[0050] In some embodiments of the present invention, the front end cover 101 is in a cuboid sheet shape. There is a through hole in the center, four through holes on the ear plates, a convex boss on the front end face for positioning, a bearing seat 1011 is provided at the inner hole for clamping the output shaft bearing 801, a stop on the rear end face cooperates with the machine housing 1, and four centrally symmetric single-round-head grooves are provided on the front end face, and can be fixed to the machine housing 1 by internal hexagonal bolts.

[0051] In some embodiments of the present invention, the rear end cover 102 is in the shape of a rectangular parallelepiped sheet, with a through hole in the center, four through holes on the ear plates, protruding stepped stop mouths on the front and rear sides of the end cover, and a bearing seat on the inner side for installing the thin bearing 804, and the depth is the same as the thickness of the thin bearing 804.

[0052] In some embodiments of the present invention, the rotating shaft 6 is cylindrical, with center holes provided at both the front and rear ends for machining. The rotating shaft is a multi-stage stepped shaft and is provided with a plurality of shaft shoulders with different shaft diameters for mounting bearings and components with different shaft shoulders.

[0053] In some embodiments of the present invention, the inner rotor 40 of the magnetic gear includes a magnetic gear rotor yoke 401 and an inner magnetic ring 402. Both the magnetic gear rotor yoke 401 and the inner magnetic ring 402 are cylindrical, with a through hole in the center. Among them, the magnetic gear rotor yoke 401 is mounted on the rotating shaft 6 and installed at the corresponding shaft shoulder. A relief groove is provided at the shaft shoulder to facilitate the withdrawal of the cutting tool during machining, and the axial length of this section of the rotating shaft is slightly greater than the axial length of the rotor yoke 402; the inner magnetic ring 402 is coaxially sleeved outside the magnetic gear rotor yoke 401; an inner air gap is provided between the outer wall of the inner magnetic ring 402 and the inner wall of the modulation ring rotor 403. The inner magnetic ring 402 adopts an outward magnetic focusing type sinusoidal magnetization method.

[0054] In some embodiments of the present invention, the outer stator 41 of the magnetic gear includes a stator yoke portion 405 and an outer magnetic ring 404. Both the stator yoke portion 405 and the outer magnetic ring 404 are cylindrical. Among them, the stator yoke 405 is a cylindrical structure formed by laminating silicon steel sheets in the axial direction and is fixed on the inner wall of the front end of the housing 104; an outer air gap is provided between the inner wall of the outer magnetic ring 404 and the outer wall of the modulation ring rotor 403.

[0055] In some embodiments of the present invention, the modulation ring rotor 403 is a cylindrical structure with a gear-shaped cross-section, and its end face structure is as Figures 7 - 8 shown. The modulation ring rotor 403 is formed by an integrated cutting to complete a structure similar to a petal, including a number of modulation blocks 4031. The modulation blocks 4031 are arranged at intervals in the circumferential direction, and two adjacent modulation blocks 4031 are connected by a connecting bridge 4032 and are formed by laminating silicon steel sheets one by one in the axial direction.

[0056] In some embodiments of the present invention, the permanent magnets on the inner rotor permanent magnet 204, the inner rotor 40 of the magnetic gear, and the outer stator 41 of the magnetic gear all adopt neodymium iron boron materials with high magnetic performance; the stator yoke portions 405 of the motor stator 201, the modulation ring rotor 403, and the outer stator 41 of the magnetic gear are all formed by laminating silicon steel sheets in the axial direction; the rotating shaft 6 and the motor rotor yoke 203 can adopt alloy materials.

[0057] In some embodiments of the present invention, the inner rotor permanent magnet 204 is a bread-shaped permanent magnet, which is arranged in a surface-mounted manner and evenly attached to the core end of the motor rotor yoke 203, magnetized along the circumferential radial direction, and the magnetization directions of adjacent main pole permanent magnets are opposite.

[0058] In some embodiments of the present invention, the motor rotor 200 and the inner rotor 40 of the magnetic gear share the same rotating shaft and are respectively fixed through the design of a stepped shaft to ensure the simultaneity of their rotation.

[0059] In some embodiments of the present invention, both ends of the modulation ring rotor 403 are respectively connected to the front insulating gasket 406 and the rear insulating gasket 407 in the form of buckles, which is convenient for disassembly and assembly. Two front boss structures 4061 protruding backward are provided on the rear side of the front insulating gasket 406, and two rear boss structures 4071 protruding forward are provided on the front side of the rear insulating gasket 407, which can be clamped on the connecting bridge of the modulation ring rotor 403 and used to cooperate with the modulation ring rotor to realize the output of torque and achieve the function of the modulation ring rotor 403 output. A rabbet is provided on the front side of the front insulating gasket 406 and the rear side of the rear insulating gasket 407. Because the front boss structure 4061 and the rear boss structure 4071 will be stuck into the inside of the modulation ring rotor 403, the end faces of the front insulating gasket 406 and the rear insulating gasket 407 directly contact the inner magnetic ring 402. In order not to damage the magnetic circuit and affect the transmission stability, an insulating gasket made of insulating material or an insulating layer is sprayed on the insulating gasket is required.

[0060] In some embodiments of the present invention, the modulation ring rear end cover 408 is annular. Its front end is sleeved on the rear insulating gasket 407 through a rabbet, and a step is provided at the rear end with a certain width for placing the nut 411. An inner hole rabbet is provided in the center for installing the magnetic gear rear bearing 803, and the minimum diameter at the center should be greater than the maximum diameter of the L-shaped support plate 205, which is convenient for direct installation or removal during assembly and debugging.

[0061] In some embodiments of the present invention, the magnetic gear reduction unit 4 directly fixes the modulation ring rotor 403 and the output shaft flange 5 together through the buckles on the insulating gasket by bolts 410. The front insulating gasket 406, the rear insulating gasket 407 and the bolts 410 passing through the modulation ring rotor are insulated. The bolts 410 in this embodiment are long hexagon socket head cap screws.

[0062] In some embodiments of the present invention, the high-speed inner rotor, the modulation ring rotor and the outer stator are coaxially configured and have the same shaft length.

[0063] In some embodiments of the present invention, the output shaft flange 5 is a component with a flange base and a shaft protruding forward along the central axis direction of the flange in the middle. Such an integrated structure can ensure the coaxial accuracy with the rotating shaft 6, such asFigure 8 As shown, a keyway with a C-shaped single round head is opened at the front end of the output shaft flange 5 for subsequent connection with the equipment using a key. A center hole is opened at the top end face of the shaft, which plays a role in positioning and guiding. The flange 502 at the rear end of the output shaft flange 5 is fixedly connected to the front end of the front insulating gasket 406 through a rabbet, and a step is provided at the flange 502 to leave a space for placing the head of the long hexagon bolt 410. A bearing seat is provided inside the output shaft flange 5 for mounting the front bearing 802 of the magnetic gear.

[0064] In some embodiments of the present invention, an elastic washer 7, such as a wave washer, is clamped between the bearing seat 1011 and the output shaft bearing 801. The wave washer is in the shape of a wave sheet, its front end face contacts the bearing seat of the front end cover 101, and the rear end face contacts the output shaft bearing 801. Because there will be an accumulation of axial tolerances during the installation of the motor, the role of the wave washer is to absorb this accumulated tolerance.

[0065] In some embodiments of the present invention, the outer ring of the output shaft bearing 801 is mounted on the bearing seat 1011 of the front end cover and is close to the wave washer 7. The minimum diameter of the outer ring of the output shaft bearing 801 is smaller than the minimum diameter of the wave washer 7, and the inner ring of the output shaft bearing 801 is mounted on the shaft shoulder of the output shaft flange 5.

[0066] In some embodiments of the present invention, the maximum diameter of the L-shaped support plate 205 is smaller than the minimum diameter of the rear end cover 408 of the modulation ring to facilitate installation and disassembly during the assembly process.

[0067] In some embodiments of the present invention, the outer rings of the front bearing 802 and the rear bearing 803 of the magnetic gear are respectively mounted on the bearing seats of the output shaft flange 5 and the rear end cover 408 of the modulation ring, and the inner rings are respectively mounted on the corresponding shaft shoulders of the rotating shaft 6. Specifically, the outer ring of the rear bearing 803 of the magnetic gear is mounted on the rabbet of the inner hole at the rear side of the rear end cover 408 of the modulation ring. The front retaining plate of the rear bearing 803 of the magnetic gear is close to the retaining opening inside the rear end cover 408 of the modulation ring, and the rear retaining plate contacts the shaft shoulder of the rotating shaft 6.

[0068] In some embodiments of the present invention, the magnetic gear reduction unit 4 adopts a method where the high-speed magnetic gear inner rotor 40 is the high-speed rotor input, the modulation ring rotor 403 is the low-speed rotor output, and the outer stator is fixed. The rotation directions of the magnetic gear inner rotor 40 and the modulation ring rotor 403 are the same, and the ratio of the number of internal and external pole pairs is 2:13.

[0069] In some embodiments of the present invention, the inner rotor permanent magnet 204 adopts a radial magnetization structure, the inner magnetic ring 402 adopts an outward magnetic focusing structure, and the outer magnetic ring 404 adopts an inward magnetic focusing structure.

[0070] In some embodiments of the present invention, the bolt head of the long hexagon socket bolt 410 is fixed on the end face of the flange plate 502, and passes through the end face of the output shaft flange 5, the front boss structure 4061 of the front insulating gasket 406, the gap between the modulation blocks of the modulation ring rotor 403, the rear boss structure 4071 of the rear insulating gasket 407 and the end face of the rear end cover 408 of the modulation ring in sequence. The nut 411 is sleeved on the long hexagon socket bolt 410 and fixed on the end face of the rear end cover 408.

[0071] When assembling this embodiment, you can refer to the following steps for assembly:

[0072] First, install the motor stator 201 (winding and glue filling steps have been completed) on the positioning ring of the casing 1, and then install the magnetic gear stator 405 (the outer magnetic ring 404 has been fixed with glue) on the positioning ring of the casing 1; because the embodiment of the present invention adopts a method of sleeve two rotors on a rotating shaft 6, they need to be assembled together during assembly. First, assemble the magnetic gear reduction unit 4, glue the inner magnetic ring 402 to the magnetic gear rotor yoke 401, and then install it on the shoulder of the rotating shaft 6, then make the magnetic gear rear bearing 803 and the magnetic gear front bearing 802 interference fit on the shoulder of the rotating shaft 6, put the modulation ring rear end cover 408 on the magnetic gear rear bearing 803, and then put the rear insulating gasket 407 through the stop It is sleeved on the rear end cover 408 of the modulation ring, and then the modulation ring rotor 403 is nested on the rear boss structure 4071 of the rear insulating gasket. When assembling the front insulating gasket 406, it is necessary to pay attention to aligning the front boss structure 4061 of the front insulating gasket and the rear boss structure 4071 of the rear insulating gasket. Then the output shaft flange 5 (the output shaft bearing 801 has been interference fit on the output shaft flange 5) is sleeved on the stopper of the front insulating gasket 406, and at the same time, the bearing seat of the output shaft flange 5 is just clamped on the front bearing 802 of the magnetic gear. Finally, the long hexagon socket bolts 410 are passed through the through holes in turn, and the bolt heads are fixed on the end face of the flange 502, and are locked and fixed on the end face of the rear end cover of the magnetic gear with nuts 411;

[0073] Then install the motor rotor part. First, glue the inner rotor permanent magnet 204 (i.e., bread-shaped magnet) to the motor rotor 203, and then fit the L-shaped support plate 205 on the shoulder of the rotating shaft 6. Then, fix the rotor bracket of the motor rotor 203 and the L-shaped support plate 205 with six hexagon socket bolts 206 to fix the motor rotor and the rotating shaft 6. Then, fit the thin bearing 804 on the shoulder of the rotating shaft 6. Now, the rotor part is installed. Put the whole rotor in from the front end of the housing 1. It should be noted that the bread-shaped permanent magnet on the motor will have an attractive force on the outer magnetic ring of the magnetic gear, so it needs to be installed carefully.

[0074] After placing the rotating shaft 6 into the housing 104, the rear end cover 102 is sleeved on the rear end of the housing 104, and the thin bearing on the rotating shaft 6 is mounted on the bearing seat of the rear end cover 102. First, the wave washer 7 is placed in the bearing seat of the front end cover 101, and then it is mounted on the output shaft bearing 801. The front end cover 101 is brought into contact with the integrated housing 1 and fixed thereto with four hexagon socket head cap screws, completing the positioning and fitting of the rotating shaft 6;

[0075] Next, the encoder 3 is sleeved on the end of the rotating shaft 6, and the support piece of the encoder 3 is brought into contact with the rear surface of the rear end cover. It is fixed to the rear end cover with two hexagon socket head cap screws. Then, the encoder housing 103 is sleeved on the rear end cover 102. Finally, four bolts are sequentially passed through the through holes in the ear plates of the encoder housing 103 and the rear end cover 102 and fixed to the rear end cover 102 of the housing 1. Thus, the installation of the integrated motor is completed.

[0076] The process during the operation of this embodiment is generally as follows:

[0077] When the motor winding 202 is powered on, it will drive the rotor 203 to rotate, thereby causing the rotating shaft 6 to rotate, driving the magnetic gear rotor yoke 401 also mounted on the rotating shaft 6 to rotate. Due to the effect of magnetic field modulation, it will drive the modulation ring rotor 403 to rotate in the same direction as the high-speed inner rotor 401, realizing the transmission of power. Also, because the number of pole pairs of the inner magnetic ring 402 and the outer magnetic ring 404 is different, the effect of torque amplification can be achieved. In the embodiment of the present invention, the ratio of the number of pole pairs of the inner and outer magnetic rings is 2:13. Therefore, the number of modulation blocks on the modulation ring rotor 403 is 15. Thus, the transmission ratio of the magnetic gear reduction unit 4 is 7.5. The modulation ring rotor 403 is also connected to the output shaft flange 5 through the front insulating gasket 406 to realize the output of power; in addition, the encoder 3 located at the rear end of the servo motor unit 2 reads the rotor position signal, which is a rotary sensor that converts the rotational displacement into a series of digital pulse signals. These pulses can be used to control the angular displacement, and further control the servo motor unit 4 to rotate in a specified manner.

[0078] In summary, the present invention provides a servo motor integrated with a magnetic gear. The servo motor unit 2 is located at the rear end of the whole, the magnetic gear reduction unit 4 is installed at the front end of the servo motor unit 2, and the output shaft flange 5 is installed at the front end of the magnetic gear reduction unit 4. The housing 1 covers the magnetic gear reduction unit 4 and the servo motor unit 2 entirely. It can be analyzed that by integrating the servo motor unit 2 and the magnetic gear reduction unit 4 together, the rotating shaft 6 of the motor and the input shaft of the magnetic gear reduction unit 4 share the same axis, thus avoiding the installation error caused by the split structure in terms of structure and improving the output precision of the integrated motor. Secondly, the structure of the present invention is integrated, which can reduce the time consumed in selecting the servo motor and the magnetic gear reduction unit at the initial stage of product design. In addition, since the integrated structure reduces the repetitive parts and has a smaller volume, it can reduce the space occupied by the product. Moreover, because the non-contact magnetic gear transmission structure is used, there is no vibration and low noise, which can meet some special application scenarios.

[0079] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A motor of a coaxial integrated magnetic gear reduction device, characterized in that: It includes a housing (1), a servo motor unit (2), a magnetic gear reduction unit (4) and a coding unit (8). The housing (1) is provided with a cavity for accommodating the servo motor unit (2) and the magnetic gear reduction unit (4). One direction along the axial direction of the housing is defined as the forward direction, and the other direction is defined as the backward direction. The direction close to the central axis of the housing perpendicular to the axial direction of the housing is defined as the inner side, and the opposite is defined as the outer side. The servo motor unit (2) and the magnetic gear reduction unit (4) are fixed on the same rotating shaft (6) inside the housing (1) in a parallel arrangement along the axial direction. The magnetic gear reduction unit (4) is at the front and the servo motor unit (2) is at the back. The coding unit (8) is arranged outside the housing (1). The servo motor unit (2) includes a motor stator (201) and a motor rotor (200) which are coaxially sleeved together from the outside to the inside in sequence. The motor stator (201) is fixed at the rear end of the inner wall of the housing (1). The motor winding (202) is potted with insulating glue inside the motor stator (201). The winding ends of the motor winding (202) are formed at both axial ends of the motor stator (201) and extend beyond the motor stator (201). The motor rotor (200) includes a rotating shaft (6), a motor rotor yoke (203) and an L-shaped support plate (205). The rotating shaft (6) is a multi-stage stepped shaft and is rotatably inserted into the housing (1). The rear end of the rotating shaft (6) extends out of the housing (1) for installing the coding unit (8). There is a rotating gap between the motor rotor yoke (203) and the motor stator (201). Inner rotor permanent magnets (204) are provided at the axial ends of the motor rotor yoke (203). The L-shaped support plate (205) is fixedly connected to the magnetic gear inner rotor support of the motor stator (201). The L-shaped support plate (205) is sleeved outside the rotating shaft (6) and is in interference fit with the rotating shaft (6). The described magnetic gear reduction unit (4) is disposed within the housing (1) and is mounted on the rotating shaft (6) in front of the servo motor unit (2). It includes an output shaft flange (5) and a magnetic gear outer stator (41), a modulation ring rotor (403), and a magnetic gear inner rotor (40) that are coaxially sleeved together from outside to inside in sequence. The magnetic gear outer stator (41) is mounted on the front end portion of the housing (1) and is fixedly connected to the inner wall of the housing (1). The magnetic gear inner rotor is mounted on the rotating shaft (6) and is mounted at the corresponding shaft shoulder of the rotating shaft. The modulation ring rotor (403) is disposed between the magnetic gear inner rotor (40) and the magnetic gear outer stator (41), and there is an inner air gap between the modulation ring rotor (403) and the outer wall of the magnetic gear inner rotor (40), and an outer air gap between the modulation ring rotor (403) and the inner wall of the magnetic gear outer stator (41). Front insulating gaskets (406) and rear insulating gaskets (407) are respectively installed at both ends of the modulation ring rotor (403), and a modulation ring rear end cover (408) is installed at the rear side of the rear insulating gasket (407). The output shaft flange (5) is coaxial with the rotating shaft (6), and the output shaft flange (5) rotatably passes through the front end portion of the housing (1). The front end of the output shaft flange (5) extends out of the housing (1) to form an output end that can be connected to the device to be driven. A flange plate (502) is provided at the rear end of the output shaft flange (5), and the flange plate (502) is fixedly connected to the front insulating gasket (406). The described coding unit (8) includes an encoder (3) and an encoder housing (103). The encoder (3) is mounted on the outer wall of the rear end of the housing (1), and the encoder (3) is sleeved on the rear end portion of the rotating shaft (6) that extends out of the housing (1) and is connected in a rotating manner. The encoder housing (103) covers the outside of the encoder (3) and is fixedly connected to the housing (1).

2. The motor of a coaxial integrated magnetic gear reduction device according to claim 1, characterized in that: The described housing (1) includes a housing body (104), a front end cover (101), and a rear end cover (102). The housing body (104) is a cylindrical structure with openings at both ends. An opening is provided on the rear wall surface of the housing body (104) for the output of the three-phase power supply wires of the motor. The front end cover (101) and the rear end cover (102) are respectively installed at the front and rear openings of the housing body (104) through a rabbet, and together with the housing body (104), they enclose a cavity for accommodating the servo motor unit (2) and the magnetic gear reduction unit (4). A bearing seat (1011) and an output shaft bearing (801) provided on the bearing seat (1011) are installed inside the front end cover (101). The outer ring of the output shaft bearing (801) is clamped inside the front end cover (101), and the inner ring is clamped on the output shaft flange (5) to achieve the rotational fit between the output shaft flange (5) and the front end cover (101). A thin bearing (804) is installed inside the rear end cover (102). The outer ring of the thin bearing (804) is clamped inside the rear end cover (102), and the inner ring is clamped on the shaft shoulder at the rear end portion of the rotating shaft (6) to achieve the rotational fit between the rotating shaft (6) and the rear end cover (102).

3. The motor of a coaxial integrated magnetic gear reduction device according to claim 2, characterized in that: The described magnetic gear inner rotor (40) includes a magnetic gear rotor yoke (401) and an inner magnetic ring (402). Both the magnetic gear rotor yoke (401) and the inner magnetic ring (402) are cylindrical, with a through hole in the center. Among them, the magnetic gear rotor yoke (401) is clamped on the rotating shaft (6) and installed at the corresponding shaft shoulder; the inner magnetic ring (402) is coaxially sleeved outside the magnetic gear rotor yoke (401); there is an inner air gap between the outer wall of the inner magnetic ring (402) and the inner wall of the modulation ring rotor (403).

4. The motor of a coaxial integrated magnetic gear reduction device according to claim 3, characterized in that: The described magnetic gear outer stator (41) includes a stator yoke portion (405) and an outer magnetic ring (404). Both the stator yoke portion (405) and the outer magnetic ring (404) are cylindrical. Among them, the stator yoke portion (405) is a cylindrical structure formed by laminating silicon steel sheets in the axial direction and is fixed on the inner wall of the front end of the housing (104); there is an outer air gap between the inner wall of the outer magnetic ring (404) and the outer wall of the modulation ring rotor (403).

5. The motor of a coaxial integrated magnetic gear reduction device according to claim 4, characterized in that: The modulation ring rotor (403) is a cylindrical structure with a gear-shaped cross-section, including a number of modulation blocks (4031). The modulation blocks (4031) are arranged at intervals in the circumferential direction, and adjacent two of the modulation blocks (4031) are connected by a connecting bridge (4032).

6. The motor of a coaxial integrated magnetic gear reduction device as described in claim 5, characterized in that: A corrugated washer (7) is clamped between the described bearing seat (1011) and the output shaft bearing (801).

7. The motor of a coaxial integrated magnetic gear reduction device according to claim 6, characterized in that: The maximum diameter of the L-shaped support plate (205) is smaller than the minimum diameter of the modulation ring rear end cover (408).

8. The motor of a coaxial integrated magnetic gear reduction device according to claim 7, characterized in that: The outer rings of the described magnetic gear front bearing (802) and the magnetic gear rear bearing (803) are respectively clamped on the bearing seats of the output shaft flange (5) and the modulation ring rear end cover (408), and the inner rings are respectively clamped at the corresponding shaft shoulders of the rotating shaft (6).

9. The motor of a coaxial integrated magnetic gear reduction device as claimed in claim 8, wherein: The magnetic gear inner rotor (40) and the modulation ring rotor (403) rotate in the same direction, and the ratio of the number of inner and outer pole pairs is 2:

13.

10. The motor of a coaxial integrated magnetic gear reduction device according to claim 9, characterized in that: The inner rotor permanent magnet (204) adopts a radial magnetization structure, the inner magnetic ring (402) adopts an outward magnetic focusing structure, and the outer magnetic ring (404) adopts an inward magnetic focusing type structure.

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