Nutation magnetic gear motor structure and working method thereof

Abstract

The present application relates to a kind of nutation magnetic gear motor structures, including box and input shaft, nutation cover, magnetic gear one, magnetic gear two, stator tooth and armature winding being arranged in it, the input shaft is installed on the box by bearing, the input shaft outside setting stator tooth, the stator tooth is wound armature winding, the input shaft end connects nutation cover, the nutation cover is installed magnetic gear one, the magnetic gear one includes permanent magnet one and permanent magnet two, the permanent magnet one is set on the side surface of magnetic gear one and nutation cover perpendicular to armature winding side, the permanent magnet two is set on the coupling surface of magnetic gear one and magnetic gear two, the magnetic gear two and magnetic gear one form magnetic gear pair output torque based on magnetic coupling principle.This motor structure is simple, transmission ratio is big, transmission efficiency is high, fluctuation torque and stable time are small.

Description

Technical Field

[0001] This invention relates to the field of permanent magnet motors, and more particularly to a nutating magnetic gear motor structure and its working method. Background Technology

[0002] With the development of precision machinery, modern industrial and agricultural sectors have placed higher demands on motors. Traditional contact-type reduction mechanisms suffer from reduced system reliability and shortened lifespan due to inevitable gear wear, while also generating significant noise. With the development of permanent magnet materials, permanent magnet motors have gained widespread application due to their small size, light weight, high efficiency, large output torque, simple structure, and more reliable operation. Combining nutation transmission, magnetic transmission, and permanent magnet direct drive motor theories, this design eliminates the lengthy mechanical transmission chain found in traditional structures, achieving integrated motor design. This enables motor speed reduction and torque extension, directly outputting high torque at low speeds, and has broad application prospects in modern robotics, electric vehicles, and other fields. Summary of the Invention

[0003] The purpose of this invention is to provide a nutating magnetic gear motor structure and its working method. The motor has a simple structure, a large transmission ratio, high transmission efficiency, and small fluctuation torque and stabilization time.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is: a nutating magnetic gear motor structure, including a housing and an input shaft, a nutating sleeve, a first magnetic gear, a second magnetic gear, stator teeth, and an armature winding disposed therein. The input shaft is mounted on the housing via bearings. Stator teeth are disposed on the outer side of the input shaft, and an armature winding is wound between the stator teeth. The end of the input shaft is connected to the nutating sleeve, and the first magnetic gear is mounted on the nutating sleeve. The first magnetic gear includes a first permanent magnet and a second permanent magnet. The first permanent magnet is disposed on the side of the first magnetic gear and the nutating sleeve perpendicular to the side facing the armature winding. The second permanent magnet is disposed on the coupling surface of the first magnetic gear and the second magnetic gear. The second magnetic gear and the first magnetic gear form a magnetic gear pair to output torque based on the principle of magnetic coupling.

[0005] Furthermore, a nutation angle necessary for the operation of the nutation magnetic gear motor is formed by a nutation sleeve on the input shaft, and the rotation of the nutation magnetic gear is restricted by coupling the magnetic field of the armature winding after being modulated by the stator teeth with the magnetic field of the permanent magnet on the magnetic gear.

[0006] Furthermore, a permanent magnet is attached to the input shaft. The number of pole pairs of the permanent magnet attached to the input shaft is p1=2. The number of pole pairs of the rotating magnetic field generated by the armature winding is p1=2, thereby driving the input shaft to rotate.

[0007] Furthermore, the permanent magnets of both magnetic gear one and magnetic gear two are formed by an alternating ring array of N and S poles. The number of magnetic pole pairs of permanent magnet one on magnetic gear one is p2=12, the number of magnetic pole pairs of permanent magnet two on magnetic gear one is p3=18, and the number of magnetic pole pairs of magnetic gear two is p4=9.

[0008] The present invention also provides a method for operating the above-mentioned nutating magnetic gear motor structure, including:

[0009] (1) The power is generated by the rotating magnetic field formed by the energization of the stator inter-tooth armature winding, which drives the input shaft of the surface-mounted permanent magnet three. The input shaft drives the magnetic gear one on the nutation sleeve to rotate. The number of magnetic pole pairs of the rotating magnetic field generated is p1=2, and the number of magnetic pole pairs of the surface-mounted permanent magnet three on the input shaft is also p1.

[0010] (2) The rotating magnetic field generated by the armature winding between the stator teeth is modulated by the stator teeth to form a magnetic field with a number of magnetic poles p2=12. After coupling with the permanent magnet one attached to the magnetic gear one, the first stage of deceleration is formed; the number of magnetic pole pairs of the permanent magnet one is p2.

[0011] (3) Magnetic gear one and magnetic gear two form a magnetic gear pair based on the principle of magnetic coupling, forming a second-stage reduction. The number of magnetic pole pairs of permanent magnet two on magnetic gear one is p3=18, and the number of magnetic pole pairs of magnetic gear two is p4=9. The power is further reduced and increased in torque after passing through the second-stage magnetic gear pair, and finally the torque is output by magnetic gear two as the output component.

[0012] Compared with the prior art, the present invention has the following beneficial effects: it provides a nutating magnetic gear motor structure and its working method. The motor structure achieves two-stage reduction through the innovative design of the nutating magnetic gear, especially the magnetic gear one. It is not only simple in structure, but also has a large transmission ratio, high transmission efficiency, small fluctuation torque and stabilization time, and has strong practicality and broad application prospects. Attached Figure Description

[0013] Figure 1 This is a simplified structural diagram of an embodiment of the present invention.

[0014] Figure 2 This is a schematic diagram of the structure of the magnetic gear in an embodiment of the present invention.

[0015] Figure 3 This is a schematic diagram of the structure of an embodiment of the present invention.

[0016] In the diagram: 1-Input shaft; 2-Armature winding; 3-Stator teeth; 4-Permanent magnet four; 5-Magnetic gear one; 6-Magnetic gear two; 7-Nutrition sleeve; 8-Box; 9-Permanent magnet one; 10-Permanent magnet two; 11-Permanent magnet three. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, 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 pertains.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0020] like Figure 1-3 As shown, this embodiment provides a nutating magnetic gear motor structure, including a housing 8 and an input shaft 1, a nutating sleeve 7, a first magnetic gear 5, a second magnetic gear 6, stator teeth 3, and an armature winding 2 disposed therein. The input shaft 1 is mounted on the housing 8 via bearings. Stator teeth 3 are arranged on the outer side of the input shaft 1, and the armature winding 2 is wound between the stator teeth 3. The end of the input shaft 1 is connected to the nutating sleeve 7, and the first magnetic gear 5 is mounted on the nutating sleeve 7. The first magnetic gear 5 includes a first permanent magnet 9 and a second permanent magnet 10. The first permanent magnet 9 is disposed on the side of the first magnetic gear 5 and the nutating sleeve 7 perpendicular to the armature winding 2. The second permanent magnet 10 is disposed on the coupling surface of the first magnetic gear 5 and the second magnetic gear 6. The second magnetic gear 6 and the first magnetic gear 5 form a magnetic gear pair to output torque based on the principle of magnetic coupling. Through this motor structure, a single rotating magnetic field can perform two functions.

[0021] The nutation angle necessary for the operation of the nutation magnetic gear motor is formed by the nutation sleeve on the input shaft 1, and the rotation of the nutation magnetic gear is restricted by the magnetic field of the permanent magnet 9 on the magnetic gear 5 after the magnetic field of the armature winding 2 is modulated by the stator teeth 3.

[0022] A permanent magnet 11 is attached to the surface of the input shaft 1. The number of magnetic pole pairs of the permanent magnet 11 attached to the input shaft is p1=2. The number of magnetic pole pairs of the rotating magnetic field generated by the armature winding is p1=2, thereby driving the input shaft to rotate.

[0023] The permanent magnets 9 and 10 of magnetic gear 5 and the permanent magnet 4 of magnetic gear 6 are all formed by an alternating N-pole and S-pole ring array. The number of pole pairs of permanent magnet 9 on magnetic gear 5 is p2=12, the number of pole pairs of permanent magnet 10 on magnetic gear 5 is p3=18, and the number of pole pairs of magnetic gear 6 is p4=9.

[0024] This embodiment also provides a method for operating the above-described nutating magnetic gear motor structure, including:

[0025] (1) The power is generated by the rotating magnetic field formed by the energization of the stator inter-tooth armature winding, which drives the input shaft of the surface-mounted permanent magnet 311. The input shaft drives the magnetic gear 1 on the nutation sleeve to rotate. The number of magnetic pole pairs of the generated rotating magnetic field is p1=2, and the number of magnetic pole pairs of the surface-mounted permanent magnet 311 on the input shaft is also p1.

[0026] (2) The rotating magnetic field generated by the armature winding between the stator teeth is modulated by the stator teeth to form a magnetic field with a number of magnetic poles p2=12. After coupling with the permanent magnet (with a number of magnetic pole pairs p2) attached to the magnetic gear, the first stage of deceleration is formed.

[0027] (3) Magnetic gear one and magnetic gear two form a magnetic gear pair based on the principle of magnetic coupling, forming a second-stage reduction. The number of magnetic pole pairs of permanent magnet two on magnetic gear one is p3=18, and the number of magnetic pole pairs of magnetic gear two is p4=9. The power is further reduced and increased in torque after passing through the second-stage magnetic gear pair, and finally the torque is output by magnetic gear two as the output component.

[0028] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A nutating magnetic gear motor structure, characterized in that, The device includes a housing and an input shaft, a nutating sleeve, a magnetic gear one, a magnetic gear two, stator teeth, and an armature winding disposed therein. The input shaft is mounted on the housing via bearings. Stator teeth are provided on the outer side of the input shaft, and an armature winding is wound between the stator teeth. The end of the input shaft is connected to the nutating sleeve, and a magnetic gear one is mounted on the nutating sleeve. The magnetic gear one includes a permanent magnet one and a permanent magnet two. The permanent magnet one is disposed on the side of the magnetic gear one that is perpendicular to the nutating sleeve and faces the armature winding. The permanent magnet two is disposed on the coupling surface of the magnetic gear one and the magnetic gear two. The magnetic gear two and the magnetic gear one form a magnetic gear pair to output torque based on the principle of magnetic coupling. The nutation angle necessary for the operation of the nutation magnetic gear motor is formed by using a nutation sleeve on the input shaft, and the rotation of the nutation magnetic gear is limited by the magnetic field of the permanent magnet on the magnetic gear after the magnetic field of the armature winding is modulated by the stator teeth. The input shaft is covered with a permanent magnet three. The number of magnetic pole pairs of the permanent magnet three on the input shaft is p1=2. The number of magnetic pole pairs of the rotating magnetic field generated by the armature winding is p1=2, thereby driving the input shaft to rotate. Both magnetic gear one and magnetic gear two have permanent magnets formed by alternating N and S poles in a ring array. The number of magnetic pole pairs of permanent magnet one on magnetic gear one is p2 = 12, the number of magnetic pole pairs of permanent magnet two on magnetic gear one is p3 = 18, and the number of magnetic pole pairs of magnetic gear two is p4 = 9. The working method of the nutating magnetic gear motor structure includes: (1) The power is generated by the rotating magnetic field formed by the energization of the stator inter-tooth armature winding, which drives the input shaft of the surface-mounted permanent magnet three. The input shaft drives the magnetic gear one on the nutation sleeve to rotate. The number of magnetic pole pairs of the rotating magnetic field generated is p1 = 2, and the number of magnetic pole pairs of the surface-mounted permanent magnet three on the input shaft is also p1. (2) The rotating magnetic field generated by the armature winding between the stator teeth is modulated by the stator teeth to form a magnetic field with a number of magnetic poles p2 = 12. After coupling with the permanent magnet one attached to the magnetic gear one, the first stage of deceleration is formed; the number of magnetic pole pairs of the permanent magnet one is p2. (3) Magnetic gear one and magnetic gear two form a magnetic gear pair based on the principle of magnetic coupling, forming a second-stage reduction. The number of magnetic pole pairs of permanent magnet two on magnetic gear one is p3 = 18, and the number of magnetic pole pairs of magnetic gear two is p4 = 9. The power is further reduced and increased in torque after passing through the second-stage magnetic gear pair, and finally the torque is output by magnetic gear two as the output component.

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