Pure magnetic force driving part assembly fusion speed reduction joint servo system

Abstract

The invention discloses a pure magnetic driving part assembly fusion speed reduction joint servo system, and belongs to the field of motors. A pure magnetic force driving part assembly fusion speed reduction joint servo system comprises a base speed motor, the base speed motor comprises a motor stator, the inner side of the motor stator is provided with an axially-through stator groove in the circumferential direction, a motor winding is embedded in the stator groove, a high-speed rotor capable of rotating is coaxially arranged in the motor stator, the high-speed rotor is in a circular ring shape, and the high-speed rotor is connected with a motor winding. The high-speed rotor is formed by alternating high-speed rotor magnetic conductive iron cores and high-speed rotor magnets along the circumferential direction; the outer side of the high-speed rotor is coaxially provided with a static and annular magnetism adjusting piece, and the magnetism adjusting piece is formed by alternating magnetism adjusting block magnetic conductive iron cores and magnetism adjusting block non-magnetic conductive pieces in the circumferential direction and used for adjusting the axial magnetic field of the high-speed rotor. A low-speed rotor which is in a circular ring shape and can rotate is coaxially arranged on the outer side of the magnetism adjusting piece, and the low-speed rotor is composed of low-speed rotor magnetic conductive iron cores and low-speed rotor magnets which are alternately arranged in the circumferential direction.

Description

Technical Field

[0001] The invention belongs to the technical field of motors, and in particular relates to a pure magnetic drive component integrated with a deceleration joint servo system. Background Art

[0002] At present, joint servo systems are widely used in various electromechanical transmission systems such as industrial robots, robotic arms, weapons and equipment, and also play an important role in welding, handling, medical treatment, services and other fields. Joint servo systems are mainly composed of main motion controllers, motors and drive systems, sensors, reducers and other components. Among them, the motor and drive system are the power source of the entire joint servo system, and mechanical components such as reducers are the core components for realizing power form conversion, variable torque, variable speed and completing mechanical movements.

[0003] In recent years, the increasingly rich application fields and application scenarios have put forward new technical requirements and new quality requirements for joint servo systems, including high energy conversion rate, high compactness, and high integration. At present, related technologies and products at home and abroad still cannot fully meet the above requirements. There are two main reasons: First, after a hundred years of development, the motor and its drive system have basically fixed motor products and types, such as electromagnetic motors, induction motors, permanent magnet motors, switched reluctance motors, synchronous reluctance motors, superconducting motors, etc. This leads to the fact that the electromechanical energy conversion density (or power density, torque density) of these motors is difficult to have a qualitative improvement and breakthrough under the current situation that the performance of motor materials has not been greatly improved; secondly, the joint servo system mostly adopts natural cooling. In order to avoid possible local hot spots and potential component burning risks, the joint servo system must make certain compromises in structural compactness to meet the reliable heat dissipation requirements of the entire system.

[0004] Chinese patent CN202011539671.7 discloses a robot joint motor and joint. The invention adopts a hollow main shaft to realize internal wiring, prevent cable entanglement, reduce the risks brought by external wiring, and help ensure the normal operation of the robot dog. It can improve the safety of the quadruped robot, but the structural compactness of the invention has not been fully improved, and the heat dissipation structure design is not described. Chinese patent CN202210134590.1 discloses a compact robot joint motor assembly, which is equipped with a first stator and a second stator, and adopts an axial flux motor to improve the torque density of the motor, and achieves space saving by arranging a two-stage planetary reducer. However, there are two air gaps in the axial flux motor in the invention, and the problem of unbalanced force caused by uneven air gaps must be faced, and the difficulty of motor assembly, installation and maintenance is significantly increased; in addition, the two stator windings of the motor extend radially, which will lead to a reduction in the compactness of the entire joint system, and the heat dissipation capacity of the winding near the center is limited, that is, the heat generated by copper loss is difficult to dissipate quickly, resulting in the winding heat load during motor design having to be reduced to reduce the risk of possible burning of the winding.

[0005] In addition, in the prior art, the motor and reducer are designed in a "separate" way, that is, the motor and reducer are independently designed, processed and manufactured, and then installed in a specific mechanical structure together with other components to form a joint servo system. This results in the entire joint servo system being bulky, with obvious intermediate connectors between components, low compactness and high failure rate. In addition, the reducer in the existing joint system relies on mechanical gears to transmit torque, and there are inevitably gear friction losses and gear clearance effects, which not only significantly reduce the reducer life, but also reduce performance.

[0006] In summary, although the above technical solutions provide a candidate solution for achieving high structural compactness of the joint servo system, they still have significant technical limitations. Summary of the invention

[0007] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a pure magnetic drive component integrated with a deceleration joint servo system, thereby solving the problems in the prior art.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] A pure magnetic drive component fused with a deceleration joint servo system comprises a base speed motor, the base speed motor comprises a motor stator, an inner side of the motor stator is provided with an axially penetrating stator slot along the circumferential direction, a motor winding is embedded in the stator slot, a rotatable high-speed rotor is coaxially arranged in the motor stator, the high-speed rotor is in a circular ring shape, and is composed of a high-speed rotor magnetic conductive core and a high-speed rotor magnet alternately arranged along the circumferential direction;

[0010] A stationary and annular magnetic adjustment member is coaxially arranged on the outer side of the high-speed rotor. The magnetic adjustment member is composed of a magnetic adjustment block conductive core and a magnetic adjustment block non-conductive member alternately arranged along the circumferential direction, and is used to adjust the axial magnetic field of the high-speed rotor.

[0011] A low-speed rotor in an annular shape and capable of rotating is coaxially arranged outside the magnetic adjustment component. The low-speed rotor is composed of a low-speed rotor magnetic conductive core and a low-speed rotor magnet alternately formed along a circumferential direction.

[0012] Furthermore, the axial cross-section of the high-speed rotor magnetic conductive core is fan-shaped, and the axial cross-section of the high-speed rotor magnet is rectangular; the axial lengths of the high-speed rotor magnetic conductive core and the high-speed rotor magnet are the same.

[0013] Furthermore, the axial cross-sections of the magnetically conductive core of the magnetically conductive block and the non-magnetically conductive part of the magnetically conductive block are sector-shaped or rectangular; and the axial lengths of the magnetically conductive core of the magnetically conductive block and the non-magnetically conductive part of the magnetically conductive block are the same.

[0014] Furthermore, the axial cross-section of the low-speed rotor magnetic conductive core is fan-shaped, and the axial cross-section of the low-speed rotor magnet is in the shape of a ; the axial lengths of the low-speed rotor magnetic conductive core and the low-speed rotor magnet are the same.

[0015] Furthermore, the number of stator slots is Zos, the number of pole pairs of the motor winding is Pos, the number of high-speed rotor magnetic conductive cores and high-speed rotor magnets are both Phr, and satisfy: Pos = Phr or Phr = |Zos±Phr|.

[0016] Further, the number of the low-speed rotor permeable core and the low-speed rotor magnet is Plr, the number of the magnetic tuning block permeable core and the non-magnetic tuning block component is Pm, and the relationship is satisfied: Pm = |Plr±Phr|.

[0017] Furthermore, a radial air gap is provided between the high-speed rotor and the motor stator.

[0018] 8. A pure magnetic drive component integrated with a deceleration joint servo system according to claim 1, characterized in that an axial first air gap is provided between the magnetic adjustment component and the high-speed rotor.

[0019] Furthermore, a second axial air gap is provided between the magnetic tuning component and the low-speed rotor.

[0020] A human body exoskeleton power-assisting device comprises the above-mentioned pure magnetic drive component fused with a deceleration joint servo system.

[0021] Beneficial effects of the present invention:

[0022] 1. By integrating the high-speed rotor of the motor and the high-speed rotor of the reducer, that is, the high-speed rotor of the motor also acts as the high-speed rotor of the reducer, the integration of the components of the joint servo system is achieved, the overall volume of the joint servo system is reduced, the installation flexibility of the joint servo system is improved, the weight of the joint servo system is reduced, and the lightweight and dynamic control performance are improved.

[0023] 2. By using a reducer that relies on pure magnetic force to transmit torque, the gear friction existing in traditional mechanical reducers is avoided, the reducer life and the overall performance of the joint system are improved, and the smoothness of the reducer operation is improved; at the same time, the gear clearance effect in traditional mechanical reducers is avoided, the hysteresis effect of the joint system is reduced, and the control accuracy of the joint system is improved.

[0024] 3. By using magnetic force to transmit torque, the impact of load force on the reducer can be reduced, and irreversible damage caused by exceeding the gear bearing capacity can be avoided, so that the joint has a self-protection function. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 It is a three-dimensional structural schematic diagram of the pure magnetic drive component fused with the deceleration joint servo system of the present invention;

[0027] Figure 2 It is a side view of the pure magnetic drive component fused with the deceleration joint servo system of the present invention;

[0028] Figure 3 It is a front view of the pure magnetic drive component fused with the deceleration joint servo system of the present invention;

[0029] Figure 4 It is a three-dimensional exploded diagram of the pure magnetic drive component integrated with the deceleration joint servo system of the present invention.

[0030] In the figure, 17-motor stator; 18-motor winding; 19-radial air gap; 20-high-speed rotor magnetic core; 21-high-speed rotor magnet; 22-axial first air gap; 23-magnetic core of magnetic adjustment block; 24-non-magnetic part of magnetic adjustment block; 25-axial second air gap; 26-low-speed rotor magnet; 27-low-speed rotor magnetic core. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] like Figures 1 to 4 As shown, a pure magnetic drive component fused with a deceleration joint servo system includes: a base speed motor, a magnetic adjustment component and a low speed rotor which are distributed along the axial direction and are coaxial with each other;

[0033] The base speed motor includes: a motor stator 17, a motor winding 18 and a high-speed rotor, wherein the motor stator 17 is usually made of high magnetic permeability, low iron loss silicon steel sheets, amorphous alloys and other materials, and an axially through stator slot is opened in the inner side along the circumferential direction, that is, the inner circumferential direction presents the characteristics of "stator slots, stator teeth, stator slots..." alternating distribution, wherein the motor winding 18 is embedded in the stator slot. The number of stator slots and stator teeth is generally the same, both Zos; the main component of the material of the motor winding 18 is generally copper, and aluminum and other materials are also used. The winding form, number of turns and other detailed parameters need to be reasonably designed by technical personnel in this field according to the motor design requirements. The number of pole pairs of the motor winding 18 is defined as Pos here.

[0034] The high-speed rotor is coaxially located with the motor stator 17 , and a radial air gap 19 exists between the motor stator 17 and the high-speed rotor.

[0035] The high-speed rotor is in the shape of a ring and is a rotating component. It is composed of a high-speed rotor conductive core 20 and a high-speed rotor magnet 21 alternating along the circumferential direction. The material of the high-speed rotor conductive core 20 is usually made of silicon steel sheets, amorphous alloys and other materials with high magnetic permeability and low iron loss, which serves the purpose of conducting the magnetic circuit; the high-speed rotor magnet 21 is usually made of one or more materials such as neodymium iron boron, samarium cobalt, ferrite, aluminum nickel cobalt, etc. In order to meet the requirements of high power density of the motor, magnetic materials with high magnetic energy product and good stability such as neodymium iron boron or samarium cobalt are generally used.

[0036] In order to facilitate manufacturing and assembly and reduce production costs, the axial cross-section of the high-speed rotor magnetic core 20 is fan-shaped, while the axial cross-section of the high-speed rotor magnet 21 is rectangular. The axial lengths of the high-speed rotor magnetic core 20 and the high-speed rotor magnet 21 are the same, and the number of the high-speed rotor magnetic core 20 or the high-speed rotor magnet 21 is defined as Phr. The axial lengths of the high-speed rotor and the motor stator 17 are generally the same. Of course, the axial length of the high-speed rotor can also be appropriately extended as needed.

[0037] A stationary annular magnetic adjustment component is arranged on the outside of the high-speed rotor, and the magnetic adjustment component is coaxial with the high-speed rotor; and there is an axial first air gap 22 between the magnetic adjustment component and the high-speed rotor, which is used to cooperate with the high-speed rotor and the magnetic adjustment component to achieve the effect of magnetic field regulation.

[0038] The magnetic adjustment component is composed of a magnetic adjustment block conductive core 23 and a magnetic adjustment block non-conductive component 24 which are alternately formed along the circumferential direction; the function of the entire magnetic adjustment component is to adjust the axial magnetic field of the high-speed rotor.

[0039] The material of the magnetic core 23 of the magnetic adjustment block is usually made of high magnetic permeability, low iron loss silicon steel sheets, amorphous alloys and other materials, which serve the purpose of conducting the magnetic circuit; the non-magnetic part 24 of the magnetic adjustment block can be made of non-magnetic, high resistivity metal or non-metallic materials according to actual needs, such as stainless steel, aluminum alloy, plastic, ceramic, etc., or air. Since this component is a stationary component, the necessary fixing clamps are arranged on the radial outside of the magnetic adjustment component to make it have the required mechanical strength. Technical personnel in this field can reasonably design it according to actual needs.

[0040] In order to facilitate manufacturing and assembly and reduce production costs, the axial cross-section of the magnetic tuning block permeable core 23 and the magnetic tuning block non-permeable part 24 can be either fan-shaped or rectangular, because the material cost of the magnetic tuning part is relatively low compared to the magnet, and the material is easier to obtain. The axial lengths of the magnetic tuning block permeable core 23 and the magnetic tuning block non-permeable part 24 are generally the same, and the number of them is also the same. Here, the number of the magnetic tuning block permeable core 23 and the magnetic tuning block non-permeable part 24 is defined as Pm.

[0041] A low-speed rotor in an annular shape is coaxially arranged outside the magnetic adjustment member. The low-speed rotor is a rotating component, and is composed of a low-speed rotor magnetic conductive core 27 and a low-speed rotor magnet 26 alternately arranged along the circumferential direction.

[0042] The material of the low-speed rotor magnetic core 27 is usually made of silicon steel sheets with high magnetic permeability and low iron loss, amorphous alloys and other materials, which serves the purpose of conducting the magnetic circuit. The low-speed rotor magnet 26 is usually made of one or more materials such as neodymium iron boron, samarium cobalt, ferrite, aluminum nickel cobalt, etc. In order to meet the requirements of high power density of the motor, magnetic materials with high magnetic energy product and good stability such as neodymium iron boron or samarium cobalt are generally used.

[0043] In order to facilitate manufacturing and assembly and reduce production costs, the axial cross-section of the low-speed rotor magnetic core 27 is generally fan-shaped, while the axial cross-section of the low-speed rotor magnet 26 is generally rectangular.

[0044] The low-speed rotor magnetic conductive core 27 and the low-speed rotor magnet 26 have the same axial length and the same number. The number of the low-speed rotor magnetic conductive core 27 and the low-speed rotor magnet 26 is defined as Plr.

[0045] There is an axial second air gap 25 between the magnetic switching element and the low-speed rotor.

[0046] The Zos, Pos and Phr need to satisfy: Pos = Phr or Phr = |Zos±Phr|.

[0047] The Phr, Pm and Plr need to satisfy: Pm = |Plr±Phr|.

[0048] The three components of the high-speed rotor, the magnetic adjustment component, and the low-speed rotor can realize the conversion of the motor speed from "high speed" to "low speed", that is, it has the function of a "reducer". Since the magnetic adjustment component is composed of a magnetic core and a non-magnetic component, the magnetic field of the high-speed rotor and the low-speed rotor is modulated. According to the principle of motor air gap magnetic field modulation, the number of magnetic field pole pairs of the high-speed rotor is the same as that of the low-speed rotor after being modulated by the magnetic adjustment component; similarly, the number of magnetic field pole pairs of the low-speed rotor is the same as that of the high-speed rotor after being modulated by the magnetic adjustment component, thus forming a stable torque transmission. To this end, the fusion type between components can be achieved, the entire joint servo system becomes more compact, and the failure rate is reduced.

[0049] In addition, the pure magnetic drive component of the present invention integrated with the deceleration joint servo system can also be applied to a human body exoskeleton power-assist device. By utilizing its compact structure and light weight, the overall weight of the exoskeleton power-assist device can be reduced, and the cruising range can be improved. At the same time, the installation flexibility can be improved, and the range of activities of the exoskeleton power-assist device can be expanded. At the same time, by utilizing the characteristics of its pure magnetic drive, the vibration of the joints can be reduced, and the impact can be buffered. In addition, by utilizing its load-bearing capacity overload self-protection function, the joints of the exoskeleton power-assist device can be protected, which improves the safety of the device.

[0050] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0051] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A pure magnetic drive component fused with a deceleration joint servo system, characterized in that: The base speed motor comprises a motor stator, an inner side of the motor stator is provided with an axially penetrating stator slot along the circumferential direction, a motor winding is embedded in the stator slot, a rotatable high-speed rotor is coaxially arranged in the motor stator, the high-speed rotor is in a circular ring shape, and is composed of a high-speed rotor magnetic conductive core and a high-speed rotor magnet alternately along the circumferential direction; A stationary and annular magnetic adjustment member is coaxially arranged on the outer side of the high-speed rotor. The magnetic adjustment member is composed of a magnetic adjustment block conductive core and a magnetic adjustment block non-conductive member alternately arranged along the circumferential direction, and is used to adjust the axial magnetic field of the high-speed rotor. A low-speed rotor in an annular shape and capable of rotating is coaxially arranged outside the magnetic adjustment component. The low-speed rotor is composed of a low-speed rotor magnetic conductive core and a low-speed rotor magnet alternately formed along a circumferential direction.

2. A pure magnetic drive component fusion deceleration joint servo system according to claim 1, characterized in that: The axial cross section of the high-speed rotor magnetic conductive core is fan-shaped, and the axial cross section of the high-speed rotor magnet is rectangular; the axial lengths of the high-speed rotor magnetic conductive core and the high-speed rotor magnet are the same.

3. A pure magnetic drive component fusion deceleration joint servo system according to claim 1, characterized in that: The axial cross-sections of the magnetic permeable core of the magnetic tuning block and the non-magnetic permeable part of the magnetic tuning block are fan-shaped or rectangular; the axial lengths of the magnetic permeable core of the magnetic tuning block and the non-magnetic permeable part of the magnetic tuning block are the same.

4. A pure magnetic drive component fusion deceleration joint servo system according to claim 1, characterized in that: The axial cross section of the low-speed rotor magnetic conductive core is fan-shaped, and the axial cross section of the low-speed rotor magnet is shaped; the axial lengths of the low-speed rotor magnetic conductive core and the low-speed rotor magnet are the same.

5. The pure magnetic drive component fusion deceleration joint servo system according to claim 1, characterized in that: The number of stator slots is Zos, the number of pole pairs of the motor winding is Pos, the number of high-speed rotor magnetic cores and high-speed rotor magnets are both Phr, and the following is satisfied: Pos=Phr or Phr=|Zos±Phr|.

6. A pure magnetic drive component fusion deceleration joint servo system according to claim 5, characterized in that: The number of the low-speed rotor permeable core and the low-speed rotor magnet is Plr, the number of the magnetic tuning block permeable core and the non-magnetic tuning block part is Pm, and the following is satisfied: Pm=|Plr±Phr|.

7. A pure magnetic drive component fused with a deceleration joint servo system according to claim 1, characterized in that: A radial air gap is arranged between the high-speed rotor and the motor stator.

8. The pure magnetic drive component fusion deceleration joint servo system according to claim 1, characterized in that: A first axial air gap is provided between the magnetic adjustment component and the high-speed rotor.

9. A pure magnetic drive component fused with a deceleration joint servo system according to claim 1, characterized in that: A second axial air gap is provided between the magnetic adjustment component and the low-speed rotor.

10. A human body exoskeleton power-assisting device, characterized in that: It comprises a pure magnetic drive component integrated with a deceleration joint servo system as described in any one of claims 1-9.

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