Speed ​​regulating device and speed regulating method for deep-sea operation robot

Abstract

The present application provides a speed control device and a speed control method for a deep-sea operation robot, wherein the speed control device includes a speed control unit, a sliding mechanism, a first reduction unit, a second reduction unit, and a reduction box; the speed control unit includes a motor and a high-speed rotor connected in series via an output shaft; the first reduction unit and the second reduction unit are both connected in series with the reduction box; the speed control unit moves along the sliding mechanism so that the speed control unit is connected in series with the first reduction unit, and the speed control unit and the first reduction unit are magnetically coupled, or the speed control unit is connected in series with the second reduction unit, and the speed control unit and the second reduction unit are magnetically coupled. The speed control device provided in an embodiment of the present application controls the relative position of the speed control unit, and achieves matching of different speed gears by setting the speed control unit in series with different reduction units. In addition, the present application uses non-contact transmission between the speed control device and the reduction unit to achieve overload protection of the speed control device, which significantly improves the reliability of the speed control device.

Description

Technical Field

[0001] The present application relates to the technical field of transmission devices, and in particular to a speed regulation device and a speed regulation method for a deep-sea operation robot. Background Art

[0002] Due to the unique characteristics of the deep-sea environment, robots used for deep-sea operations, such as specialized vehicles like deep-sea mining vehicles, place high demands on their transmission mechanisms. Magnetic gears offer the advantages of overload protection, zero mechanical contact, and high torque density. They consist of a magnetic field modulation ring and permanent magnets. The magnetic field modulation ring spatially modulates the magnetic field, transforming the magnetomotive forces of different permanent magnets into a uniform harmonic magnetomotive force. This allows rotor fields with different pole pairs to couple, achieving variable speeds. Because of their advantages in deep-sea environments, magnetic gears are often used in series with permanent magnet motors in deep-sea mining vehicles and other deep-sea operating robots, serving as drive modules.

[0003] Existing speed control devices utilize hydraulic drive and direct motor drive. Hydraulic drive suffers from low efficiency and is prone to leaks and environmental pollution. Direct motor drive utilizes a motor in series with magnetic gears, resulting in only a single speed ratio. This can lead to frequent motor overload in complex terrain or excessive power consumption due to redundant design.

[0004] Therefore, the existing speed regulating device is prone to jamming of the shift mechanism under deep-sea high pressure, resulting in a high failure rate and low reliability. Summary of the Invention

[0005] The main purpose of this application is to provide a speed control device and speed control method for a deep-sea operation robot, aiming to solve the technical problems of the existing speed control device in that the shift mechanism is easily stuck under deep-sea high pressure, has a high failure rate and low reliability.

[0006] To achieve the above-mentioned object, the present application provides a speed regulating device for a deep-sea operation robot, comprising a speed regulating unit, a sliding mechanism, a first reduction unit, a second reduction unit, and a reduction box; the speed regulating unit comprises a motor and a high-speed rotor connected in series via an output shaft;

[0007] The first reduction unit and the second reduction unit are both connected in series with the reduction box;

[0008] The speed regulating unit moves along the sliding mechanism so that the speed regulating unit is connected in series with the first reduction unit and is magnetically coupled to the first reduction unit, or the speed regulating unit is connected in series with the second reduction unit and is magnetically coupled to the second reduction unit;

[0009] Wherein, when the speed regulating unit is connected in series with the first reduction unit, the speed regulating device is in the first reduction ratio gear;

[0010] When the speed regulating unit and the second reduction unit are connected in series, the speed regulating device is in the second reduction ratio gear;

[0011] The rotational speed corresponding to the first reduction ratio gear is higher than the rotational speed corresponding to the second reduction ratio gear, and the torque corresponding to the first reduction ratio gear is lower than the torque corresponding to the second reduction ratio gear.

[0012] Optionally, the first reduction unit includes a first magnetic tuning ring and a first low-speed rotor, and an air gap is provided between the first magnetic tuning ring and the first low-speed rotor;

[0013] The second reduction unit includes a second magnetic tuning ring and a second low-speed rotor, and an air gap is provided between the second magnetic tuning ring and the second low-speed rotor;

[0014] Wherein, when the high-speed rotor is magnetically coupled with the first low-speed rotor, the speed regulating device is in the first reduction ratio gear;

[0015] When the high-speed rotor is magnetically coupled with the second low-speed rotor, the speed regulating device is in the second reduction ratio gear.

[0016] Optionally, the first low-speed rotor and the second low-speed rotor each include a yoke and a permanent magnet.

[0017] Optionally, the number of magnetic tuning blocks included in the first magnetic tuning ring is less than the number of magnetic tuning blocks included in the second magnetic tuning ring; or,

[0018] The first low-speed rotor includes a smaller number of rotor pole pairs than the second low-speed rotor.

[0019] Optionally, the high-speed rotor includes a yoke and a permanent magnet.

[0020] Optionally, the sliding mechanism includes a lead screw, a guide rail and a platform;

[0021] The lead screw and the guide rail are arranged in parallel, and the lead screw and the guide rail are arranged in relative alignment;

[0022] The platform includes a first groove and a second groove, the first groove is slidably connected to the guide rail, the second groove is slidably connected to the lead screw, and the platform slides on the lead screw and the guide rail through the first groove and the second groove;

[0023] The speed regulating unit is arranged on the surface of the platform.

[0024] Optionally, the sliding mechanism further includes a limit block;

[0025] The limit blocks are arranged at both ends of the guide rail;

[0026] Wherein, the limiting block is used to limit the sliding position of the platform on the guide rail.

[0027] Optionally, the sliding mechanism further includes a driving member;

[0028] The driving member is arranged at one end of the lead screw;

[0029] Wherein, the driving member is used to drive the lead screw to rotate so that the speed regulating unit moves along the sliding mechanism.

[0030] Optionally, the motor includes a permanent magnet synchronous motor, and the driving element includes a DC motor.

[0031] In addition, to achieve the above-mentioned purpose, the present application also provides a speed regulation method, which is applied to the speed regulation device as described above, wherein the speed regulation device includes a speed regulation unit, a sliding mechanism, a first reduction unit, a second reduction unit, and a reduction box;

[0032] The speed regulation method comprises:

[0033] When receiving the first gear signal, the speed regulating unit is driven to move along the sliding mechanism so that the speed regulating unit, the first reduction unit and the reduction box are connected in series, and the speed regulating device is controlled to be in the first reduction ratio gear;

[0034] When receiving the second gear signal, the speed regulating unit is driven to move along the sliding mechanism, so that the speed regulating unit, the second reduction unit and the reduction box are connected in series, and the speed regulating device is controlled to be in the second reduction ratio gear;

[0035] The rotational speed corresponding to the first reduction ratio gear is higher than the rotational speed corresponding to the second reduction ratio gear, and the torque corresponding to the first reduction ratio gear is lower than the torque corresponding to the second reduction ratio gear.

[0036] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0037] The present application provides a speed control device and a speed control method for a deep-sea operation robot, wherein the speed control device includes a speed control unit, a sliding mechanism, a first reduction unit, a second reduction unit and a reduction box; the speed control unit includes a motor and a high-speed rotor connected in series through an output shaft; the first reduction unit and the second reduction unit are both connected in series with the reduction box; the speed control unit moves along the sliding mechanism so that the speed control unit is connected in series with the first reduction unit, and the speed control unit and the first reduction unit are magnetically coupled, or the speed control unit is connected in series with the second reduction unit, and the speed control unit and the second reduction unit are magnetically coupled; wherein, when the speed control unit is connected in series with the first reduction unit, the speed control device is in a first reduction ratio gear; when the speed control unit is connected in series with the second reduction unit, the speed control device is in a second reduction ratio gear; the speed corresponding to the first reduction ratio gear is higher than the speed corresponding to the second reduction ratio gear, and the torque corresponding to the first reduction ratio gear is lower than the torque corresponding to the second reduction ratio gear. The speed regulation device provided in the embodiment of the present application controls the relative position of the speed regulation unit, and realizes matching of different speed gears by setting the speed regulation unit in series with different reduction units. In addition, the present application realizes overload protection of the speed regulation device with the help of non-contact transmission between the speed regulation device and the reduction unit, thereby significantly improving the reliability of the speed regulation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the solutions in this application, a brief introduction will be given below to the drawings required for use in the description of the embodiments of this application. Obviously, the drawings described below are some embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0039] Figure 1 is a top view of the speed regulating device provided in an embodiment of the present application;

[0040] Figure 2 is an exploded view of the speed regulating device provided in an embodiment of the present application;

[0041] Figure 3 is a schematic structural diagram of a magnetic gear provided in an embodiment of the present application;

[0042] Figure 4 This is a flow chart of the speed regulation method provided in an embodiment of the present application.

[0043] In the picture:

[0044] 100. Speed ​​regulating unit; 110. Motor; 120. High-speed rotor; 200. Sliding mechanism; 300. First reduction unit; 400. Second reduction unit; 500. Reducer; 310. First magnetic adjustment ring; 320. First low-speed rotor; 410. Second magnetic adjustment ring; 420. Second low-speed rotor; 210. Lead screw; 220. Guide rail; 230. Platform; 240. Limit block; 250. Driving member. DETAILED DESCRIPTION

[0045] All technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0046] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0048] like Figure 1 As shown, the present application provides a speed regulating device for a deep-sea operation robot, comprising a speed regulating unit 100, a sliding mechanism 200, a first reduction unit 300, a second reduction unit 400 and a reduction box 500; the speed regulating unit 100 comprises a motor 110 and a high-speed rotor 120 connected in series via an output shaft;

[0049] The first reduction unit 300 and the second reduction unit 400 are both connected in series with the reduction box 500;

[0050] The speed regulation unit 100 moves along the sliding mechanism 200 so that the speed regulation unit 100 is connected in series with the first reduction unit 300, and the speed regulation unit 100 and the first reduction unit 300 are magnetically coupled, or the speed regulation unit 100 is connected in series with the second reduction unit 400, and the speed regulation unit 100 and the second reduction unit 400 are magnetically coupled.

[0051] The working principle of the speed regulation device provided in the embodiment of the present application is: the speed regulation unit 100 moves along the sliding mechanism 200. When the speed regulation unit 100 is connected in series with the first reduction unit 300, that is, the speed regulation unit 100, the first reduction unit 300 and the reduction box 500 are connected in series with each other, the speed regulation device is in the first reduction ratio gear; when the speed regulation unit 100 is connected in series with the second reduction unit 400, that is, the speed regulation unit 100, the second reduction unit 400 and the reduction box 500 are connected in series with each other, the speed regulation device is in the second reduction ratio gear.

[0052] Among them, the speed corresponding to the first reduction ratio gear is higher than the speed corresponding to the second reduction ratio gear, and the torque corresponding to the first reduction ratio gear is lower than the torque corresponding to the second reduction ratio gear. That is to say, the first reduction ratio gear is a low reduction ratio gear, and the second reduction ratio gear is a high reduction ratio gear.

[0053] Optionally, the motor 110 is a permanent magnet synchronous motor.

[0054] The speed control device provided in the embodiment of the present application controls the relative position of the speed control unit 100 and achieves matching of different speed gears by connecting the speed control unit 100 in series with different reduction units. Furthermore, the present application utilizes non-contact transmission between the speed control unit and the reduction unit to provide overload protection for the speed control device, significantly improving the reliability of the speed control device. Furthermore, the speed control device provided in the embodiment of the present application features a deep-sea pressure-resistant seal design, making it suitable for use in extreme environments such as the deep sea. The speed control device provided in the embodiment of the present application also features an overload protection response speed function.

[0055] In addition, combining the speed control device with the tracked chassis of special vehicles such as deep-sea mining vehicles provides deep-sea mining vehicles with a highly reliable, low-maintenance, and highly efficient power solution. This directly addresses the durability, energy efficiency, and environmental protection issues of traditional mechanical transmission and hydraulic systems in extreme environments, and is a key technical path for upgrading deep-sea equipment to lightweight and intelligent ones.

[0056] Optionally, the first reduction unit 300 includes a first magnetic adjustment ring 310 and a first low-speed rotor 320 , and an air gap is provided between the first magnetic adjustment ring 310 and the first low-speed rotor 320 ;

[0057] The second reduction unit 400 includes a second magnetic tuning ring 410 and a second low-speed rotor 420 , and an air gap is provided between the second magnetic tuning ring 410 and the second low-speed rotor 420 ;

[0058] Wherein, when the high-speed rotor 120 and the first low-speed rotor 320 are magnetically coupled, the speed regulating device is in the first reduction ratio gear;

[0059] When the high-speed rotor 120 and the second low-speed rotor 420 are magnetically coupled, the speed regulating device is in the second reduction ratio gear.

[0060] See also Figure 2 ,like Figure 2 As shown, the first reduction unit 300 includes a first magnetic tuning ring 310 and a first low-speed rotor 320 , and the second reduction unit 400 includes a second magnetic tuning ring 410 and a second low-speed rotor 420 .

[0061] See also Figure 3 ,like Figure 3 As shown, an air gap is provided between the magnetic regulating ring and the low-speed rotor.

[0062] When the high-speed rotor 120, the magnetic regulating ring and the low-speed rotor are connected in series, a Figure 3 The magnetic gear shown has no physical contact compared to a traditional mechanical gear. When used in series with the motor 110 , it can prevent the motor 110 from being overloaded and failing, thus providing overload protection.

[0063] In this embodiment, when the high-speed rotor 120 and the first low-speed rotor 320 are magnetically coupled, that is, Figure 1 As shown, when the speed regulating unit 100 moves to the side of the first reduction unit 300 and the high-speed rotor 120, the magnetic tuning ring, and the first low-speed rotor 320 are connected in series, the speed regulating device is in the first reduction ratio gear position. When the high-speed rotor 120 and the second low-speed rotor 420 are magnetically coupled, that is, when the speed regulating unit 100 moves to the side of the second reduction unit 400 and the high-speed rotor 120, the magnetic tuning ring, and the second low-speed rotor 420 are connected in series, the speed regulating device is in the second reduction ratio gear position.

[0064] Optionally, for working conditions where the deep-sea working robot requires high walking efficiency, the speed regulating device is set to the first reduction ratio gear; for working conditions where the deep-sea working robot moves on a road section with poor passability, the speed regulating device is set to the second reduction ratio gear.

[0065] Optionally, both the first low-speed rotor 320 and the second low-speed rotor 420 include a yoke and a permanent magnet.

[0066] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of the magnetic gear provided in the embodiment of the present application. Figure 3 As shown, the low-speed rotor includes a yoke and permanent magnets, and the high-speed rotor 120 includes a yoke and permanent magnets.

[0067] Optionally, the number of magnetic tuning blocks included in the first magnetic tuning ring 310 is less than the number of magnetic tuning blocks included in the second magnetic tuning ring 410; or,

[0068] The number of rotor pole pairs included in the first low-speed rotor 320 is smaller than the number of rotor pole pairs included in the second low-speed rotor 420 .

[0069] In this embodiment, according to the deceleration principle of magnetic gears, the number of pole pairs of the high-speed rotor 120 connected in series with the motor 110 is fixed, and different reduction ratios are matched by setting two groups of different numbers of magnetic tuning rings and low-speed rotor pole pairs.

[0070] An optional implementation is to set the number of magnetic tuning blocks included in the first magnetic tuning ring 310 to be less than the number of magnetic tuning blocks included in the second magnetic tuning ring 410, and set the number of rotor pole pairs included in the first low-speed rotor 320 to be equal to the number of rotor pole pairs included in the second low-speed rotor 420, so that the first magnetic tuning ring 310 and the first low-speed rotor 320 form a first reduction ratio gear, and the second magnetic tuning ring 410 and the second low-speed rotor 420 form a second reduction ratio gear.

[0071] Another optional implementation is to set the number of magnetic tuning blocks included in the first magnetic tuning ring 310 to be equal to the number of magnetic tuning blocks included in the second magnetic tuning ring 410, and to set the number of rotor pole pairs included in the first low-speed rotor 320 to be less than the number of rotor pole pairs included in the second low-speed rotor 420, so that the first magnetic tuning ring 310 and the first low-speed rotor 320 form a first reduction ratio gear, and the second magnetic tuning ring 410 and the second low-speed rotor 420 form a second reduction ratio gear.

[0072] In this embodiment, by setting two groups of different numbers of magnetic tuning rings and low-speed rotor pole pairs, two different reduction ratios are set, so that the deep-sea operation robot can adapt to different working conditions on the seabed.

[0073] It should be understood that when the high-speed rotor 120 with a magnetic pole pair number of p1 rotates at a speed of n1, the spatial magnetic field generated by the permanent magnet passes through the magnetic field of N s After modulation by the modulation rings with ferromagnetic elements spaced apart, a new magnetic field is generated in the air gap on the low-speed rotor side. In order for the transmission system to smoothly transmit torque, the new magnetic field must achieve magnetic pole coupling with the low-speed rotor with a magnetic pole pair number of p2. The number of magnetic pole pairs and the number of magnetic modulation rings on the high-speed and low-speed rotors must satisfy the following relationship:

[0074]

[0075] The high-speed rotor 120 rotates at an angular velocity of ω1. After the magnetic field generated by the permanent magnet of the high-speed rotor 120 is modulated by the magnetic modulation ring, a new magnetic field with an angular velocity of ω2 is generated in the air gap on the low-speed side of the magnetic gear. The new magnetic field drives the low-speed rotor to rotate at an angular velocity of ω2. At this time, the speeds of the high-speed rotor 120, the low-speed rotor, and the magnetic modulation ring satisfy:

[0076]

[0077] When the magnetic regulating ring is fixed, the high-speed and low-speed rotors are transmission parts, and the transmission ratio of the transmission system is expressed as:

[0078]

[0079] When the low-speed rotor is stationary, the high-speed rotor 120 and the magnetic regulating ring are rotating parts, and the transmission ratio of the transmission system is expressed as:

[0080]

[0081] When the high-speed rotor 120 is stationary, the transmission ratio of the magnetic gear is very small, approximately equal to 1, and its speed-changing transmission function is not obvious, and its function is similar to that of a coupling.

[0082] See also Figure 2 , Optionally, the sliding mechanism 200 includes a lead screw 210, a guide rail 220 and a platform 230;

[0083] The lead screw 210 and the guide rail 220 are arranged in parallel, and the lead screw 210 and the guide rail 220 are arranged in relative alignment;

[0084] The platform 230 includes a first groove and a second groove, the first groove is slidably connected to the guide rail 220, and the second groove is slidably connected to the lead screw 210. The platform 230 slides on the lead screw 210 and the guide rail 220 through the first groove and the second groove;

[0085] The speed regulating unit 100 is disposed on the surface of the platform 230 .

[0086] like Figure 2 As shown, the sliding mechanism 200 includes a lead screw 210, a guide rail 220 and a platform 230. The lead screw 210 and the guide rail 220 are arranged in parallel and relatively aligned. The platform 230 is arranged on the lead screw 210 and the guide rail 220, and the platform 230 can slide on the lead screw 210 and the guide rail 220.

[0087] See also Figure 2 , Optionally, the sliding mechanism 200 further includes a limit block 240;

[0088] The limiting blocks 240 are provided at both ends of the guide rail 220;

[0089] The limiting block 240 is used to limit the sliding position of the platform 230 on the guide rail 220 .

[0090] See also Figure 2 , Optionally, the sliding mechanism 200 further includes a driving member 250;

[0091] The driving member 250 is provided at one end of the lead screw 210;

[0092] The driving member 250 is used to drive the lead screw 210 to rotate, so that the speed regulating unit 100 moves along the sliding mechanism 200 .

[0093] Optionally, the driving member 250 includes a DC motor.

[0094] When the motor 110 rotates, the platform 230 , the motor 110 , and the high-speed rotor 120 move accordingly. The moving direction of the platform 230 is changed by changing the rotation direction of the motor 110 .

[0095] like Figure 4 As shown, the present application provides a speed regulation method, which is applied to the speed regulation device as described above, wherein the speed regulation device includes a speed regulation unit, a sliding mechanism, a first reduction unit, a second reduction unit and a reduction box;

[0096] The method comprises:

[0097] S410: When receiving the first gear signal, the speed regulating unit is driven to move along the sliding mechanism so that the speed regulating unit, the first reduction unit and the reduction box are connected in series, and the speed regulating device is controlled to be in the first reduction ratio gear.

[0098] In this step, a first gear signal is received. Optionally, the first gear signal includes an electrical signal and a communication signal. In response to the first gear signal, the speed control unit is driven to move along the sliding mechanism. When the speed control unit moves to the side of the first reduction unit, the speed control unit, the first reduction unit and the reduction box are connected in series to control the speed control device to be in the first reduction ratio gear.

[0099] S420: When receiving the second gear signal, the speed regulating unit is driven to move along the sliding mechanism so that the speed regulating unit, the second reduction unit and the reduction box are connected in series, and the speed regulating device is controlled to be in the second reduction ratio gear.

[0100] In this step, a second gear signal is received. Optionally, the second gear signal includes an electrical signal and a communication signal. In response to the second gear signal, the speed control unit is driven to move along the sliding mechanism. When the speed control unit moves to the side of the second reduction unit, the speed control unit, the second reduction unit and the reduction box are connected in series to control the speed control device to be in the second reduction ratio gear.

[0101] The speed corresponding to the first reduction ratio gear is higher than the speed corresponding to the second reduction ratio gear, and the torque corresponding to the first reduction ratio gear is lower than the torque corresponding to the second reduction ratio gear. In other words, the first reduction ratio gear is also called the low reduction ratio gear, and the second reduction ratio gear is also called the high reduction ratio gear.

[0102] In this embodiment, the gear signal is responded to and the relative position of the speed regulating unit is controlled. By setting the speed regulating unit in series with different reduction units, different speed gear matching is achieved. In addition, the present application uses non-contact transmission between the speed regulating device and the reduction unit to achieve overload protection of the speed regulating device, which significantly improves the reliability of the speed regulating device.

[0103] Obviously, the embodiments described above are only some of the embodiments of the present application, rather than all of the embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present application.

Claims

1. A speed regulating device for a deep-sea operation robot, characterized in that: It includes a speed regulating unit, a sliding mechanism, a first reduction unit, a second reduction unit and a reduction box; the speed regulating unit includes a motor and a high-speed rotor connected in series through an output shaft; The first reduction unit and the second reduction unit are both connected in series with the reduction box; The speed regulating unit moves along the sliding mechanism so that the speed regulating unit is connected in series with the first reduction unit and is magnetically coupled to the first reduction unit, or the speed regulating unit is connected in series with the second reduction unit and is magnetically coupled to the second reduction unit; Wherein, when the speed regulating unit is connected in series with the first reduction unit, the speed regulating device is in the first reduction ratio gear; When the speed regulating unit and the second reduction unit are connected in series, the speed regulating device is in the second reduction ratio gear; The speed corresponding to the first reduction ratio gear is higher than the speed corresponding to the second reduction ratio gear, and the torque corresponding to the first reduction ratio gear is lower than the torque corresponding to the second reduction ratio gear; Wherein, the first reduction unit comprises a first magnetic adjustment ring and a first low-speed rotor, and an air gap is provided between the first magnetic adjustment ring and the first low-speed rotor; The second reduction unit includes a second magnetic tuning ring and a second low-speed rotor, and an air gap is provided between the second magnetic tuning ring and the second low-speed rotor; Wherein, when the high-speed rotor is magnetically coupled with the first low-speed rotor, the speed regulating device is in the first reduction ratio gear; When the high-speed rotor is magnetically coupled with the second low-speed rotor, the speed regulating device is in the second reduction ratio gear; When the high-speed rotor rotates, a new magnetic field is generated in the air gap on the low-speed rotor side, and the new magnetic field is coupled with the magnetic poles of the low-speed rotor; The number of magnetic tuning blocks included in the first magnetic tuning ring is less than the number of magnetic tuning blocks included in the second magnetic tuning ring; or, The first low-speed rotor includes a smaller number of rotor pole pairs than the second low-speed rotor.

2. The speed regulating device according to claim 1, characterized in that: The first low-speed rotor and the second low-speed rotor each include a yoke and a permanent magnet.

3. The speed regulating device according to claim 1, characterized in that: The high-speed rotor includes a yoke and permanent magnets.

4. The speed regulating device according to claim 1, characterized in that: The sliding mechanism includes a lead screw, a guide rail and a platform; The lead screw and the guide rail are arranged in parallel, and the lead screw and the guide rail are arranged in relative alignment; The platform includes a first groove and a second groove, the first groove is slidably connected to the guide rail, the second groove is slidably connected to the lead screw, and the platform slides on the lead screw and the guide rail through the first groove and the second groove; The speed regulating unit is arranged on the surface of the platform.

5. The speed regulating device according to claim 4, characterized in that: The sliding mechanism further includes a limiting block; The limit blocks are arranged at both ends of the guide rail; Wherein, the limiting block is used to limit the sliding position of the platform on the guide rail.

6. The speed regulating device according to claim 4, characterized in that: The sliding mechanism further includes a driving member; The driving member is arranged at one end of the lead screw; Wherein, the driving member is used to drive the lead screw to rotate so that the speed regulating unit moves along the sliding mechanism.

7. The speed regulating device according to claim 6, characterized in that: The motor includes a permanent magnet synchronous motor, and the driving element includes a DC motor.

8. A speed regulation method, characterized in that: The speed regulation method is applied to a speed regulation device according to any one of claims 1 to 7, wherein the speed regulation device comprises a speed regulation unit, a sliding mechanism, a first reduction unit, a second reduction unit and a reduction box; The speed regulation method comprises: When receiving the first gear signal, the speed regulating unit is driven to move along the sliding mechanism so that the speed regulating unit, the first reduction unit and the reduction box are connected in series, and the speed regulating device is controlled to be in the first reduction ratio gear; When receiving the second gear signal, the speed regulating unit is driven to move along the sliding mechanism, so that the speed regulating unit, the second reduction unit and the reduction box are connected in series, and the speed regulating device is controlled to be in the second reduction ratio gear; The rotational speed corresponding to the first reduction ratio gear is higher than the rotational speed corresponding to the second reduction ratio gear, and the torque corresponding to the first reduction ratio gear is lower than the torque corresponding to the second reduction ratio gear.

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