Magnetic gear with axial radial field modulation

Abstract

The application belongs to the field of magnetic gear topology innovation, and discloses a magnetic gear applying shaft radial magnetic field modulation, which comprises an axial high-speed permanent magnetic rotor, an axial magnetic modulation ring, an axial low-speed permanent magnetic rotor, a radial high-speed permanent magnetic rotor, a radial modulation ring and a radial low-speed permanent magnetic rotor; the axial modulation ring is nested and installed between the axial high-speed permanent magnetic rotor and the axial low-speed permanent magnetic rotor, and two layers of air gaps are left between the three; the radial modulation ring is nested and installed between the radial high-speed permanent magnetic rotor and the radial low-speed permanent magnetic rotor, and two layers of air gaps are left between the three. In the magnetic gear, the shaft radial magnetic gear is driven by axial and radial magnetic fields in two stages, and the transmission ratio is greatly improved under the condition that the radial space is strictly limited and the axial space is relatively loose; the integrated rotor yoke structure is adopted, so that the shaft radial magnetic gear structure is more compact, the upper limit of the speed of the axial component is improved, and the torque carrying capacity is also enhanced.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of magnetic gear topology innovation, and relates to a magnetic gear applying axial-radial magnetic field modulation. BACKGROUND

[0002] As a non-contact transmission device based on the principle of magnetic field modulation, the magnetic gear has significant advantages in terms of no wear, no lubrication, physical isolation and overload protection compared with the traditional mechanical gear. However, the mainstream coaxial radial magnetic gear topology structure faces core space constraints when achieving high transmission ratio: the transmission ratio of the magnetic gear is mainly determined by the ratio of the number of magnetic poles of the low-speed rotor to that of the high-speed rotor. In order to obtain a high transmission ratio, the number of magnetic poles of the low-speed rotor needs to be greatly increased, which leads to a sharp increase in the radial size of the low-speed rotor or the implementation of two-stage coaxial radial transmission in a certain space. In the application scenario of the magnetic gear in the radial space, it is still difficult to achieve a high transmission ratio due to the limited radial space.

[0003] In order to break through the above-mentioned transmission ratio limitation caused by insufficient space, the axial-radial magnetic gear emerges as the times require. The structure innovatively integrates radial and axial magnetic circuits. The first stage adopts the configuration of the axial magnetic gear, including an axial high-speed permanent magnet rotor, an axial modulation ring and an axial low-speed permanent magnet rotor. The second stage adopts the configuration of the traditional radial magnetic gear, including a radial high-speed permanent magnet rotor, a radial modulation ring and a radial low-speed permanent magnet rotor, to achieve the basic transmission ratio. The key of the axial-radial magnetic gear transmission lies in the first-stage transmission mechanism. The axial low-speed permanent magnet rotor output by the first stage drives the high-speed permanent magnet rotor of the radial magnetic gear. The high-speed permanent magnet rotor and another low-speed permanent magnet rotor with a different number of magnetic poles perform non-contact torque transmission and speed conversion through the radial modulation ring.

[0004] The core advantage of the axial-radial magnetic gear lies in its ability to solve the contradiction between the demand for high transmission ratio and the radial space constraint. The first-stage axial transmission does not depend on the expansion of the radial size. The improvement of the transmission ratio can be achieved by optimizing the ratio of the number of magnetic poles of the axial magnetic gear. Therefore, the axial-radial magnetic gear topology can be packaged in a compact radial space, effectively integrating two-stage transmission, achieving a transmission ratio far beyond the capability range of a single-stage radial magnetic gear, and achieving a transmission ratio of two-stage coaxial radial transmission in the same space. This feature makes it suitable for application scenarios where the radial space is strictly limited, the axial space is relatively loose, and a high transmission ratio and high reliability are required, such as advanced robot joint drive and integrated hub motor system. SUMMARY

[0005] In order to overcome the low transmission ratio of the traditional magnetic gear in a certain space, to improve the torque space utilization, output torque and torque density, the application provides a magnetic gear applying axial-radial magnetic field modulation.

[0006] The technical scheme of the application is:

[0007] A magnetic gear using axial and radial magnetic field modulation comprises an axial high-speed permanent magnet rotor, an axial modulation ring, an axial low-speed permanent magnet rotor, a radial high-speed permanent magnet rotor, a radial modulation ring, and a radial low-speed permanent magnet rotor. The axial modulation ring is nested between the axial high-speed permanent magnet rotor and the axial low-speed permanent magnet rotor, and two layers of air gaps are left between the three. The air gap between the axial high-speed permanent magnet rotor and the axial modulation ring and the air gap between the axial low-speed permanent magnet rotor and the axial modulation ring are both 1-3 mm, preferably 2 mm. The radial modulation ring is nested between the radial high-speed permanent magnet rotor and the radial low-speed permanent magnet rotor, and two layers of air gaps are left between the three. The air gap between the radial high-speed permanent magnet rotor and the radial modulation ring and the air gap between the radial low-speed permanent magnet rotor and the radial modulation ring are both 1-3 mm, preferably 2 mm.

[0008] The axial high-speed permanent magnet rotor comprises n axial high-speed rotor N-pole permanent magnets, n axial high-speed rotor S-pole permanent magnets, and 2n axial high-speed rotor yokes. The axial high-speed rotor N-pole permanent magnets and the axial high-speed rotor S-pole permanent magnets are alternately arranged between the axial high-speed rotor yokes. The axial low-speed permanent magnet rotor comprises m axial low-speed rotor N-pole permanent magnets, m axial low-speed rotor S-pole permanent magnets, and an integrated rotor yoke. The integrated rotor yoke is a circular ring with 2m tooth slots on its inner surface. The axial low-speed rotor N-pole permanent magnets and the axial low-speed rotor S-pole permanent magnets are alternately arranged in the tooth slots. The axial modulation ring comprises L magnetic modulation pole pieces and L non-magnetic composite pole pieces, which are alternately composed of steel magnetic modulation pole pieces and non-magnetic composite pole pieces.

[0009] The radial high-speed permanent magnet rotor comprises P radial high-speed rotor N-pole permanent magnets, P radial high-speed rotor S-pole permanent magnets, and an integrated rotor yoke shared with the axial low-speed permanent magnet rotor. The radial high-speed rotor N-pole permanent magnets and the radial high-speed rotor S-pole permanent magnets are alternately arranged and attached to the outer surface of the integrated rotor yoke. The radial low-speed permanent magnet rotor comprises Q radial low-speed rotor N-pole permanent magnets, Q radial low-speed rotor S-pole permanent magnets, and a radial low-speed rotor yoke. The radial low-speed rotor yoke is a circular ring. The radial low-speed rotor N-pole permanent magnets and the radial low-speed rotor S-pole permanent magnets are alternately arranged and attached to the inner surface of the radial low-speed rotor yoke. The radial modulation ring comprises R magnetic modulation pole pieces and R non-magnetic composite pole pieces, which are alternately composed of magnetic modulation pole pieces and non-magnetic composite pole pieces.

[0010] The magnetic gear using axial and radial magnetic field modulation is modulated by a first-stage axial magnetic field and then by a second-stage radial magnetic field, thereby forming a two-stage transmission.

[0011] The application axis radial magnetic field modulation magnetic gear topology can be packaged in a compact radial space, effectively integrates two-stage transmission, realizes transmission ratio far exceeding the capacity range of single-stage radial magnetic gear, and realizes transmission ratio of two-stage coaxial radial transmission in the same space. This characteristic makes it suitable for application occasions with strict radial space limitation, relatively loose axial space, and high transmission ratio and high reliability requirements.

[0012] The axis radial magnetic gear uses an integrated rotor yoke, and the axial modulation ring and the radial modulation ring are provided with segmented magnetic modulation pole pieces, and the magnetic modulation pole pieces are filled with non-magnetic composite material pole pieces as fixing pieces.

[0013] The integrated rotor yoke serves as the yoke of the axial low-speed permanent magnet rotor and the yoke of the radial high-speed permanent magnet rotor, so that the structure is more compact, and when the integrated rotor yoke serves as the yoke of the axial low-speed permanent magnet rotor, the upper limit of the torque that can be borne is increased and the upper limit of the speed is increased. The non-magnetic composite material pole pieces as fixing pieces reduce the overall weight of the magnetic gear, reduce mechanical loss, and increase the torque density per unit mass.

[0014] The axis radial magnetic gear of the application has the following advantages: (1) The axis radial magnetic gear realizes two-stage transmission through axial and radial magnetic fields, and greatly improves the transmission ratio in the case of strict radial space limitation and relatively loose axial space; (2) The integrated rotor yoke structure makes the axis radial magnetic gear structure more compact, not only increases the upper limit of the speed of the axial component, but also enhances the torque bearing capacity. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is the exploded view of the axis radial magnetic gear in the embodiment of the application.

[0016] Figure 2 is the schematic view of the axial high-speed rotor yoke of the axis radial magnetic gear in the embodiment of the application.

[0017] Figure 3 is the combined schematic view of the axial high-speed rotor N-pole permanent magnet and the axial high-speed rotor S-pole permanent magnet of the axis radial magnetic gear in the embodiment of the application.

[0018] Figure 4 is the axial modulation ring schematic view of the axis radial magnetic gear in the embodiment of the application.

[0019] Figure 5 is the combined schematic view of the axial low-speed rotor N-pole permanent magnet and the axial low-speed rotor S-pole permanent magnet of the axis radial magnetic gear in the embodiment of the application.

[0020] Figure 6 is the integrated rotor yoke schematic view of the axis radial magnetic gear in the embodiment of the application.

[0021] Figure 7 is the combined schematic diagram of the radial high-speed rotor N-pole permanent magnet and the radial high-speed rotor S-pole permanent magnet of the axial-radial magnetic gear in the embodiment of the present application.

[0022] Figure 8 is the schematic diagram of the radial modulation ring of the axial-radial magnetic gear in the embodiment of the present application.

[0023] Figure 9 is the combined schematic diagram of the radial low-speed rotor N-pole permanent magnet and the radial low-speed rotor S-pole permanent magnet of the axial-radial magnetic gear in the embodiment of the present application.

[0024] Figure 10 is the schematic diagram of the radial low-speed rotor yoke of the axial-radial magnetic gear in the embodiment of the present application.

[0025] In the figure: 1 axial high-speed rotor yoke; 2 axial high-speed rotor N-pole permanent magnet; 3 axial high-speed rotor S-pole permanent magnet; 4 axial modulation ring; 5 axial low-speed rotor N-pole permanent magnet; 6 axial low-speed rotor S-pole permanent magnet; 7 integrated rotor yoke; 8 radial high-speed rotor N-pole permanent magnet; 9 radial high-speed rotor S-pole permanent magnet; 10 radial modulation ring; 11 radial low-speed rotor N-pole permanent magnet; 12 radial low-speed rotor S-pole permanent magnet; 13 radial low-speed rotor yoke. DETAILED DESCRIPTION

[0026] The specific embodiments of the present application are further described below in combination with the drawings and technical solutions.

[0027] An axial-radial magnetic field modulation magnetic gear, comprising an axial high-speed permanent magnet rotor, an axial modulation ring, an axial low-speed permanent magnet rotor, a radial high-speed permanent magnet rotor, a radial modulation ring and a radial low-speed permanent magnet rotor.

[0028] In combination Figure 1 , the axial-radial magnetic field modulation magnetic gear comprises an axial high-speed rotor yoke 1, an axial high-speed rotor N-pole permanent magnet 2, an axial high-speed rotor S-pole permanent magnet 3, an axial modulation ring 4, an axial low-speed rotor N-pole permanent magnet 5, an axial low-speed rotor S-pole permanent magnet 6, an integrated rotor yoke 7, a radial high-speed rotor N-pole permanent magnet 8, a radial high-speed rotor S-pole permanent magnet 9, a radial modulation ring 10, a radial low-speed rotor N-pole permanent magnet 11, a radial low-speed rotor S-pole permanent magnet 12 and a radial low-speed rotor yoke 13.

[0029] In combination Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6, the axial high-speed rotor N-pole permanent magnet 2, the axial high-speed rotor S-pole permanent magnet 3 and the axial high-speed rotor yoke 1, the axial high-speed rotor N-pole permanent magnet 2 and the axial high-speed rotor S-pole permanent magnet 3 are alternately arranged between the axial high-speed rotor yoke 1; the axial low-speed rotor N-pole permanent magnet 5, the axial low-speed rotor S-pole permanent magnet 6 and the integrated rotor yoke 7, the integrated rotor yoke 7 is a circular ring body, and 14 tooth grooves are formed in the inner surface of the integrated rotor yoke 7, the axial low-speed rotor N-pole permanent magnet 5 and the axial low-speed rotor S-pole permanent magnet 6 are alternately arranged in the tooth grooves; the axial modulation ring 4 includes 10 No. 10 steel magnetic pole pieces and 10 non-magnetic composite pole pieces, and is alternately composed of the No. 10 steel magnetic pole pieces and the non-magnetic composite pole pieces.

[0030] In combination Figure 7 , Figure 8 , Figure 9 , Figure 10 , the radial high-speed rotor N-pole permanent magnet 8, the radial high-speed rotor S-pole permanent magnet 9 and the integrated rotor yoke 7, the radial high-speed rotor N-pole permanent magnet 8 and the radial high-speed rotor S-pole permanent magnet 9 are alternately arranged and attached to the outer surface of the integrated rotor yoke 7; the radial low-speed rotor N-pole permanent magnet 11, the radial low-speed rotor S-pole permanent magnet 12 and the radial low-speed rotor yoke 13, the radial low-speed rotor yoke 13 is a circular ring, and the radial low-speed rotor S-pole permanent magnet 12 and the radial low-speed rotor yoke 13 are alternately arranged and attached to the inner surface of the radial low-speed rotor yoke 13; the radial modulation ring 10 includes 25 No. 10 steel magnetic pole pieces and 25 non-magnetic composite pole pieces, and is alternately composed of the No. 10 steel magnetic pole pieces and the non-magnetic composite pole pieces.

[0031] The material of the axial high-speed rotor N-pole permanent magnet 2, the axial high-speed rotor S-pole permanent magnet 3, the axial low-speed rotor N-pole permanent magnet 5 and the axial low-speed rotor S-pole permanent magnet 6 is neodymium iron boron.

Claims

1. A magnetic gear employing axial-radial magnetic field modulation, characterized in that, The magnetic gear includes an axial high-speed permanent magnet rotor, an axial modulation ring, an axial low-speed permanent magnet rotor, a radial high-speed permanent magnet rotor, a radial modulation ring, and a radial low-speed permanent magnet rotor; the axial modulation ring is nested between the axial high-speed permanent magnet rotor and the axial low-speed permanent magnet rotor, with two air gaps between them; the radial modulation ring is nested between the radial high-speed permanent magnet rotor and the radial low-speed permanent magnet rotor, with two air gaps between them. The axial high-speed permanent magnet rotor includes n axial high-speed rotor N-pole permanent magnets, n axial high-speed rotor S-pole permanent magnets and 2n axial high-speed rotor yokes, with the axial high-speed rotor N-pole permanent magnets and axial high-speed rotor S-pole permanent magnets alternately arranged between the axial high-speed rotor yokes. The axial low-speed permanent magnet rotor includes m axial low-speed rotor N-pole permanent magnets, m axial low-speed rotor S-pole permanent magnets, and an integrated rotor yoke. The integrated rotor yoke is a ring with 2m toothed slots on its inner surface. The axial low-speed rotor N-pole permanent magnets and axial low-speed rotor S-pole permanent magnets are alternately arranged in the toothed slots. The axial modulation ring includes L magnetically adjustable pole pieces and L non-magnetically conductive composite material pole pieces, which are alternately composed of magnetically adjustable pole pieces and non-magnetically conductive composite material pole pieces; The radial high-speed permanent magnet rotor includes P radial high-speed rotor N-pole permanent magnets, P radial high-speed rotor S-pole permanent magnets, and an integrated rotor yoke shared with the axial low-speed permanent magnet rotor. The radial high-speed rotor N-pole permanent magnets and radial high-speed rotor S-pole permanent magnets are alternately arranged and attached to the outer surface of the integrated rotor yoke. The radial low-speed permanent magnet rotor includes Q radial low-speed rotor N-pole permanent magnets, Q radial low-speed rotor S-pole permanent magnets, and a radial low-speed rotor yoke. The radial low-speed rotor yoke is a ring, and the radial low-speed rotor N-pole permanent magnets and radial low-speed rotor S-pole permanent magnets are alternately arranged and attached to the inner surface of the radial low-speed rotor yoke. The radial modulation ring includes R magnetically adjustable pole pieces and R non-magnetically conductive composite material pole pieces, which are alternately composed of magnetically adjustable pole pieces and non-magnetically conductive composite material pole pieces.

2. The magnetic gear with radial magnetic field modulation according to claim 1, characterized in that, The air gap between the high-speed axial permanent magnet rotor and the axial modulation ring, and the air gap between the low-speed axial permanent magnet rotor and the axial modulation ring are both 1-3mm. The air gap between the radial high-speed permanent magnet rotor and the radial modulation ring, and the air gap between the radial low-speed permanent magnet rotor and the radial modulation ring are both 1-3 mm.

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