Harmonic reducer with controllable deformation vector reluctance wave generator motor

Abstract

The application relates to a deformation-controllable vector magnetic resistance wave generator motor for a harmonic speed reducer, which comprises a supporting seat and a wave wheel, a flexible wheel and a rigid wheel which are arranged in layers from inside to outside and are rotationally arranged on the supporting seat, the wave wheel is elliptical and has an elastic deformation allowance, the flexible wheel is an external gear and is matched with the outer ring of the wave wheel, the rigid wheel is an internal gear and the tooth number difference between the rigid wheel and the flexible wheel is greater than 0, the rigid wheel and the flexible wheel are at least partially toothed dynamic engagement following the deformation of the wave wheel; the supporting seat is provided with a magnetic field generator located on the inner side of the wave wheel, the magnetic field generator comprises a plurality of magnetic sources for generating a magnetic field which are distributed in a ring shape, and the inner ring of the wave wheel is formed with a rotor yoke for matching the magnetic sources, the magnetic sources control the rotor yoke through magnetic field adsorption, and the number of the rotor yoke is less than that of the magnetic sources. The application can quickly respond to the adjustment of the harmonic speed reduction transmission ratio under the condition of relatively simple structure.

Description

Technical Field

[0001] This application relates to the field of harmonic reducer technology, and in particular to a vector reluctance wave generator motor with controllable deformation for harmonic reducers. Background Technology

[0002] Harmonic reducers are high-precision speed reduction devices based on the principles of elastic deformation and staggered tooth motion, and are widely used in fields such as robotics, aerospace, and precision machinery.

[0003] It mainly consists of three key components: a rigid internal gear, which is usually fixed; a flexible gear, a thin-walled elastic external gear that can undergo controllable deformation; and a wave generator, an elliptical cam or assembly with rollers, installed inside the flexible gear to drive its deformation. The deceleration process of the harmonic reducer is as follows: when the wave generator and the flexible gear rotate relative to each other, the deformation position of the flexible gear moves accordingly, causing the meshing point to change continuously. Based on the elastic deformation and tooth meshing misalignment of the flexible gear, and because the flexible gear has fewer teeth than the rigid gear, the wave generator or steel wheel is driven to rotate by a motor. During this process, for every revolution of the wave generator, the flexible gear rotates two tooth pitches in the opposite direction relative to the rigid gear, thus achieving deceleration.

[0004] However, in practical applications, with current demands, harmonic reducers with fixed transmission ratios cannot comprehensively meet the needs of various applications. Therefore, the method of adjusting the number of meshing teeth by adjusting the deformation of the wave generator has been proposed. Currently, this is mainly achieved through mechanical control of the wave generator deformation, such as hydraulic control. However, this control method leads to extremely complex structures, and since harmonic reducers are mainly used in applications requiring rapid response, such as robotics, hydraulic control has a relatively slow response speed, and the adjustment range is limited by the mechanical control structure. Therefore, how to enable harmonic reducers to achieve rapid transmission ratio adjustment with a relatively simple structure is a pressing problem that needs to be solved. Utility Model Content

[0005] In order to enable the harmonic reducer to make rapid response in adjusting the transmission ratio with a relatively simple structure, this application provides a vector reluctance wave generator motor with controllable deformation for the harmonic reducer.

[0006] This application provides a deformation-controllable vector reluctance wave generator motor for a harmonic reducer, which adopts the following technical solution:

[0007] A vector reluctance wave generator motor with controllable deformation for a harmonic reducer includes a support base and impellers, flexible wheels, and rigid wheels that are rotatably mounted on the support base in layers from the inside out. The impellers are elliptical and have a margin for elastic deformation. The flexible wheels are external gears adapted to the outer ring of the impellers. The rigid wheels are internal gears with a tooth number difference greater than 0 from the flexible wheels. The rigid wheels and flexible wheels dynamically mesh with at least some teeth following the deformation of the impellers. The support base is provided with a magnetic field generator located inside the impellers. The magnetic field generator includes at least a plurality of magnetic sources distributed in a circumferential direction for generating magnetic fields. The inner ring of the impellers is formed with rotor yokes for cooperating with the magnetic sources. The magnetic sources control the rotor yokes by magnetic field adsorption. The number of rotor yokes is less than the number of magnetic sources.

[0008] By adopting the above technical solution, during use, the magnetic field strength and phase change of the magnetic source can be achieved through control programs. At this time, by controlling the magnetic field strength of the magnetic source at the corresponding position of the corresponding region of the flexible wheel, the magnitude of the magnetic attraction force of the rotor yoke corresponding to the relatively fixed elliptical region of the impeller on the impeller can be changed. Thus, the attraction force at different regions of the impeller can be controlled to change. For example, the attraction force in the long axis region can be increased or decreased, and the attraction force in the short axis region can be decreased or increased accordingly. Since the impeller has the ability to elastically deform within a certain range, the impeller can undergo a certain deformation, that is, the length of the short axis of the impeller can be increased or decreased, or the impeller can be controlled into a triangular shape or other shapes as needed to achieve changes in the number of meshing teeth of the internal and external teeth, thereby achieving stepless adjustment of the impeller deformation, adapting to complex working conditions, and achieving rapid response. At the same time, compared with traditional hydraulic mechanical control, the structure is relatively simpler.

[0009] Optionally, the magnetic field generator further includes a stator assembly disposed on the support base, the stator assembly having a plurality of mounting portions formed on its outer ring, and the magnetic source being a coil wound on the mounting portions to form a periodic magnetic field.

[0010] By adopting the above technical solution, when in use, the magnetic source is set in the mounting part, and the intensity and direction of the magnetic source can be controlled simply by controlling the current of the coil.

[0011] Optionally, the stator assembly is formed by stacking multiple silicon steel sheets.

[0012] By adopting the above technical solution, silicon steel sheets have high magnetic permeability, thereby reducing interference with the magnetic field of the magnetic source.

[0013] Optionally, the impeller and rotor yoke are made of flexible magnetic material or are integrally stacked silicon steel sheets.

[0014] By adopting the above technical solution, the feedback of the magnetic field of the magnetic source is optimized.

[0015] Optionally, the rotor yoke is an internal tooth formed by the inner ring of the impeller.

[0016] By adopting the above technical solution, the rotor yoke can be relatively close to the mating part, and at the same time form a relatively fixed magnetic attraction point, so as to facilitate driving and deformation control.

[0017] Optionally, the magnetic source can be arranged in a distributed or centralized manner.

[0018] Optionally, the rigid wheel is also provided with a deformation sensor for detecting the deformation of the impeller.

[0019] By adopting the above technical solution, the deformation of the impeller can be fed back in real time, the winding current of the magnetic source can be adjusted, and the deformation control accuracy can be optimized.

[0020] Optionally, the impeller is provided with an end cap that covers the opening at one end of the rigid wheel away from the support base, and the end cap is fixed to the rigid wheel.

[0021] By adopting the above technical solution, power can be output through the end cap.

[0022] In summary, this application includes at least one of the following beneficial technical effects:

[0023] During use, the magnetic field strength and phase of the magnetic source can be changed through control programs. This allows control of the magnetic field strength at different locations on the flexspline, causing changes in the magnetic attraction force on the rotor yoke at a relatively fixed elliptical location on the impeller. This control over the attraction force on different areas of the impeller—for example, increasing or decreasing the attraction force on the long axis region and decreasing or increasing the attraction force on the short axis region—is achieved. Because the impeller has elastic deformation capabilities within a certain range, it can deform to a certain extent, increasing or decreasing the length of the short axis. Alternatively, the impeller can be controlled into triangular or other shapes as needed to change the number of meshing teeth between internal and external gears, thus achieving stepless adjustment of the impeller's deformation to adapt to complex working conditions. Simultaneously, the control of the magnetic field phase and strength, along with the hydraulic mechanical control of the transmission, allows for rapid changes in the transmission ratio. Attached Figure Description

[0024] Figure 1 This is a structural schematic diagram of an embodiment of this application.

[0025] Figure 2 This is an exploded structural diagram of an embodiment of this application.

[0026] Figure 3 This is a schematic diagram of the internal structure of an embodiment of this application.

[0027] Figure 4 yes Figure 3 A magnified structural diagram of part A in the middle.

[0028] Explanation of reference numerals in the attached drawings: 1. Support base; 11. Base plate; 12. Support column; 2. Impeller; 21. Rotor yoke; 3. Flexible wheel; 31. External gear; 4. Rigid wheel; 41. Internal gear; 5. Magnetic field generator; 51. Magnetic source; 52. Stator assembly; 521. Mounting part; 6. End cover. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0030] This application discloses a deformation-controllable vector reluctance wave generator motor for a harmonic reducer. (Refer to...) Figure 1 , Figure 2 and Figure 3 The vector reluctance wave generator with controllable deformation for the harmonic reducer includes a support base 1, a pulsator 2, a flexible wheel 3, a rigid wheel 4, and a magnetic field generator 5. The support base 1 includes a base plate 11 and a support column 12 fixed to the base plate 11. The base plate 11 is a circular plate structure, and the support column 12 is fixed at the center of the base plate 11.

[0031] Reference Figure 2 and Figure 3 The magnetic field generator 5 includes several magnetic sources 51 and a stator assembly 52 located outside the rigid wheel 4. The stator assembly 52 is formed by stacking multiple annular silicon steel sheets with toothed outer rings, and the toothed outer rings of the annular silicon steel sheets of the stator assembly 52 are stacked to form mounting parts 521. The magnetic sources 51 are arranged in a one-to-one correspondence with the mounting parts 521.

[0032] Specifically, the magnetic source 51 is a coil wound on the mounting part 521 to generate a controllable magnetic field toward the outside. The magnetic sources 51 are arranged in a distributed or centralized manner.

[0033] Reference Figure 2 and Figure 3 Meanwhile, the impeller 2 is an elliptical structure made of flexible magnetically conductive material, such as silicon steel sheets laminated together or soft magnetic composite materials. The inner ring of the impeller 2 has several rotor yokes 21 that cooperate with the magnetic sources 51, forming a "double salient pole" structure with the rigid wheel 4, making the impeller 2 an elastically deformable ring structure. The number of magnetic sources 51 is x, and the number of rotor yokes 21 is different from the number of magnetic sources 51. For example, the number of magnetic sources 51 can be set to x+2, so that the magnetic sources 51 can drive the impeller 2 to rotate by attracting the rotor yokes 21. This is the principle of a reluctance motor, which is existing technology and will not be elaborated here.

[0034] Reference Figure 3 and Figure 4Meanwhile, the flexible wheel 3 is sleeved on the impeller 2 and the two are directly coupled so that when the impeller 2 rotates under the action of the magnetic source 51, the flexible wheel 3 can follow and deform. The flexible wheel 3 is an external gear structure, that is, the outer ring of the flexible wheel 3 is provided with several external teeth 31.

[0035] The rigid wheel 4 has an internal gear ring structure with teeth on its inner ring, meaning that the inner ring of the rigid wheel 4 has a number of internal teeth 41, and the number of internal teeth 41 is n. The number of external teeth 31 on the flexible wheel 3 is greater than or less than n, for example, the number of external teeth 31 is n-2, so that the external teeth 31 corresponding to the long axis direction of the flexible wheel 3 are fully engaged with the internal teeth 41 of the rigid wheel 4; while in the short axis direction of the flexible wheel 3, the external teeth 31 of the flexible wheel 3 are completely disengaged from the internal teeth 41 of the rigid wheel 4; and in the direction between the long axis and short axis of the flexible wheel 3... In the transition region, the external teeth 31 of the flexible wheel 3 and the corresponding internal teeth 41 of the rigid wheel 4 are in a "meshing" or "disengaging" state. As the flexible wheel 3 rotates with the impeller 2, the deformation position of the flexible wheel 3 moves accordingly, causing the meshing point with the rigid wheel 4 to change continuously: the external teeth 31 and the internal teeth 41 go from "meshing" to "engaging", then to "disengaging" and "disengaging", repeating this cycle. Due to the difference in the number of teeth, the rigid wheel 4 is driven to rotate slowly during the change of the meshing point to achieve deceleration. The end of the rigid wheel 4 away from the base plate 11 is detachably fixed with an end cap 6, which can be connected, for example, by bolts, for connection to other equipment.

[0036] Reference Figure 3 and Figure 4 Meanwhile, since the magnetic field strength of the magnetic source 51 and the magnetic assembly can achieve phase change, the magnetic field strength of the magnetic source 51 at different positions can be controlled to change the magnetic attraction force of the rotor yoke 21 on the impeller 2 corresponding to the relatively fixed elliptical area of ​​the impeller 2. This allows for control of the impeller 2 to undergo certain deformations, such as increasing or decreasing the minor axis length of the impeller 2, or controlling the impeller 2 into a triangular shape as needed, to achieve changes in the number of meshing teeth between the internal teeth 41 and the external teeth 31, thereby achieving rapid control of the transmission ratio. Furthermore, to detect the deformation and shape of the impeller 2, a deformation sensor, such as a strain gauge or fiber optic sensor, is also installed inside the rigid wheel 4 to detect the deformation of the impeller 2. This sensor provides real-time feedback on the deformation of the impeller 2, adjusts the winding current of the magnetic source 51, and optimizes the deformation control accuracy.

[0037] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A vector reluctance wave generator motor with controllable deformation for harmonic reducers, characterized in that: It includes a support base (1) and impeller (2), flexible wheel (3) and rigid wheel (4) which are arranged and rotated on the support base (1) layer by layer from the inside out. The impeller (2) is elliptical and has a margin for elastic deformation. The flexible wheel (3) is an external gear and is adapted to the outer ring of the impeller (2). The rigid wheel (4) is an internal gear and the difference in the number of teeth between it and the flexible wheel (3) is greater than 0. The rigid wheel (4) and the flexible wheel (3) dynamically mesh with at least some teeth following the deformation of the impeller (2). The support base (1) is provided with a magnetic field generator (5) located inside the impeller (2). The magnetic field generator (5) includes at least a plurality of magnetic sources (51) distributed in a circumferential direction for generating magnetic fields. The inner ring of the impeller (2) is formed with a rotor yoke (21) for cooperating with the magnetic sources (51). The magnetic sources (51) control the rotor yoke (21) by magnetic field adsorption. The number of rotor yokes (21) is less than that of the magnetic sources (51).

2. The vector reluctance wave generator motor with controllable deformation for a harmonic reducer according to claim 1, characterized in that: The magnetic field generator (5) also includes a stator assembly (52) disposed on the support base (1). The stator assembly (52) has a plurality of mounting portions (521) formed on its outer ring. The magnetic source (51) is a coil wound on the mounting portion (521) and forms a periodic magnetic field.

3. The vector reluctance wave generator motor with controllable deformation for a harmonic reducer according to claim 2, characterized in that: The stator assembly (52) is formed by stacking multiple silicon steel sheets.

4. A vector reluctance wave generator motor with controllable deformation for a harmonic reducer according to any one of claims 1-3, characterized in that: The impeller (2) and rotor yoke (21) are made of flexible magnetic material or are integrally stacked silicon steel sheets.

5. A vector reluctance wave generator motor with controllable deformation for a harmonic reducer according to any one of claims 1-3, characterized in that: The rotor yoke (21) is an internal tooth formed by the inner ring of the impeller (2).

6. A vector reluctance wave generator motor with controllable deformation for a harmonic reducer according to claim 2 or 3, characterized in that: The magnetic source (51) is arranged in a distributed or centralized manner.

7. A vector reluctance wave generator motor with controllable deformation for a harmonic reducer according to any one of claims 1-3, characterized in that: The rigid wheel (4) is also equipped with a deformation sensor for detecting the deformation of the impeller (2).

8. A vector reluctance wave generator motor with controllable deformation for a harmonic reducer according to any one of claims 1-3, characterized in that: The impeller (2) is provided with an end cap (6) that covers the end of the rigid wheel (4) away from the support seat (1), and the end cap (6) is fixed to the rigid wheel (4).

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