CN105071633A - Novel non-contact type two-stage nutation transmission device and transmission method thereof - Google Patents
Novel non-contact type two-stage nutation transmission device and transmission method thereof Download PDFInfo
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- CN105071633A CN105071633A CN201510573870.2A CN201510573870A CN105071633A CN 105071633 A CN105071633 A CN 105071633A CN 201510573870 A CN201510573870 A CN 201510573870A CN 105071633 A CN105071633 A CN 105071633A
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- wheel disc
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- outer cone
- permanent magnet
- nutation
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Abstract
The invention relates to a novel non-contact type two-stage nutation transmission device. The novel non-contact type two-stage nutation transmission device comprises a box body; an input shaft passes through the box body; the input shaft is sleeved with a first outer cone wheel disc which performs nutation movement with the rotation of the input shaft; an inner cone wheel disc which rotates coaxially with the input shaft to perform power output is arranged beside the first outer cone wheel disc; a plurality of permanent magnets A of which the magnetic poles are opposite in a staggered manner are evenly distributed on the first outer cone wheel disc along the radial direction of the first outer cone wheel disc; a plurality of permanent magnets B of which the magnetic poles are opposite in a staggered manner are evenly distributed on the inner cone wheel disc along the radial direction of the inner cone wheel disc, wherein the permanent magnets B are in magnetic coupling with the permanent magnets A; a plurality of permanent magnets C of which the magnetic poles are opposite in a staggered manner are evenly arranged on the first outer cone wheel disc along the circumferential direction of the first outer cone wheel disc; and a plurality of permanent magnets D of which the magnetic poles are opposite in a staggered manner are arranged at the outer circumferential sides of the permanent magnets C, wherein the permanent magnets D are in magnetic coupling with the permanent magnets C. According to the novel non-contact type two-stage nutation transmission device, magnetic non-contact transmission is utilized, and therefore, the novel non-contact type two-stage nutation transmission device has the advantages of small vibration noises, no need for lubrication and overload protection. With the novel non-contact type two-stage nutation transmission device adopted, the advantages of nutation transmission can be fully utilized.
Description
Technical field
The invention provides a kind of novel non-contact twin-stage nutation drive unit and drive method thereof, belong to technical field of mechanical transmission.
Background technology
Nutation drive unit has compact conformation relative to other external toothing bevel gearings, size is little, gearratio is large, can realize the advantages such as coaxial power transmission, is widely used in the fields such as wrist joint of robot transmission, aerospace flight vehicle and microminiature decelerator.And the problems such as traditional mechanical contact nutation drive exists mechanical fatigue, vibration noise is large, frictional dissipation is large, the life-span is shorter, lubrication.
Summary of the invention
The object of the invention is for above weak point, provide a kind of novel non-contact twin-stage nutation drive unit and drive method thereof.
The scheme that technical solution problem of the present invention adopts is a kind of novel non-contact twin-stage nutation drive unit, comprise casing, described casing is equipped with power shaft, the first outer cone wheel disc of nutation movement is carried out in the rotation described power shaft is arranged with power shaft, the side of described first outer cone wheel disc is provided with the inner cone wheel disc carrying out Power output with described power shaft coaxial rotating, the radial permanent magnet A being evenly distributed with some magnetic poles and interlocking contrary of the dish of described first outer cone wheel disc, the dish radial direction of described inner cone wheel disc is also evenly distributed with some magnetic poles and interlocks contrary to carrying out magnetic-coupled permanent magnet B with permanent magnet A, the circumferential permanent magnet C being evenly provided with some magnetic poles and interlocking contrary of the dish of described first outer cone wheel disc, the outer circumferential side of described permanent magnet C is also evenly provided with some magnetic poles and interlocks contrary to carrying out magnetic-coupled permanent magnet D with permanent magnet C.
Further, the cohesive end of described first outer cone wheel disc and power shaft is provided with the nutating cover for driving the first outer cone wheel disc to carry out nutation movement, the axis of the relative power shaft of axis of described nutating cover tilts, the described axis of nutating cover and the dead in line of the first outer cone wheel disc.
Further, the described axis of nutating cover and the axis angle of power shaft are 4 ° ~ 7 °.
Further, the circumferential part of described nutating cover offers circumferential groove, is provided with two deep groove ball bearings between described circumferential groove and the first outer cone wheel disc, is all arranged with back-up ring between the side portion of described deep groove ball bearing and nutating cover, the first outer cone wheel disc.
Further, described power shaft is provided with the first flat key for being connected with exterior power source apparatus, the cohesive end that power shaft is overlapping with nutating is provided with the second flat key, end cap, sealing ring, bearing is disposed with between described power shaft and casing, also bearing is provided with between described power shaft and inner cone wheel disc, the both end sides of described nutating cover is provided with axle sleeve, is connected between described end cap and casing through some screws.
Further, the cohesive end of described permanent magnet C and the first outer cone wheel disc is also provided with the second outer cone wheel disc for the permanent magnet C that is connected, and is coaxially connected between described second outer cone wheel disc and the first outer cone wheel disc through some screws.
Further, described casing offers the inner chamber for installing the first outer cone wheel disc, the second outer cone wheel disc, inner cone wheel disc, described permanent magnet D centered by the axis of power shaft circumference uniform distribution on the chamber wall of inner chamber.
Further, the end side of described casing is also provided with dismountable cover plate, bearing is provided with between described inner cone wheel disc and cover plate, the bearing side of cover plate is provided with sealing ring, end cap, between described end cap and cover plate, be all connected through screw between cover plate and casing, also be provided with sealing gasket between described cover plate and casing, the screw on described cover plate is provided with spring washer.
A drive method for novel non-contact twin-stage nutation drive unit, comprises the following steps:
(1) actuating force band driven input shaft rotates, and then drives the first outer cone wheel disc and the motion of the second outer cone wheel disc;
(2) second outer cone wheel disc dishes circumference magnetic poles permanent magnet C and the magnetic pole of permanent magnet C outer circumferential side of the contrary distribution contrary permanent magnet D distributed that interlocks that interlocks produces magnetic coupling interaction, and the second outer cone wheel disc carries out nutation movement and rotation;
(3) first outer cone wheel discs also make nutation movement with the second outer cone wheel disc, its dish magnet radial poles permanent magnet A of contrary distribution and the inner cone wheel disc dish magnet radial poles that its side is arranged contrary permanent magnet B distributed that interlocks that interlocks produces magnetic coupling interaction, and the first outer cone wheel disc drives inner cone wheel disc to realize deceleration transmission under contactless state.
Compared with prior art, the present invention has following beneficial effect:
1. permanent-magnet transmission utilizes magnetic coupling interaction, realize the transmission under driving link and driven member contactless state, the sealing dynamically can be ensured, ensure that zero reveals, avoid the vibration & noise caused because of face or tooth surface abrasion, namely reduce the vibration & noise of transmission device;
2. overload protection, long, energy-efficient without wearing and tearing, life-span: owing to realizing noncontact transmission, so there are not mechanical friction wearing and tearing, substantially increase the life-span of transmission device, also reduce transmission energy consumption;
3. this device is in conjunction with the advantage of permanent-magnet transmission and nutation drive, can make full use of the advantage of nutation drive, novel unique, the compact conformation of this apparatus design;
4., compared with traditional mechanical contact nutation drive unit, the present invention has that gearratio is large, energy-conserving and environment-protective, without the need to lubrication (except bearing), possess the advantages such as good bad border friendly;
5. design and processing cost reduce: decrease tooth Shape Design and mismachining tolerance affects overall transmission performance, without the need to paying close attention to the Modeling and optimization design of gear-profile, and the cost reduction of overall design and processing;
6. the present invention can be directly installed on less position, the space such as mechanical arm and wrist joint of robot, actuating force is input to this device by power shaft, after nutation drive effect is slowed down, power is exported by inner cone wheel disc, also can utilize this principle design noncontact nutating pump etc.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, patent of the present invention is further illustrated.
Fig. 1 is the structural representation of this invention;
Fig. 2 is the explosive view of this invention;
Fig. 3 is the graphics of the first outer cone wheel disc (containing permanent magnet) and inner cone wheel disc (containing permanent magnet);
Fig. 4 is the graphics of the second outer cone wheel disc (containing permanent magnet) and casing (containing permanent magnet);
In figure:
1-casing; 2-power shaft; 3-first outer cone wheel disc; 4-inner cone wheel disc; 5-permanent magnet A; 6-permanent magnet B; 7-permanent magnet C; 8-permanent magnet D; 9-nutating cover; 10-circumferential groove; 11-deep groove ball bearing; 12-back-up ring; 13-first flat key; 14-second flat key; 15-end cap; 16-sealing ring; 17-bearing; 18-axle sleeve; 19-screw; 20-second outer cone wheel disc; 21-inner chamber; 22-chamber wall; 23-cover plate; 24-sealing gasket; 25-spring washer.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
As shown in figures 1-4, a kind of novel non-contact twin-stage nutation drive unit, comprise casing 1, described casing is equipped with power shaft 2, the first outer cone wheel disc 3 of nutation movement is carried out in the rotation described power shaft is arranged with power shaft, the side of described first outer cone wheel disc is provided with the inner cone wheel disc 4 carrying out Power output with described power shaft coaxial rotating, the radial permanent magnet A5 being evenly distributed with some magnetic poles and interlocking contrary of the dish of described first outer cone wheel disc, the dish radial direction of described inner cone wheel disc is also evenly distributed with some magnetic poles and interlocks contrary to carrying out magnetic-coupled permanent magnet B6 with permanent magnet A, the circumferential permanent magnet C7 being evenly provided with some magnetic poles and interlocking contrary of the dish of described first outer cone wheel disc, the outer circumferential side of described permanent magnet C is also evenly provided with some magnetic poles and interlocks contrary to carrying out magnetic-coupled permanent magnet D8 with permanent magnet C.
In the present embodiment, the nutating that the cohesive end of described first outer cone wheel disc and power shaft is provided with for driving the first outer cone wheel disc to carry out nutation movement overlaps 9, the axis of the relative power shaft of axis of described nutating cover tilts, the described axis of nutating cover and the dead in line of the first outer cone wheel disc.
In the present embodiment, the described axis of nutating cover and the axis angle of power shaft are 4 ° ~ 7 °, and this angle can ensure the stability of the first outer cone wheel disc nutating and rotation, improves overall service behaviour.
In the present embodiment, the circumferential part of described nutating cover offers circumferential groove 10, two deep groove ball bearings 11 are provided with between described circumferential groove and the first outer cone wheel disc, the stability of the wheel disc nutating of abundant guarantee first outer cone and rotation, improve overall service behaviour, between the side portion of described deep groove ball bearing and nutating cover, the first outer cone wheel disc, be all arranged with back-up ring 12.
In the present embodiment, described power shaft is provided with the first flat key 13 for being connected with exterior power source apparatus, the cohesive end that power shaft is overlapping with nutating is provided with the second flat key 14, end cap 15, sealing ring 16, bearing 17 is disposed with between described power shaft and casing, also bearing is provided with between described power shaft and inner cone wheel disc, the both end sides of described nutating cover is provided with axle sleeve 18, is connected between described end cap and casing through some screws 19.
In the present embodiment, the cohesive end of described permanent magnet C and the first outer cone wheel disc is also provided with the second outer cone wheel disc 20 for the permanent magnet C that is connected, and is coaxially connected between described second outer cone wheel disc and the first outer cone wheel disc through some screws.
In the present embodiment, described casing offers the inner chamber 21 for installing the first outer cone wheel disc, the second outer cone wheel disc, inner cone wheel disc, described permanent magnet D centered by the axis of power shaft circumference uniform distribution on the chamber wall 22 of inner chamber.
In the present embodiment, the end side of described casing is also provided with dismountable cover plate 23, bearing is provided with between described inner cone wheel disc and cover plate, the bearing side of cover plate is provided with sealing ring, end cap, between described end cap and cover plate, be all connected through screw between cover plate and casing, also be provided with sealing gasket 24 between described cover plate and casing, the screw on described cover plate be provided with spring washer 25.
In the present embodiment, actuating force is rotated by the first flat key band driven input shaft, realize slowing down and Power output eventually through with double bond groove inner cone wheel disc, in transmission process, second outer cone wheel disc carries out nutation movement and rotation, drives the first outer cone wheel disc servo-actuated, and the permanent magnet A on the first outer cone wheel disc and the permanent magnet B on inner cone wheel disc is by magnetic force engaged transmission, drive inner cone wheel disc to rotate, complete Power output.
A drive method for novel non-contact twin-stage nutation drive unit, comprises the following steps:
(1) actuating force band driven input shaft rotates, and then drives the first outer cone wheel disc and the motion of the second outer cone wheel disc;
(2) second outer cone wheel disc dishes circumference magnetic poles permanent magnet C and the magnetic pole of permanent magnet C outer circumferential side of the contrary distribution contrary permanent magnet D distributed that interlocks that interlocks produces magnetic coupling interaction, and the second outer cone wheel disc carries out nutation movement and rotation;
(3) first outer cone wheel discs also make nutation movement with the second outer cone wheel disc, its dish magnet radial poles permanent magnet A of contrary distribution and the inner cone wheel disc dish magnet radial poles that its side is arranged contrary permanent magnet B distributed that interlocks that interlocks produces magnetic coupling interaction, and the first outer cone wheel disc drives inner cone wheel disc to realize deceleration transmission under contactless state.
Above-listed preferred embodiment; the object, technical solutions and advantages of the present invention are further described; be understood that; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention; within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a novel non-contact twin-stage nutation drive unit, it is characterized in that: comprise casing, described casing is equipped with power shaft, the first outer cone wheel disc of nutation movement is carried out in the rotation described power shaft is arranged with power shaft, the side of described first outer cone wheel disc is provided with the inner cone wheel disc carrying out Power output with described power shaft coaxial rotating, the radial permanent magnet A being evenly distributed with some magnetic poles and interlocking contrary of the dish of described first outer cone wheel disc, the dish radial direction of described inner cone wheel disc is also evenly distributed with some magnetic poles and interlocks contrary to carrying out magnetic-coupled permanent magnet B with permanent magnet A, the circumferential permanent magnet C being evenly provided with some magnetic poles and interlocking contrary of the dish of described first outer cone wheel disc, the outer circumferential side of described permanent magnet C is also evenly provided with some magnetic poles and interlocks contrary to carrying out magnetic-coupled permanent magnet D with permanent magnet C.
2. novel non-contact twin-stage nutation drive unit according to claim 1, it is characterized in that: the cohesive end of described first outer cone wheel disc and power shaft is provided with the nutating cover for driving the first outer cone wheel disc to carry out nutation movement, the axis of the relative power shaft of axis of described nutating cover tilts, the described axis of nutating cover and the dead in line of the first outer cone wheel disc.
3. novel non-contact twin-stage nutation drive unit according to claim 2, is characterized in that: the described axis of nutating cover and the axis angle of power shaft are 4 ° ~ 7 °.
4. novel non-contact twin-stage nutation drive unit according to claim 2, it is characterized in that: the circumferential part of described nutating cover offers circumferential groove, be provided with two deep groove ball bearings between described circumferential groove and the first outer cone wheel disc, between the side portion of described deep groove ball bearing and nutating cover, the first outer cone wheel disc, be all arranged with back-up ring.
5. novel non-contact twin-stage nutation drive unit according to claim 2, it is characterized in that: described power shaft is provided with the first flat key for being connected with exterior power source apparatus, the cohesive end that power shaft is overlapping with nutating is provided with the second flat key, end cap, sealing ring, bearing is disposed with between described power shaft and casing, also bearing is provided with between described power shaft and inner cone wheel disc, the both end sides of described nutating cover is provided with axle sleeve, is connected between described end cap and casing through some screws.
6. novel non-contact twin-stage nutation drive unit according to claim 1, it is characterized in that: the cohesive end of described permanent magnet C and the first outer cone wheel disc is also provided with the second outer cone wheel disc for the permanent magnet C that is connected, be coaxially connected through some screws between described second outer cone wheel disc and the first outer cone wheel disc.
7. novel non-contact twin-stage nutation drive unit according to claim 6, it is characterized in that: described casing offers the inner chamber for installing the first outer cone wheel disc, the second outer cone wheel disc, inner cone wheel disc, described permanent magnet D centered by the axis of power shaft circumference uniform distribution on the chamber wall of inner chamber.
8. novel non-contact twin-stage nutation drive unit according to claim 1, it is characterized in that: the end side of described casing is also provided with dismountable cover plate, bearing is provided with between described inner cone wheel disc and cover plate, the bearing side of cover plate is provided with sealing ring, end cap, between described end cap and cover plate, be all connected through screw between cover plate and casing, also be provided with sealing gasket between described cover plate and casing, the screw on described cover plate is provided with spring washer.
9. a drive method for novel non-contact twin-stage nutation drive unit, is characterized in that, comprises the following steps:
(1) actuating force band driven input shaft rotates, and then drives the first outer cone wheel disc and the motion of the second outer cone wheel disc;
(2) second outer cone wheel disc dishes circumference magnetic poles permanent magnet C and the magnetic pole of permanent magnet C outer circumferential side of the contrary distribution contrary permanent magnet D distributed that interlocks that interlocks produces magnetic coupling interaction, and the second outer cone wheel disc carries out nutation movement and rotation;
(3) first outer cone wheel discs also make nutation movement with the second outer cone wheel disc, its dish magnet radial poles permanent magnet A of contrary distribution and the inner cone wheel disc dish magnet radial poles that its side is arranged contrary permanent magnet B distributed that interlocks that interlocks produces magnetic coupling interaction, and the first outer cone wheel disc drives inner cone wheel disc to realize deceleration transmission under contactless state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510573870.2A CN105071633A (en) | 2015-09-11 | 2015-09-11 | Novel non-contact type two-stage nutation transmission device and transmission method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510573870.2A CN105071633A (en) | 2015-09-11 | 2015-09-11 | Novel non-contact type two-stage nutation transmission device and transmission method thereof |
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| CN105071633A true CN105071633A (en) | 2015-11-18 |
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| CN201510573870.2A Pending CN105071633A (en) | 2015-09-11 | 2015-09-11 | Novel non-contact type two-stage nutation transmission device and transmission method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105422751A (en) * | 2015-12-21 | 2016-03-23 | 肖立峰 | Swinging double-tooth-difference speed change device with bevel gears |
| CN106817010A (en) * | 2017-03-31 | 2017-06-09 | 福州大学 | Noncontact nutating reducing motor and method of work |
| CN107947525A (en) * | 2017-12-28 | 2018-04-20 | 福州大学 | A kind of contactless nutating decelerating motor of novel two-stage and its method of work |
| CN113315340A (en) * | 2021-06-21 | 2021-08-27 | 福州大学 | Low-speed high-torque nutation direct drive motor and working method thereof |
| CN113783397A (en) * | 2021-09-08 | 2021-12-10 | 福州大学 | Speed-reducing direct-drive type nutation permanent magnet motor and working method thereof |
| WO2022077039A1 (en) * | 2020-10-12 | 2022-04-21 | IIES - Inspired Innovation Engineering Services e.U. | Wobble transmission having an input shaft and an output shaft |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105422751A (en) * | 2015-12-21 | 2016-03-23 | 肖立峰 | Swinging double-tooth-difference speed change device with bevel gears |
| CN106817010A (en) * | 2017-03-31 | 2017-06-09 | 福州大学 | Noncontact nutating reducing motor and method of work |
| CN107947525A (en) * | 2017-12-28 | 2018-04-20 | 福州大学 | A kind of contactless nutating decelerating motor of novel two-stage and its method of work |
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| WO2022077039A1 (en) * | 2020-10-12 | 2022-04-21 | IIES - Inspired Innovation Engineering Services e.U. | Wobble transmission having an input shaft and an output shaft |
| CN113315340A (en) * | 2021-06-21 | 2021-08-27 | 福州大学 | Low-speed high-torque nutation direct drive motor and working method thereof |
| CN113315340B (en) * | 2021-06-21 | 2022-09-16 | 福州大学 | Low-speed high-torque nutation direct drive motor and working method thereof |
| CN113783397A (en) * | 2021-09-08 | 2021-12-10 | 福州大学 | Speed-reducing direct-drive type nutation permanent magnet motor and working method thereof |
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Application publication date: 20151118 |
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