CN112968585B - High-reduction-ratio harmonic magnetic gear reducer with torque measurement capability - Google Patents
High-reduction-ratio harmonic magnetic gear reducer with torque measurement capability Download PDFInfo
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- CN112968585B CN112968585B CN202110163489.4A CN202110163489A CN112968585B CN 112968585 B CN112968585 B CN 112968585B CN 202110163489 A CN202110163489 A CN 202110163489A CN 112968585 B CN112968585 B CN 112968585B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
- H02K49/10—Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
- H02K49/104—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element
- H02K49/106—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element with a radial air gap
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Abstract
The invention discloses a high-reduction-ratio harmonic magnetic gear reducer with torque measurement capability, which comprises a stator, an eccentric cylinder, an intermediate rotor, an output rotor, a first permanent magnet, a second permanent magnet, a third permanent magnet, a fourth permanent magnet and a cover plate, wherein the stator is arranged on the eccentric cylinder; the stator is in a double-layer cylindrical shape, and a first permanent magnet is arranged on the outer layer of the stator; an eccentric moment is arranged between the eccentric cylinder and the central shaft of the stator; the middle rotor is provided with a second permanent magnet and a third permanent magnet, and is also provided with a coil which is arranged in a groove in the middle rotor; the magnetic field of the first permanent magnet is coupled with the magnetic field of the second permanent magnet; the inner wall of the output rotor is provided with a fourth permanent magnet, and the fourth permanent magnet is coupled with the magnetic field of the third permanent magnet; the cover plate is integrally disc-shaped and is arranged at one end of the output rotor, and the cover plate is also provided with a conductive sliding ring which is electrically connected with a coil on the middle rotor. The invention modulates the magnetic field by the eccentric structure, can generate high reduction ratio, and realizes the accurate perception of the end force by the way that the coil induces the change of the magnetic field.
Description
Technical Field
The invention relates to the field of robots and mechanical transmission, in particular to a high-reduction-ratio harmonic magnetic gear reducer with torque measurement capability.
Background
The cooperative robot is a kind of robot which has gained wide attention in recent years, and different from an industrial robot, the cooperative robot can work in a unified space with people, and the working mode is more flexible. The cooperative robot has the advantages that the cooperative robot has force sensing capability, can avoid obstacles in time when encountering the obstacles, can realize dragging teaching, and is a key technology of the cooperative robot. At present, the key module with force sensing capability mainly has two technical schemes, namely, a low-speed large-torque motor is directly driven without a speed reducer, the torque is calculated through the current of the motor, and due to the technical limitation of the motor, the total power density of the scheme is not high, but a force sensor is saved; secondly, the motor is provided with a mechanical speed reducer with a large speed reduction ratio, and the tail end of the speed reducer is provided with a force sensor. The invention provides a harmonic magnetic gear speed reducer scheme for a cooperative robot joint module, which does not need to be additionally provided with a force sensor, and solves the problem of force sensing while ensuring functional density.
The magnetic gear technology used by the invention is a technology of magnetic transmission, the existing transmission device is mostly based on a direct contact mechanical gear structure, the gear transmission is a device for transmitting motion and power by a gear pair, the transmission can be carried out at a correct transmission ratio, the structure is compact, and the operation is reliable, so the gear transmission is widely used in various devices. However, friction exists between the contact type mechanical gears, the gear deformation, abrasion, gluing and other failure modes exist after long-term use, the noise is high, and regular lubrication maintenance is needed. Various magnetic gears developed in recent years can effectively solve the problems of common mechanical gears, the magnetic gears transmit torque and energy through magnetic field coupling, and the magnetic gears have high efficiency, stable transmission and long service life because the gears are meshed without contact and friction loss; besides, the device does not need to be lubricated and maintained regularly like a mechanical gear, and also has the function of overload protection.
In recent years, the torque density of a magnetic gear reducer with a novel topological structure is greatly improved, the running performance is improved continuously, and the magnetic gear reducer can replace a mechanical gear reducer in the future. The prior magnetic gear reducer has two types of an electric excitation type and a permanent magnet excitation type, and an electric excitation type gear device has large volume, excitation loss and low overall efficiency; and the permanent magnet excitation gear is limited by the performance of the permanent magnet material, so that the utilization rate is low. With the development of permanent magnetic materials, a plurality of topological structures of magnetic gear reducers are proposed at home and abroad. Although the torque density of the magnetic gear reducer based on the magnetic field modulation principle can reach 100 kN.m/m 3 However, when the reduction ratio is greater than about 20: at 1, the torque density of these reducers tends to drop significantly.
Therefore, those skilled in the art are dedicated to develop a harmonic magnetic gear reducer with high reduction ratio and torque measurement capability, which can realize high reduction ratio and at the same time require sensing and accurate measurement capability for the input external force.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved by the present invention is how to achieve a high reduction ratio of the magnetic gear, and how to achieve sensing and accurate measurement of an input external force.
To achieve the above objects, the present invention provides a harmonic magnetic gear reducer with high reduction ratio having torque measurement capability. In a preferred embodiment of the invention, the permanent-magnet synchronous motor comprises a stator, an eccentric cylinder, an intermediate rotor, an output rotor, a first permanent magnet, a second permanent magnet, a third permanent magnet, a fourth permanent magnet and a cover plate; the whole stator is in a double-layer cylindrical shape, one end between the inner layer and the outer layer is closed, the other end of the stator is opened, and the inner wall of the outer layer of the stator is provided with the first permanent magnet; the eccentric cylinder is integrally cylindrical, one end of the eccentric cylinder is opened, the other end of the eccentric cylinder is closed, the eccentric cylinder is sleeved outside the inner layer of the stator, one end of the opening of the eccentric cylinder is arranged at the bottom of an interlayer between the inner layer and the outer layer of the stator, and an eccentric moment is arranged between the eccentric cylinder and a central shaft of the stator; the middle rotor is integrally cylindrical, the second permanent magnet and the third permanent magnet are arranged on the outer surface of the middle rotor, a coil is further arranged on the middle rotor, the middle rotor is sleeved outside the eccentric cylinder, one end of the middle rotor is arranged at the bottom of an interlayer between the inner layer and the outer layer of the stator, and the magnetic fields of the first permanent magnet and the second permanent magnet form coupling; the output rotor is integrally cylindrical, the inner wall of the output rotor is provided with the fourth permanent magnet, the output rotor is sleeved outside the stator and the middle rotor, and the magnetic fields of the third permanent magnet and the fourth permanent magnet form coupling; the whole body of the cover plate is in a disc shape, a conductive sliding ring is arranged on the cover plate and electrically connected with the coil, and the cover plate is arranged at one end of the output rotor.
Further, still include first bearing, pass through between eccentric section of thick bamboo and the stator fixed connection of first bearing.
Furthermore, the number of the first bearings is 2, and the first bearings are respectively arranged at two ends of the inner layer of the stator.
Further, the coil is disposed at the bottom of the second permanent magnet and the third permanent magnet.
Further, the conductive slip ring is mounted in the middle of the cover plate.
Furthermore, the first permanent magnet, the second permanent magnet, the third permanent magnet and the fourth permanent magnet are all composed of uniformly arranged strip-shaped permanent magnet strips.
Further, still include the second bearing, interrotor with eccentric section of thick bamboo passes through the second bearing fixed connection.
Further, the number of the second bearings is 2, and the second bearings are respectively arranged at two ends of the eccentric cylinder.
Further, still include the third bearing, output rotor with the stator passes through third bearing fixed connection.
Furthermore, the number of the third bearings is 2, and the third bearings are respectively arranged at two ends of the outer layer of the stator.
The invention has the beneficial effects that:
the invention provides a harmonic magnetic gear speed reducer based on a traditional magnetic gear, which imitates an eccentric structure of the harmonic speed reducer, forms a harmonic magnetic field between a transmission input end and a transmission output end, and utilizes the harmonic magnetic field to generate a high reduction ratio. The invention realizes that: (1) the high reduction ratio is realized by utilizing the double-stage harmonic magnetic gear, the reduction ratio as high as 400 can be realized, and the overall power density is improved; (2) the magnetic field induction coil is added in the middle rotor of the harmonic magnetic gear, when external force is input, the magnetic field between the middle rotor and the output end can be changed, the amplitude of the magnetic field change and the external force applied to the output end have a fixed relation, the magnetic field change can be induced through the coil, the external force applied to the output end can be further calculated, the coil can induce the final stress applied to the output end, the applied force is not reduced through the speed reducer, smaller force can be sensed, and the dragging teaching is facilitated.
The invention overcomes the defects of the existing scheme of the joint module of the cooperative robot, and has the main innovation points that: (1) the magnetic field is modulated by an eccentric structure similar to a mechanical harmonic reducer to generate a high reduction ratio; (2) the terminal force is accurately sensed in a mode that a coil induces the change of a magnetic field.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic overall structure of a preferred embodiment of the present invention;
FIG. 2 is a cross-sectional view of the overall structure of a preferred embodiment of the present invention;
FIG. 3 is a partial schematic diagram of a preferred embodiment of the present invention.
The device comprises a 1-middle rotor, a 2-eccentric cylinder, a 3-stator, a 4-first bearing, a 5-second bearing, a 6-third bearing, a 7-first permanent magnet, a 8-second permanent magnet, a 9-fourth permanent magnet, a 10-cover plate, a 11-third permanent magnet, a 12-external actuator, a 13-output rotor, a 14-coil and a 15-conductive slip ring mounting hole.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, elements that are structurally identical are represented by like reference numerals, and elements that are structurally or functionally similar in each instance are represented by like reference numerals. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in figure 1, the overall structure of the invention is schematic, and the invention has the advantages of compact structure and the like besides the advantage of large transmission ratio.
As shown in figure 2, the whole structure of the invention is a sectional view, the middle part of the stator 3 is fixed with the stator part of the external actuator 12, the outer part of the stator 3 is the first stage of the permanent magnet harmonic gear drive, and the first permanent magnets 7 are uniformly arranged on the inner wall surface of the outer layer of the stator. The eccentric cylinder 2 has an eccentricity with respect to the central axis of the stator 3, and serves as a harmonic generator using a permanent magnet harmonic gear, the eccentric cylinder 2 is connected to a rotor portion of an external actuator 12, and a first bearing 4 is provided between the eccentric cylinder 2 and the stator 3 as a support. Second permanent magnets 8 and third permanent magnets 11 are uniformly arranged on the lower half part and the upper half part of the middle rotor 1, the second permanent magnets 8 and the first permanent magnets 7 of the stator 3 form a first stage of speed reduction, under the magnetic field coupling effect, the eccentric cylinder 2 is driven to rotate through an external actuator 12, a second bearing 5 is arranged between the eccentric cylinder 2 and the middle rotor 1 to serve as a support, and the second permanent magnets 8 of the middle rotor 1 and the first permanent magnets 7 of the stator 3 are modulated through air gaps with length change to generate sine waves with period change, so that the purpose of one-stage speed reduction is achieved; a coil 14 is also provided on the interrotor 1, the coil 14 being laid in a groove inside the interrotor 1 for sensing a change in magnetic force to facilitate accurate measurement thereof. The fourth permanent magnets 9 are uniformly arranged on the inner wall surface of the output rotor 13 and form a second deceleration stage with the third permanent magnets 11 of the intermediate rotor 1, and the rotation of the eccentric cylinder 2 causes the rotation of the intermediate rotor 1 at the first deceleration stage and then causes the output rotor 13 to rotate along with the rotation at the second deceleration stage; the cover plate 7 is positioned at the tail end of the output rotor 13, and a conductive slip ring (only a conductive slip ring mounting hole 15 is marked in the figure, and the conductive slip ring is not shown) is arranged on the cover plate 7 and is electrically connected with the coil 14; a third bearing 6 is provided as a support between the output rotor 13 and the stator 3. After all the permanent magnets are assembled, the harmonic gear is closed using a cover plate 7.
The number of pairs of second permanent magnets 8 on the intermediate rotor 1 is p 1 The third permanent magnet 11 has p logarithm 2 The logarithm of the first permanent magnet 7 on the stator 3 is q 1 The logarithm of the fourth permanent magnet 9 on the output rotor 13 is q 2 The harmonic generator generating a sinusoidal cycle of number p w In order to maximize the torque transmission between the stator 3 and the interrotor 1, the first permanent magnets 7 of the stator 3 are logarithmic q 1 8 pairs p of second permanent magnets with the interrotor 1 1 The relationship between them is formula (1):
q 1 ＝p 1 +p w (1)
similarly, the third permanent magnet 11 of the interrotor 1 has a logarithmic p 2 Q is the number of pairs of fourth permanent magnets 9 of the output rotor 13 2 The relation is formula (2):
q 2 ＝p 2 +p w (2)
the eccentric cylinder 2 rotates at a speed w h Mean speed of rotation w of interrotor 1 i The relationship between the two can be determined by equation (3):
the magnetic field caused by the third magnet 11 of the interrotor 1 in the second stage of the permanent-magnet harmonic gear is coupled with the fourth permanent magnet 9 of the output rotor 13, the output rotor 13 rotates at a speed w l The total gear ratio G of the two-stage permanent magnet harmonic gear can be determined by the formula (4) r Is formula (5):
w l (p 2 +p w )＝p w w h +p 2 w i (4)
the invention can be realized by properly selecting p 1 And p 2 To achieve different transmission ratios and the total transmission ratio G of the two-stage permanent magnet harmonic gear r Greater than two-stage transmission ratio G r1 And G r2 The product of (a).
As shown in fig. 3, a coil 14 for detecting the magnetic field force of the permanent magnet may be placed inside the middle rotor 1, the induced voltage of the coil 14 reflects the change of the coupling magnetic field between the third permanent magnet 11 and the fourth permanent magnet 9, the induced voltage and the external torque applied to the output rotor 13 are in a fixed proportion, and the coil induced voltage may be measured by an external measuring instrument, and may be used to detect the external torque applied to the output rotor in real time.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the above teachings. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. A high reduction ratio harmonic magnetic gear reducer with torque measurement capability is characterized by comprising a stator, an eccentric cylinder, an intermediate rotor, an output rotor, a first permanent magnet, a second permanent magnet, a third permanent magnet, a fourth permanent magnet and a cover plate; the whole stator is in a double-layer cylindrical shape, one end between the inner layer of the stator and the outer layer of the stator is closed, the other end of the stator is opened, and the inner wall of the outer layer of the stator is provided with the first permanent magnet; the eccentric cylinder is integrally cylindrical, one end of the eccentric cylinder is opened, the other end of the eccentric cylinder is closed, the eccentric cylinder is sleeved outside the inner layer of the stator, one end of the opening of the eccentric cylinder is arranged at the bottom of an interlayer between the inner layer of the stator and the outer layer of the stator, and an eccentric moment is arranged between the eccentric cylinder and a central shaft of the stator; the middle rotor is integrally cylindrical, the second permanent magnet and the third permanent magnet are arranged on the outer surface of the middle rotor, a coil is further arranged on the middle rotor, the middle rotor is sleeved outside the eccentric cylinder, one end of the middle rotor is arranged at the bottom of an interlayer between the inner layer of the stator and the outer layer of the stator, and the magnetic fields of the first permanent magnet and the second permanent magnet are coupled; the output rotor is integrally cylindrical, the inner wall of the output rotor is provided with the fourth permanent magnet, the output rotor is sleeved outside the stator and the middle rotor, and the magnetic field of the fourth permanent magnet and the magnetic field of the third permanent magnet form coupling; the cover plate is integrally disc-shaped, a conductive slip ring is arranged on the cover plate and is electrically connected with the coil, and the cover plate is arranged at one end of the output rotor;
the coil is arranged at the bottom of the second permanent magnet and the third permanent magnet;
the conductive slip ring is mounted in the middle of the cover plate.
2. The harmonic magnetic gear reducer with high reduction ratio and torque measurement capability of claim 1 further comprising a first bearing, wherein the eccentric cylinder and the stator are fixedly connected through the first bearing.
3. The harmonic magnetic gear reducer with high reduction ratio and torque measurement capability according to claim 2, wherein the number of the first bearings is 2, and the first bearings are respectively disposed at two ends of the inner layer of the stator.
4. The harmonic magnetic gear reducer with high reduction ratio having torque measuring capability according to claim 1 wherein the first permanent magnet, the second permanent magnet, the third permanent magnet, and the fourth permanent magnet are each comprised of uniformly arranged permanent magnet bar.
5. The high reduction ratio harmonic magnetic gear reducer with torque measurement capability of claim 1 further comprising a second bearing through which the interrotor is fixedly connected with the eccentric cartridge.
6. The harmonic magnetic gear reducer with high reduction ratio having torque measurement capability according to claim 5, wherein the number of the second bearings is 2, and the second bearings are respectively disposed at both ends of the eccentric cylinder.
7. The high reduction ratio harmonic magnetic gear reducer with torque measurement capability of claim 1 further comprising a third bearing through which the output rotor is fixedly connected with the stator.
8. The harmonic magnetic gear reducer with high reduction ratio and torque measurement capability according to claim 7, wherein the number of the third bearings is 2, and the third bearings are respectively disposed at two ends of the outer layer of the stator.
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| CN202110163489.4A CN112968585B (en) | 2021-02-05 | 2021-02-05 | High-reduction-ratio harmonic magnetic gear reducer with torque measurement capability |
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| CN112968585B true CN112968585B (en) | 2022-09-23 |
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| WO2024060123A1 (en) * | 2022-09-22 | 2024-03-28 | 深圳市大疆创新科技有限公司 | Gimbal and unmanned aerial vehicle |
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| CN2891463Y (en) * | 2006-02-17 | 2007-04-18 | 许启华 | Duplex winding generator with magnetic driven stator |
| CN101499710B (en) * | 2008-02-03 | 2011-07-13 | 满永奎 | Magnetic gear transmission |
| CN101931308B (en) * | 2009-06-22 | 2012-09-26 | 余亚莉 | Permanent magnet coupling device for cylindrical transmission shaft |
| JP5381621B2 (en) * | 2009-10-30 | 2014-01-08 | 株式会社豊田中央研究所 | Magnetic multi-stage transmission mechanism and composite magnetic multi-stage transmission mechanism |
| CN102420549A (en) * | 2010-09-27 | 2012-04-18 | 东元总合科技（杭州）有限公司 | Magnetic gear and magnetic transmission device |
| CN102447376A (en) * | 2010-10-08 | 2012-05-09 | 东元总合科技（杭州）有限公司 | Magnetic gear and magnetic transmission device |
| JP5697566B2 (en) * | 2011-09-07 | 2015-04-08 | 三菱電機株式会社 | Magnetic gear and manufacturing method thereof |
| CN102355120B (en) * | 2011-10-17 | 2014-04-16 | 中国科学院深圳先进技术研究院 | Speed changing device |
| CN202524256U (en) * | 2012-03-01 | 2012-11-07 | 东北大学 | Double-layer permanent magnet gear transmission |
| US10050510B2 (en) * | 2013-10-09 | 2018-08-14 | Hitachi Metals, Ltd. | Magnetic gear device |
| CN105811735A (en) * | 2015-07-24 | 2016-07-27 | 南京艾凌节能技术有限公司 | Integrated permanent magnet speed regulating speed changer |
| CN107546955B (en) * | 2017-08-15 | 2019-08-13 | 河海大学 | A kind of compound magnetic gear permanent-magnet speed governor of four-quadrant motor |
| US10844944B2 (en) * | 2017-08-25 | 2020-11-24 | Hamilton Sunstrand Corporation | Inverted harmonic gear actuator |
| CN109895122B (en) * | 2017-12-07 | 2023-12-26 | 中国科学院沈阳自动化研究所 | Cooperative robot joint with force sensing function |
| JP2019146389A (en) * | 2018-02-21 | 2019-08-29 | 本田技研工業株式会社 | Magnetic gear device |
| CN112217373A (en) * | 2019-07-11 | 2021-01-12 | 江苏金陵永磁产业研究院有限公司 | Two-stage magnetic wheel transmission device |
| CN110336451B (en) * | 2019-08-12 | 2020-07-14 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Combined eccentric magnetic force harmonic gear transmission device |
| CN211046724U (en) * | 2019-11-15 | 2020-07-17 | 江苏金陵永磁产业研究院有限公司 | Cylinder type magnetic wheel transmission device |
| CN211089406U (en) * | 2019-12-20 | 2020-07-24 | 苏州纽特微电机科技有限公司 | Double-layer rotor motor |
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