CN218408401U - Nutation magnetic speed reducer with passive damping - Google Patents
Nutation magnetic speed reducer with passive damping Download PDFInfo
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- CN218408401U CN218408401U CN202221316583.5U CN202221316583U CN218408401U CN 218408401 U CN218408401 U CN 218408401U CN 202221316583 U CN202221316583 U CN 202221316583U CN 218408401 U CN218408401 U CN 218408401U
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Abstract
The utility model relates to a nutation magnetic reduction gear with passive damping, including the box that has first magnetic gear, the cavity internal rotation of box is connected with the fourth magnetic gear who has the cavity and regard as the power take off component, still rotates on the box and installs the input shaft that the other end is connected with fourth magnetic gear rotation, be fixed with the nutation cover that is located the cavity on the input shaft, nutation sheathe in and rotates and be connected with the second magnetic gear who forms first order speed reduction magnetic gear pair with the cooperation of first magnetic gear, the cover is established and is fixed with the third magnetic gear who forms second order speed reduction magnetic gear pair with the cooperation of fourth magnetic gear on the second magnetic gear. The speed reducer has the advantages of large transmission ratio, high transmission efficiency, small fluctuation torque and short stabilization time.
Description
Technical Field
The utility model relates to a nutation magnetic reduction gear with passive damping.
Background
With the development of precision machinery, higher and higher requirements are put forward on mechanical transmission, and the problems of friction, abrasion and vibration noise of parts in the transmission process are particularly concerned. In addition, in the deep space exploration field, the lubrication failure caused by the ultralow temperature environment further causes cold welding of parts, and the key problem in the mechanical transmission field at the present stage is also solved. Magnetic transmission belongs to non-contact transmission, and power transmission is carried out by means of magnetic field coupling. Compared with the traditional contact type transmission mode, the magnetic transmission has the advantages of no friction and wear, high transmission efficiency, low vibration noise and the like, and the problems of cold welding and the like can not occur due to no contact between the components. However, because the torsional rigidity of the magnetic gear is low and a harmonic magnetic field exists in the air gap, fluctuation torque is generated in the transmission process, the transmission precision is influenced, and the stabilization time is increased. Aiming at the problem, the invention introduces the electromagnetic induction principle to the nutation magnetic force speed reducer and innovatively provides the nutation magnetic force speed reducer with passive damping.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a nutation magnetic force reduction gear with passive damping, this reduction gear drive ratio is big, transmission efficiency is high, fluctuation torque and stabilization time are little.
The technical scheme of the utility model lies in: the utility model provides a nutation magnetic reduction gear with passive damping, is including the box that has first magnetic gear, the cavity internal rotation of box is connected with the fourth magnetic gear who has the cavity and regard as the power take off component, still rotates on the box and installs the input shaft that the other end is connected with fourth magnetic gear rotation, be fixed with the nutation cover that is located the cavity on the input shaft, nutation is sheathe in and is rotated and is connected with the second magnetic gear who forms first order reduction magnetic gear pair with first magnetic gear cooperation, the cover is established and is fixed with the third magnetic gear who forms second order reduction magnetic gear pair with fourth magnetic gear cooperation on the second magnetic gear.
Furthermore, the box body comprises a box shell, copper damping blocks are fixed on the side wall, corresponding to the coupling surface of the second magnetic gear, in the box shell at intervals along the circumferential direction, and a pair of permanent magnets are fixed between every two adjacent copper damping blocks to form the first magnetic gear in a matched mode; the case cover is installed on the case shell and matched with the case shell to form an inner cavity, and the fourth magnetic gear is rotatably connected to the case cover.
Furthermore, the input shaft is respectively connected with the box shell and the fourth magnetic gear in a rotating way through bearings; the fourth magnetic gear is rotationally connected with the box cover through a bearing; and bearing end covers are respectively arranged on the outer side surfaces of the box shell and the box cover.
Furthermore, second magnetic gear, third magnetic gear and fourth magnetic gear all include the yoke, the interval is fixed with copper damping piece on the coupling surface of yoke, is located to be fixed with a pair of permanent magnet between two adjacent copper damping pieces.
Further, the coupling surface of the fourth magnetic gear is a cavity side wall; the coupling surface of the second magnetic gear is an end surface adjacent to the side wall of the box body; the coupling surface of the third magnetic gear is a circumferential surface opposite to the side wall of the concave cavity.
Furthermore, the number of the magnetic pole pairs of the first magnetic gear, the second magnetic gear, the third magnetic gear and the fourth magnetic gear is respectively 9 pairs, 8 pairs, 9 pairs and 10 pairs, and the permanent magnets adopt an N/S alternating array.
Furthermore, the thickness of the copper damping block is larger than that of the permanent magnet, and the copper damping block is fixed in a groove on the yoke through metal glue.
Furthermore, the nutation sleeve is fixed on the input shaft through a key, and the second magnetic gear is located in the concave cavity and is in rotating connection with the nutation sleeve through a pair of angular contact ball bearings.
Compared with the prior art, the utility model has the advantages of it is following:
1. the reducer introduces an electromagnetic induction principle, and has the advantages of simple structure, large transmission ratio, high transmission efficiency, small fluctuation torque and short stabilization time.
2. Due to the non-contact transmission characteristic of the magnetic gear, the torsional rigidity of the magnetic gear is small, the difference of the torsional rigidity enables the difference of the rotating speed of the magnetic gear and the theoretical rotating speed, the copper damping block is introduced based on the electromagnetic induction phenomenon, the rotating speed difference of the rotating magnetic field enables the damping block to generate an induction magnetic field to compensate the torsional rigidity, and the damping magnitude and the rotating speed difference are in positive correlation, so that the electromagnetic damping can be passively adjusted.
Drawings
FIG. 1 is an exploded view of a nutating magnetic retarder of the present invention;
FIG. 2 is a cross-sectional view of a nutating magnetic retarder of the present invention;
fig. 3 is a schematic structural view of a second magnetic gear of the present invention;
FIG. 4 is a power transmission line diagram of the nutating magnetic retarder of the present invention;
in the figure: 1-a bolt; 2-bearing end cap; 3-angular contact ball bearings; 4-first magnetic gear (housing); 5-an input shaft; a 6-bond; 7-a nutating sleeve; 8-a second magnetic gear; 9-a third magnetic gear; 10-bolt; 11-angular contact ball bearings; 12-a bearing retainer ring; 13-shaft sleeve; 14-a bearing; 15-a fourth magnetic gear; 15 a-a shaft portion; 15 b-bearing mounting holes; 16-a bearing; 17-a box cover; 18-bolt; 19-bearing end caps; 20-bolts; 21-a yoke; 22-a copper damping block; 23-permanent magnet.
Detailed Description
In order to make the aforementioned features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below, but the present invention is not limited thereto.
Refer to fig. 1 to 4
The utility model provides a nutation magnetic reduction gear with passive damping, is including the box that has first magnetic gear 4, the cavity internal rotation of box is connected with fourth magnetic gear 15 that has the cavity and regard as the power take off component, still rotates on the box and installs the input shaft 5 that the other end is connected with fourth magnetic gear rotation, be fixed with the nutation cover 7 that is located the cavity on the input shaft, nutation is sheathe in and is rotated and be connected with the second magnetic gear 8 that forms first order reduction magnetic gear pair with first magnetic gear cooperation, the cover is established on the second magnetic gear and is fixed with the third magnetic gear 9 that forms second order reduction magnetic gear pair with fourth magnetic gear cooperation, third magnetic gear is through bolt 10 and second magnetic gear fixed connection to when power transmission to second magnetic gear, can guarantee contactless and stably transmit to in the second reduction magnetic gear pair.
In this embodiment, the box includes the case shell, be fixed with copper damping piece along the circumferencial direction interval on the lateral wall corresponding with the coupling surface of second magnetic gear in the case shell, be located and be fixed with a pair of permanent magnet between two adjacent copper damping piece to constitute first magnetic gear. The case structurally serves as both the main portion of the reducer case and the yoke portion of the MG 2.
In this embodiment, a case cover 17 is mounted on the case through bolts 18, and the case cover and the case are matched to form a closed inner cavity. The fourth magnetic gear has a projecting shaft portion 15a which is rotatably connected to the lid via a bearing 16.
In the embodiment, one end part of the input shaft is rotationally connected with the box shell through an angular contact bearing 3, and the other end of the input shaft is rotationally connected with the fourth magnetic gear through a bearing 14; and a bearing mounting hole 15b is formed in the fourth magnetic gear, so that the bearing 14 can be conveniently dismounted and connected with an output shaft.
In the embodiment, the nutation sleeve is fixed on the input shaft through a key 6, and the nutation angle required by the work of the nutation magnetic speed reducer is formed on the input shaft through key transmission and the nutation sleeve. The second magnetic gear is located in the concave cavity and is in rotating connection with the nutation sleeve through a pair of angular contact ball bearings 11, and a fastening nut 12 is arranged to limit axial displacement of the two angular contact ball bearings on the nutation sleeve.
In the embodiment, in order to better limit the axial displacement of the angular contact bearing 3 and the bearing 16 and limit the axial displacement, a bearing end cover 2 is arranged on the outer side surface of the box shell through a bolt 1; a bearing end cover 19 is mounted on the outer side surface of the case cover through bolts 20.
In this embodiment, each of the second magnetic gear, the third magnetic gear and the fourth magnetic gear includes a yoke 21, copper damping blocks 22 are fixed on a coupling surface of the yoke at intervals, and a pair of permanent magnets 23 is fixed between two adjacent copper damping blocks, that is, the copper damping blocks are arranged between two adjacent magnetic pole pairs, and are positioned by slots on the yoke.
In this embodiment, the coupling surface of the fourth magnetic gear is a cavity side wall; the coupling surface of the second magnetic gear is an end surface adjacent to the side wall of the box body; the coupling surface of the third magnetic gear is a circumferential surface opposite to the side wall of the concave cavity.
In the embodiment, the second magnetic gear, the first magnetic gear, the third magnetic gear and the fourth magnetic gear are respectively named as MG1, MG2, MG3 and MG4 according to the power transmission route, and the MG1 and the MG2 perform the first-stage speed reduction through the magnetic field coupling action; the second deceleration of MG3 and MG4 is performed by magnetic field coupling.
In this embodiment, the numbers of the magnetic poles of the first magnetic gear, the second magnetic gear, the third magnetic gear and the fourth magnetic gear are respectively 9 pairs, 8 pairs, 9 pairs and 10 pairs, and the permanent magnets adopt an "N/S" alternating array. According to the N/S array, one magnetic pole is correspondingly composed of two permanent magnets, the number of the permanent magnets of MG1 is 16, the number of the permanent magnets of MG2 is 18, the number of the permanent magnets of MG3 is 18, and the number of the permanent magnets of MG4 is 20.
In this embodiment, the thickness of the copper damping block should be greater than the thickness of the permanent magnet, and the copper damping block is fixed in the groove on the yoke through the metal glue, so that the metal glue forms an insulating layer to isolate the induced current generated by the copper damping block.
The transmission line and the passive damping principle of the nutation magnetic speed reducer comprise a nutation transmission principle, a magnetic field coupling principle and an electromagnetic induction phenomenon, and are briefly as follows:
(1) The power transmits external power to the speed reducer from the input shaft, drives the input shaft and the nutation sleeve to rotate, and drives the second magnetic gear to perform deflection motion due to eccentric rotation of the nutation sleeve 5, and the second magnetic gear is coupled with the first magnetic gear fixed on the box body through magnetic field coupling to form a first-stage speed reduction magnetic gear pair. And the first magnetic gear is fixed, and the second magnetic gear rotates around the axis of the second magnetic gear by magnetic torque to form first-stage speed reduction according to the nutation transmission principle and the magnetic field coupling principle.
(2) The third magnetic gear and the second magnetic gear are fixedly connected and have the same angular speed; when the second magnetic gear rotates, the third magnetic gear also rotates synchronously. Meanwhile, the third magnetic gear and the fourth magnetic gear are coupled to form a second-stage reduction magnetic gear pair, power is further reduced and increased in torque after passing through the second-stage reduction magnetic gear pair, and finally the power is output by the fourth magnetic gear through an output shaft. A power transmission route: input shaft 5 → nutating sleeve 7 → MG1 → MG2 → MG3 → MG4.
(3) Due to the non-contact transmission characteristic of the magnetic gear, the torsional rigidity of the magnetic gear is small, the difference of the torsional rigidity enables the difference of the rotating speed of the magnetic gear and the theoretical rotating speed, the copper damping block is introduced based on the electromagnetic induction phenomenon, the rotating speed difference of the rotating magnetic field enables the damping block to generate an induction magnetic field to compensate the torsional rigidity, and the damping magnitude and the rotating speed difference are in positive correlation, so that the electromagnetic damping can be passively adjusted.
The above is only the preferred embodiment of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.
Claims (8)
1. The utility model provides a nutation magnetic reduction gear with passive damping, is including the box that has first magnetic gear, a serial communication port, the cavity internal rotation of box is connected with the fourth magnetic gear who has the cavity and regard as the power take off component, still rotates on the box and installs the input shaft that the other end and fourth magnetic gear rotate to be connected, be fixed with the nutation cover that is located the cavity on the input shaft, nutation sheathe in and rotate and be connected with the second magnetic gear who forms first order reduction magnetic gear pair with the cooperation of first magnetic gear, the cover is established on the second magnetic gear and is fixed with the third magnetic gear who forms second level reduction magnetic gear pair with the cooperation of fourth magnetic gear.
2. The nutating magnetic speed reducer with passive damping of claim 1, wherein the box body comprises a box shell, copper damping blocks are fixed on a side wall corresponding to a coupling surface of the second magnetic gear in the box shell at intervals along the circumferential direction, and a pair of permanent magnets are fixed between two adjacent copper damping blocks to form the first magnetic gear in a matching manner; the case cover is installed on the case shell and matched with the case shell to form an inner cavity, and the fourth magnetic gear is rotatably connected to the case cover.
3. A nutating magnetic retarder with passive damping according to claim 2 characterised in that the input shaft is rotatably connected to the housing and the fourth magnetic gear via bearings, respectively; the fourth magnetic gear is rotationally connected with the box cover through a bearing; and bearing end covers are respectively arranged on the outer side surfaces of the box shell and the box cover.
4. A nutating magnetic retarder with passive damping according to claim 1 characterised in that the second, third and fourth magnetic gears each comprise a yoke, the coupling surfaces of the yoke are fixed with copper damping blocks at intervals, and a pair of permanent magnets are fixed between two adjacent copper damping blocks.
5. A nutating magnetic retarder with passive damping according to claim 4 characterised in that the coupling face of the fourth magnetic gear is a re-entrant side wall; the coupling surface of the second magnetic gear is an end surface adjacent to the side wall of the box body; the coupling surface of the third magnetic gear is a circumferential surface opposite to the side wall of the concave cavity.
6. A nutating magnetic retarder with passive damping according to claim 4 or claim 5 in which the first, second, third and fourth magnetic gears have 9, 8, 9 and 10 pairs of magnetic poles respectively, and the permanent magnets are in an "N/S" alternating array.
7. A nutating magnetic retarder with passive damping according to claim 2, 3, 4 or 5 characterised in that the copper damping mass is thicker than the permanent magnets and is fixed in a slot in the yoke by means of a metal glue.
8. A nutating magnetic reduction gear with passive damping according to claim 1, 2, 3, 4 or 5, wherein the nutating sleeve is keyed to the input shaft and the second magnetic gear is located in the cavity and is rotationally connected to the nutating sleeve via a pair of angular contact ball bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221316583.5U CN218408401U (en) | 2022-05-30 | 2022-05-30 | Nutation magnetic speed reducer with passive damping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221316583.5U CN218408401U (en) | 2022-05-30 | 2022-05-30 | Nutation magnetic speed reducer with passive damping |
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| Publication Number | Publication Date |
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| CN218408401U true CN218408401U (en) | 2023-01-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202221316583.5U Active CN218408401U (en) | 2022-05-30 | 2022-05-30 | Nutation magnetic speed reducer with passive damping |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114865882A (en) * | 2022-05-30 | 2022-08-05 | 福州大学 | Nutation magnetic speed reducer with passive damping and application method thereof |
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2022
- 2022-05-30 CN CN202221316583.5U patent/CN218408401U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114865882A (en) * | 2022-05-30 | 2022-08-05 | 福州大学 | Nutation magnetic speed reducer with passive damping and application method thereof |
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