WO2015058326A1 - Flexible torque transmission apparatus - Google Patents

Flexible torque transmission apparatus Download PDF

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Publication number
WO2015058326A1
WO2015058326A1 PCT/CN2013/001539 CN2013001539W WO2015058326A1 WO 2015058326 A1 WO2015058326 A1 WO 2015058326A1 CN 2013001539 W CN2013001539 W CN 2013001539W WO 2015058326 A1 WO2015058326 A1 WO 2015058326A1
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WO
WIPO (PCT)
Prior art keywords
conductor
permanent magnet
guide post
cylinder
spline
Prior art date
Application number
PCT/CN2013/001539
Other languages
French (fr)
Chinese (zh)
Inventor
殷秀银
Original Assignee
秦维
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 秦维 filed Critical 秦维
Publication of WO2015058326A1 publication Critical patent/WO2015058326A1/en

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
    • H02K49/06—Dynamo-electric clutches; Dynamo-electric brakes of the synchronous type

Definitions

  • the invention patent belongs to the technical field of transmission, and in particular relates to a flexible torque transmission device.
  • a mechanical rigid connection method is generally employed.
  • the advantage of the mechanical rigid connection method is that the synchronous transfer of the motor and the load can be realized, and the transmission efficiency is high.
  • the mechanical rigid connection method has higher requirements on the alignment of the motor shaft and the load shaft, and the transmission has obvious vibration, large noise and serious wear.
  • the speed will quickly reach the rated speed from 0, which will damage the motor.
  • mechanical rigid coupling is difficult to operate in extreme environments that are toxic, flammable, and explosive.
  • the non-contact flexible torque transmitting device can solve the alignment problem well, reduce the installation difficulty, reduce noise and vibration, improve the stability of the whole device, and can be used for toxic, flammable, and explosive. Extreme environment.
  • a two-stage series permanent magnet governor which comprises a cylindrical conductor rotor body, a permanent magnet rotor and a regulator; the features are: permanent magnet rotor and cylinder
  • the conductor rotor body is of a two-stage series type, and the conductor rotor can adjust the working area to 0 or 100% by moving the width of one conductor, which greatly shortens the adjustment distance.
  • This governor can realize torque contactless transmission, which is adjusted by the thrust bearing set.
  • the shape and characteristics of the regulator are few in the patent.
  • the regulator is mounted on the load shaft due to the large dynamic load of the output shaft. The vibration has a significant influence on the adjustment accuracy of the regulator, and the axial adjustment using the thrust bearing set is not easy to perform precise adjustment.
  • a permanent magnet coupling governor which comprises: a cylindrical conductor rotor, a cylindrical magnetic shield, a cylindrical permanent magnet rotor, and a regulator.
  • the cylindrical magnetic shield is located between the cylindrical conductor rotor and the cylindrical permanent magnet rotor, and the cylindrical magnetic shield has a gap with the cylindrical conductor rotor and the cylindrical permanent magnet rotor; the cylindrical conductor rotor and the cylindrical permanent magnet rotor
  • the respective rotating shafts rotate independently, and the axial position is unchanged; under the action of the regulator, the cylindrical magnetic shield slides in the axial direction, thereby realizing the change of the magnetic field area between the cylindrical permanent magnet rotor and the cylindrical conductor rotor, and the result is
  • the load torque changes and the speed changes.
  • the device is biased to force the device to be in an unbalanced state, affecting the dynamic balance of the input and output components, and is prone to vibration and noise. At the same time, the device is too simplistic and the reliability is poor.
  • a permanent magnet governor which comprises: a cage conductor rotor, a permanent magnet rotor, a fixed rotor and an adjusting mechanism; the cage conductor rotor surrounds the permanent magnet rotor; The magnetic rotor is moved in the axial direction by the adjusting mechanism; the adjusting mechanism is connected to the fixed rotor; and the fixed rotor is connected to the permanent magnet rotor through the rack and pinion mechanism.
  • the working area of the permanent magnet governor of the utility model is a conductor ring of a cage conductor rotor
  • the air gap between the ring magnet and the ring magnet of the permanent magnet rotor has no axial force, and the pushing force required for the adjusting mechanism is small.
  • the axial movement distance is large, and the bearing structure is used more, which increases the difficulty of manufacturing and assembly, the structure is relatively complicated, the reliability is poor, and the outer diameter of the driving component is increased, which affects the dynamic balance and is easy to cause Large vibration and noise.
  • the present invention is directed to a flexible torque transmission adjustment problem, and a flexible torque transmission device is proposed to solve the problem of stably adjusting the transmission torque and achieve stable and precise adjustment of the flexible torque transmission.
  • a flexible torque transmitting device comprising an input shaft, a conductor barrel, a conductor ring, a permanent magnet, a permanent magnet barrel, an output shaft, a coil set, a spline, a spline sleeve, a magnetizer, an elastomer, and a conductor ring mounted on the conductor barrel
  • the permanent magnet On the inner surface, the permanent magnet is mounted on the outer surface of the permanent magnet cylinder, there is an air gap between the conductor ring and the permanent magnet, the permanent magnet barrel is connected with the output shaft, the input shaft is connected with the spline, and the spline and spline sleeve are connected.
  • the spline sleeve is connected with the conductor tube
  • the support cylinder is provided with a support cylinder on one side of the spline sleeve
  • one end of the elastic body is connected with the support cylinder
  • the other end is connected with the input shaft
  • the magnetizer is mounted on the support cylinder
  • the coil set is located on the left or right side of the magnetizer.
  • the guide post is further included, and one end of the guide post is connected to the input shaft or the output shaft, the support cylinder is set on the guide post, and the elastic body is set on the guide post.
  • a clearance fit or a transition fit is used between the support cylinder and the guide post, and a part of the weight of the conductor cylinder and the spline sleeve is applied to the guide post through the support cylinder to ensure the level between the conductor loop and the permanent magnet.
  • the elastic body realizes a smooth horizontal axial movement of the elastic body.
  • the utility model further comprises: a coil fixing body, a bearing and a lock nut.
  • the coil group is located in the coil fixing body, and the bearing is fixedly mounted on the input shaft or the output shaft through the lock nut, and the coil fixing body is mounted on the bearing. This will make the structure more compact.
  • the coil assembly fixed body and the output shaft are rotated and separated to ensure stable operation of the coil group and the control system.
  • the other end of the guide post is coupled to the input or output shaft and the guide post is rotatable relative to the input or output shaft.
  • the force-bearing structure of the guide post is changed from a cantilever structure to a simple support structure.
  • the force of the guide post is more uniform, which enhances the rigidity of the overall structure and reduces the amount of deformation.
  • the transition flange is further included, one end of the elastic body is located in the support cylinder, the side of the support cylinder away from the input shaft is provided with a transition flange, the transition flange is set on the guide pillar, and a clearance fit or transition is adopted with the guide pillar. Cooperating, one end of the elastomer is connected to the transition flange.
  • the method further comprises: an elastic fixing flange - the elastic fixing flange is disposed on the guide post and connected with the transition flange, and the elastic fixing flange has a clearance fit or a transition fit with the guide post, the elastic body One end is connected to the elastomer fixing flange.
  • at least one ring of permanent magnets is mounted on the permanent magnet cylinder, and at least a ring of conductor rings is mounted on the conductor barrel at a position corresponding to the permanent magnets. The torque transmission is more stable, and the flexible transmission device is operated more smoothly.
  • two permanent magnets are mounted on the permanent magnet cylinder, two conductor loops are mounted on the conductor cylinder, and two conductor loops or two permanent magnets are spaced apart, and the interval between the two conductor loops is larger than that of the permanent magnets. Width, the spacing between the two permanent magnets is greater than the width of the conductor loop. The torque transmission is changed from 0-100%, which greatly shortens the adjustment distance.
  • the conductor loop is the same width as the permanent magnet.
  • the spline only needs to move the width of one conductor ring to achieve a torque change from 0-100%, which makes the structure more compact.
  • the center of gravity of the combination formed by the spline sleeve and the conductor barrel is located within the lumen of the spline sleeve. This allows the majority of the weight of the combination of the spline sleeve and the conductor barrel to be received by the spline, which is more conducive to the stability of the structure.
  • the invention controls the magnitude of the current in the coil group by transmitting a control signal to the control cabinet, thereby controlling the electromagnetic force generated by the coil assembly and the function of the magnetizer, attracting the conductor tube to move in the axial direction, and realizing the axial direction of the conductor tube through force balance. Precise positioning; the device drives the active components to adjust the flexible torque transmission, which reduces the disturbance of the dynamic load caused by the change of the rotational speed difference when adjusting the load device, making the adjustment process more stable and efficient.
  • FIG. 1 is a schematic structural view of a flexible torque transmitting device.
  • FIG. 2 is a schematic structural view of an input device.
  • Figure 3 is a schematic diagram of the structure of the output device.
  • Figure 4 is a schematic view showing the structure of the coil group and its fixed body.
  • Figure 5 is a schematic view showing the structure of the adjusting device.
  • Figure 6 is a schematic view of the structure of the spline and the guide post.
  • Figure 7 is a schematic view showing the structure of a permanent magnet cylinder.
  • a flexible torque transmitting device includes an input device, an output device, and an adjustment device.
  • the input device comprises an input shaft 18, a conductor barrel 6, a conductor ring 5;
  • the output device comprises a permanent magnet 4, a permanent magnet barrel 7, an output shaft 31;
  • the adjusting device comprises a spline 16, a spline sleeve 14, a guide post 20, an elastomer 23 , coil set 3, coil fixed body 2, transition flange 10.
  • the output shaft 31 is connected to the permanent magnet cylinder 7 by a screw 8.
  • the outer cylinder of the permanent magnet cylinder 7 is made of a magnetically permeable material, and the permanent magnet 4 is mounted on the outer surface of the permanent magnet cylinder 7 as long as it has a certain strength and rigidity.
  • the permanent magnet 4 is made of a strong permanent magnet material; the conductor ring 5 is mounted on the inner surface of the conductor barrel 6, and the conductor ring 5 is electrically conductive and has magnetic permeability, and copper is preferably used as a material for fabrication. There is an air gap between the conductor ring 5 and the permanent magnet 4.
  • the spline sleeve 14 and the conductor barrel 6 are connected by a screw 22; the spline sleeve 14 is connected to the spline 16, the spline 16 and the spline sleeve 14 form a spline coupling pair, and the spline sleeve 14 can be on the spline 16
  • the axial direction moves left and right, since the spline sleeve 14 is connected to the conductor barrel 6, the conductor barrel 6 can also move left and right in the axial direction; the input shaft 18 is connected to the spline 16 by the screw 17.
  • the area of action between the conductor ring 5 and the permanent magnet 4 also changes.
  • a support cylinder is disposed on a side of the conductor cylinder 6 adjacent to the spline sleeve 14, and an elastic body 23 is mounted between the conductor cylinder 6 and the input shaft 18.
  • the elastic body 23-end is connected to the support cylinder, and the other end is connected to the input shaft 18. . Due to the presence of the elastic body 23, the spline sleeve 14 does not move on the spline 16 in the case where the elastic body 23 is not affected by the external force, and the spline sleeve 14 is extended or shortened when the elastic body 23 is affected by an external force.
  • the spline sleeve 14 is also provided with a threaded through hole, and the spline sleeve 14 can be fixed to the spline 16 by a screw 35 so that the spline sleeve 14 cannot move on the spline 16.
  • a magnetizer is mounted on the support cylinder, and the magnetizer 9 is made of a magnetic material.
  • a coil group 3 is attached to the left or right side of the magnetizer 9.
  • the magnetizer 9 is mounted on the left side of the support cylinder, and the coil group 3 is mounted on the left side of the magnetizer 9, and the support body of the permanent magnet cylinder 7 is made of a magnetically permeable material to ensure the generation of the coil assembly 3.
  • the magnetic field can pass through the support body of the permanent magnet cylinder 7 to act on the magnetizer 9.
  • the outer cylinder of the permanent magnet cylinder 7 is made of a magnetically permeable material, and the support body is connected to the outer cylinder of the permanent magnet cylinder 7 by means of splicing. .
  • the coil group 3 When the current passes through the coil group 3, the coil group 3 generates a magnetic field to move the magnetizer 9 toward the coil group 3 side, thereby realizing the movement of the conductor ring 5 through the support cylinder, the conductor barrel 6, and the spline sleeve 14.
  • the amount of movement of the magnetizer can be controlled by the magnitude of the current applied to the coil group 3.
  • the coil group 3 can be independently disposed on one side of the input shaft 18 or the input shaft 31; or can be mounted on the input shaft 18 or the output shaft 31, and the coil group 3 can be rotated with the input shaft 18 or the output shaft 31, or It does not rotate with the input shaft 18 or the output shaft 31.
  • the coil group 3 is mounted on the output shaft 31, and mounting on the output shaft 31 makes the structure more compact.
  • Two side-by-side bearings 29 are fitted over the output shaft 31 by means of a lock nut 30 as shown, and the bearing 29 is not axially strung on the output shaft 31 by the lock nut 30.
  • the coil fixing body 2 is mounted on the bearing 29, and the coil fixing body 2 and the outer ring of the bearing 29 are tightly fitted.
  • the coil set 3 is mounted on the coil fixing body 2 inside.
  • the support pallet 1 is fitted on the output shaft 31 and is not in contact with the output shaft 31, and the coil fixture 2 is connected to the support pallet 1 by screws 28.
  • the coil group 3 and the coil fixed body 2 do not rotate with the output shaft 31 to reduce the inertia of the output shaft 31.
  • a through hole is provided in the center of the support cylinder.
  • the guide post 20 passes through a through hole in the support cylinder.
  • the guide post 20-end is connected to the input shaft 18 or the output shaft 31, that is, the guide post 20 rotates with the input shaft 18 or the output shaft 31.
  • the inner diameter of the through hole of the support cylinder is slightly larger than the diameter of the guide post 20, and the support cylinder is gap-engaged or transition-fitted with the guide post 20, that is, the support cylinder and the guide post 20 are relatively rotatable. Due to the clearance fit or transition fit of the support cylinder with the guide post 20, the guide post 20 receives a portion of the weight of the conductor barrel 6 and the spline sleeve 14 transferred from the support cylinder.
  • the conductor tube 6 and the spline sleeve 14 are more stably supported, which is more advantageous for the conductor ring 5 to be in a horizontal position.
  • the elastomer 23 is fitted over the guide post 20.
  • the support cylinder and the guide post 20 do not rotate relative to each other.
  • the guide post 20 is connected to the output shaft 31, relative rotation occurs between the support cylinder and the guide post 20, and a bearing can be disposed between the support cylinder and the guide post 20.
  • the force receiving structure of the guide post 20 is a cantilever structure.
  • the other end of the guide post 20 is coupled to the output shaft 31 or the input shaft 18, and the guide post 20 is rotatable relative to the output shaft 31 or the input shaft 18.
  • one end of the guide post 20 is connected to the input shaft 18 by a screw 19, and further, an end of the output shaft 31 near the input shaft 18 is provided with a cavity 34, and a bearing 26 is mounted in the cavity 34, the bearing The outer ring of 26 is in tight engagement with the cavity 34, and the other end of the guide post 20 is mounted in the bearing 26, and the inner diameter of the guide post 20 and the bearing 26 are tightly fitted so that the guide post 20 can be rotated relative to the output shaft 31; The service life of the bearing 26 is extended, and a bearing end cover 25 is mounted on the right side of the bearing 26 to seal the cavity 34. Since the guide post 20 is subjected to the gravity transmitted from the support cylinder, when the other end of the guide post 20 is mounted on the bearing 26, the force receiving structure of the guide post 20 can be made into a simple support structure from the cantilever structure.
  • transition flange 10 is mounted on the left side of the support cylinder (ie, the side away from the input shaft 18) by the screw 1 1 , and the transition flange 10 is set on the guide post 20 , and the transition flange 10 and the guide post 20 Use a clearance fit or a transition fit.
  • the inner diameter of the through hole of the support cylinder is slightly larger than the diameter of the elastic body 23.
  • One end of the elastic body 23 is located in the support cylinder, and one end of the elastic body 23 is connected to the transition flange 10, and the other end is connected to the input shaft 18.
  • the magnetizer 9 is mounted on the transition flange 10.
  • the elastomer 23 can also be directly connected to the support cylinder, and the left and right movement of the spline sleeve 14 can be driven by the elongation and shortening of the elastic body 23.
  • the elastic fixing flange 13 is mounted on the transition flange 10 by screws 24, and the elastic body is fixed.
  • the flange 13 is placed on the guide post 20.
  • the elastomer fixing flange 13 is located in the through hole of the support cylinder.
  • the elastic fixing flange 13 and the guide post 20 adopt a clearance fit or a transition fit.
  • the inner diameter of the transition flange 10 is greater than the diameter of the guide post 20.
  • One end of the elastic body 23 is connected to the elastic fixing flange 13 and the other end is connected to the input shaft 18.
  • the elastic fixing flange 21 is mounted on the left side of the spline 16 by the screw 15, and the elastic body 23 is fitted in the elastic fixing flange 21 hole.
  • a spring is employed as the elastic body 23.
  • the coil assembly 3 is connected to the control cabinet 32 and controls the current through the control cabinet 32.
  • the spline sleeve 14 When the device is not adjusted, the spline sleeve 14 is at the rightmost end of the stroke of the spline 16. Since the spline sleeve 14 is connected to the conductor barrel 6 as a whole, the conductor ring 5 on the conductor barrel 6 is at the right end of the permanent magnet 4. And the working area of the conductor ring 5 and the permanent magnet 4 is zero, the transmission torque is zero, and when the coil group 3 passes the current, an electromagnetic force is generated, and by the interaction with the magnetizer 9, the suction guiding magnet 9 is axially oriented.
  • the conductor 9 is moved to the left by the magnetizer 9, and the conductor ring 5 is moved to the left, so that the meshing area of the conductor ring 5 and the permanent magnet 4 gradually increases. When increased, the transmitted torque gradually increases.
  • the device can realize precise adjustment of the flexible torque transmission, input control information to the control cabinet 32, control the magnitude of the current in the coil group 3, thereby controlling the generated ⁇ F, and setting other external forces during the axial movement of the elastic body 23.
  • the axial positioning of the 6 is precisely positioned to achieve precise adjustment of the torque.
  • the conductor ring 5 is at least one turn, that is, it may be one turn or a plurality of turns. In the present embodiment, two turns are used, and a ring of conductor rings 5 are respectively disposed on the left and right sides of the conductor barrel 6. Each turn of the conductor loop 5 can be a complete one turn. It may also be a segmented one, that is to say, the divided conductor plates are wound in a ring to form an annular mounting on the inner wall of the conductor barrel 6.
  • the permanent magnets 4 disposed on the permanent magnet tube 7 may be at least one turn, that is, may be one turn or multiple turns. In the present embodiment, two turns are used, respectively on the left and right sides of the permanent magnet tube 7.
  • a ring of permanent magnets 4 is arranged, and the two-ring permanent magnets 4 are spaced apart from each other by a certain interval.
  • a permanent magnet retaining ring 12 is further mounted to prevent the permanent magnets 4 from being strung to the two sides.
  • the permanent magnet 4 per revolution can be a complete one. It may also be a segmented one, that is, the segmented permanent magnet plate is wound into a ring to be annularly mounted on the outer wall of the permanent magnet cylinder 10.
  • the number of turns of the conductor ring 5, the size of the width, and the number of conductor plates can be adjusted according to the required load; likewise, the number of turns of the permanent magnet 4, the size of the width, the number of permanent magnet plates, and the size of the magnet are also It can be adjusted according to the size of the load.
  • the conductor ring 5 is mounted directly above the permanent magnet 4, and the width of the conductor ring 5 is the same as the width of the permanent magnet 4. There is a gap between the two conductor loops 5. Making the interval between the two conductor rings 5 larger than the width of the permanent magnet 4, The spacing between the permanent magnets 4 is greater than the width of the conductor ring 5.
  • the width of the conductor ring 5 and the permanent magnet 4 can be changed to 100% by simply moving the width of one conductor ring 5. . Therefore, in this embodiment, the effective area between the conductor ring 5 and the permanent magnet 4 can be changed from 0 to 100%, and the adjustment distance is greatly shortened.
  • the spline 16 and the spline sleeve 14 are advantages of high spline connection, good neutrality and easy guiding, and are suitable for the dynamic coupling of the device.
  • a series of through holes are formed in the input device and the output device for heat dissipation.
  • a heat dissipation hole 33 is formed in the support body inside the permanent magnet tube 7.
  • the center of gravity of the combination formed by the spline sleeve 14 and the conductor barrel 6 is located within the lumen of the spline sleeve 14. That is to say, in the structural design process, since the spline 16 has a certain width, most of the weight of the combined body falls on the spline 16, which reduces the weight falling on the guide post 20 and reduces the guide post. 20 The deformation due to the force, thereby further ensuring the accuracy of the adjustment of the elastic body 23. It also guarantees the stability of the structure and the service life of the structure.
  • the permanent magnet 4 disposed on the outer surface of the permanent magnet cylinder 7 forms a certain magnetic field in the air gap.
  • the conductor ring 5 disposed on the inner surface thereof cuts the magnetic induction line.
  • an induced current is generated in the conductor loop 5, and the current interacts with the original magnetic field, so that the permanent magnet cylinder 7 receives an electromagnetic torque that coincides with the direction of rotation of the conductor cylinder 6, and the permanent magnet cylinder 7 is rotated.
  • the function of transmitting torque when unadjusted, the conductor barrel 6 is at the rightmost end of the stroke of the spline 16, the meshing area of the conductor ring 5 and the permanent magnet 4 is zero, the transmission torque is zero, when the coil group 3 passes current, An electromagnetic force is generated, and a portion of the magnetically permeable material (support) that passes through the permanent magnet cylinder 7 interacts with the magnetizer 9 mounted on the conductor barrel 6, and the attracting conductor barrel 6 moves axially to the left to make the conductor ring 5 and The meshing area of the permanent magnet 4 is gradually increased, and the transmission torque is gradually increased.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)

Abstract

A flexible torque transmission apparatus comprising an input shaft (18), a conductor cylinder (6), a conductor ring (5), permanent magnets (4), a permanent magnet cylinder (7), an output shaft (31), a coil set (3), a spline (16), a spline sleeve (14), a magnetic conductor (9), and an elastomer (23). The conductor ring is mounted onto the inner surface of the conductor cylinder. The permanent magnets are mounted onto the outer surface of the permanent magnet cylinder. Air gaps are provided between the conductor ring and the permanent magnets. The permanent magnet cylinder and the output shaft are connected to each other. The input shaft and the spline are connected to each other. The spline and the spline sleeve are connected to each other. The spline sleeve and the conductor cylinder are connected to each other. A support cylinder is provided at one extremity of the conductor cylinder in proximity to the spline sleeve. One extremity of the elastomer and the support cylinder are connected to each other, while the other extremity and the input shaft are connected to each other. The magnetic conductor is mounted onto the support cylinder. The coil set is located on either the left side or the right side of magnetic conductor. The apparatus is capable of regulating an outputted torque.

Description

一种柔性扭矩传递装置  Flexible torque transmitting device
技术领域 Technical field
本发明专利属于传动技术领域， 尤其涉及一种柔性扭矩传递装置。  The invention patent belongs to the technical field of transmission, and in particular relates to a flexible torque transmission device.
背景技术 Background technique
在现有的机械传动方式中，普遍采用机械式刚性联接方式。机械式刚性联接方式的优 点在于可以实现电机与负载的同步传递，传递效率高。但机械式刚性联接方式对电机轴和 负载轴的对中性要求较高， 传动装置振动明显， 噪音较大且磨损比较严重。而电机大负载 启动时， 转速从 0很快达到额定转速， 对电机损伤较大。 同时， 机械式刚性联接方式很难 在有毒， 易燃， 易爆的极端环境中运行。  In the existing mechanical transmission mode, a mechanical rigid connection method is generally employed. The advantage of the mechanical rigid connection method is that the synchronous transfer of the motor and the load can be realized, and the transmission efficiency is high. However, the mechanical rigid connection method has higher requirements on the alignment of the motor shaft and the load shaft, and the transmission has obvious vibration, large noise and serious wear. When the motor is loaded with a large load, the speed will quickly reach the rated speed from 0, which will damage the motor. At the same time, mechanical rigid coupling is difficult to operate in extreme environments that are toxic, flammable, and explosive.
针对这些情况， 非接触式柔性扭矩传递装置可以很好地解决对中问题从而降低安装 难度， 减小噪音和振动， 并提高了整个装置的稳定性， 并且可以用于有毒， 易燃， 易爆的 极端环境。  In response to these situations, the non-contact flexible torque transmitting device can solve the alignment problem well, reduce the installation difficulty, reduce noise and vibration, improve the stability of the whole device, and can be used for toxic, flammable, and explosive. Extreme environment.
在申请公布号为 CN101834513A的发明专利申请中公布了一种二级串联型永磁调速 器， 它包括筒形导体转子体， 永磁转子和调节器； 其特征是： 永磁转子和筒形导体转子体 均为二级串联型， 导体转子只要移动一个导体的宽度即可将作用面积调节为 0或 100%， 大大缩短了调节距离。 此调速器可实现转矩无接触传递， 是利用推力轴承组进行调节，但 专利中对调节器的形状， 特征涉及很少， 将调节器安装在负载轴上， 由于输出轴动载荷较 大，振动对调节器调节精度影响明显， 并且利用推力轴承组进行轴向调节不易于进行精确 调节。  In the invention patent application with the publication number CN101834513A, a two-stage series permanent magnet governor is disclosed, which comprises a cylindrical conductor rotor body, a permanent magnet rotor and a regulator; the features are: permanent magnet rotor and cylinder The conductor rotor body is of a two-stage series type, and the conductor rotor can adjust the working area to 0 or 100% by moving the width of one conductor, which greatly shortens the adjustment distance. This governor can realize torque contactless transmission, which is adjusted by the thrust bearing set. However, the shape and characteristics of the regulator are few in the patent. The regulator is mounted on the load shaft due to the large dynamic load of the output shaft. The vibration has a significant influence on the adjustment accuracy of the regulator, and the axial adjustment using the thrust bearing set is not easy to perform precise adjustment.
在申请公布号为 CN202034886U的实用新型专利中公布了一种永磁耦合调速器， 它 包括： 筒形导体转子、 筒形隔磁罩、 筒形永磁转子、 调节器。 筒形隔磁罩位于筒形导体转 子和筒形永磁转子之间，筒形隔磁罩与筒形导体转子和筒形永磁转子均有间隙；筒形导体 转子与筒形永磁转子沿各自旋转轴独立转动， 轴向位置不变； 在调节器的作用下， 筒形隔 磁罩沿轴向滑动，实现筒形永磁转子和筒形导体转子之间的作用磁场面积改变，其结果使 得负载扭矩变化， 转速变化。但该装置偏心受力， 使装置处于非平衡受力状态， 影响输入 输出部件的动平衡， 易产生振动和噪音， 同时该装置过于简陋， 可靠性也较差。  In the utility model patent application No. CN202034886U, a permanent magnet coupling governor is disclosed, which comprises: a cylindrical conductor rotor, a cylindrical magnetic shield, a cylindrical permanent magnet rotor, and a regulator. The cylindrical magnetic shield is located between the cylindrical conductor rotor and the cylindrical permanent magnet rotor, and the cylindrical magnetic shield has a gap with the cylindrical conductor rotor and the cylindrical permanent magnet rotor; the cylindrical conductor rotor and the cylindrical permanent magnet rotor The respective rotating shafts rotate independently, and the axial position is unchanged; under the action of the regulator, the cylindrical magnetic shield slides in the axial direction, thereby realizing the change of the magnetic field area between the cylindrical permanent magnet rotor and the cylindrical conductor rotor, and the result is The load torque changes and the speed changes. However, the device is biased to force the device to be in an unbalanced state, affecting the dynamic balance of the input and output components, and is prone to vibration and noise. At the same time, the device is too simplistic and the reliability is poor.
在申请公布号为 CN202586711U的实用新型专利中公布了一种永磁调速器， 它包括： 笼形导体转子、 永磁转子、 固定转子和调节机构； 笼形导体转子包围着永磁转子； 永磁转 子通过调节机构沿着轴向方向张、 合运动； 调节机构与固定转子相连； 固定转子通过齿轮 齿条机构与永磁转子相连。该实用新型的永磁调速器的作用面积为笼形导体转子的导体环 与永磁转子的环形磁座之间的空气间隙， 故没有轴向力， 其调节机构所需的推拉力小。但 其轴向移动距离较大，使用轴承结构的地方较多，增加了制造和装配难度，结构相对复杂， 可靠性较差， 同时增加了驱动部件的外径， 影响了动平衡， 易引起较大的振动和噪声。 发明内容 In the utility model patent with the publication number CN202586711U, a permanent magnet governor is disclosed, which comprises: a cage conductor rotor, a permanent magnet rotor, a fixed rotor and an adjusting mechanism; the cage conductor rotor surrounds the permanent magnet rotor; The magnetic rotor is moved in the axial direction by the adjusting mechanism; the adjusting mechanism is connected to the fixed rotor; and the fixed rotor is connected to the permanent magnet rotor through the rack and pinion mechanism. The working area of the permanent magnet governor of the utility model is a conductor ring of a cage conductor rotor The air gap between the ring magnet and the ring magnet of the permanent magnet rotor has no axial force, and the pushing force required for the adjusting mechanism is small. However, the axial movement distance is large, and the bearing structure is used more, which increases the difficulty of manufacturing and assembly, the structure is relatively complicated, the reliability is poor, and the outer diameter of the driving component is increased, which affects the dynamic balance and is easy to cause Large vibration and noise. Summary of the invention
本发明针对柔性扭矩传递调节问题，提出了一种柔性扭矩传递装置，用以解决稳定调 节传递扭矩的问题， 实现了柔性扭矩传递的稳定精确调节。  The present invention is directed to a flexible torque transmission adjustment problem, and a flexible torque transmission device is proposed to solve the problem of stably adjusting the transmission torque and achieve stable and precise adjustment of the flexible torque transmission.
一种柔性扭矩传递装置， 包括输入轴、导体筒、 导体环、永磁体、永磁体筒、输出轴、 线圈组、 花键、 花键套、 导磁体、 弹性体， 导体环安装在导体筒的内表面上， 永磁体安装 在永磁体筒的外表面上， 导体环与永磁体之间存在气隙， 永磁体筒与输出轴相连接， 输入 轴与花键相连接， 花键与花键套相连接， 花键套与导体筒相连接， 导体筒靠近花键套的一 侧设置有支撑筒， 弹性体一端与支撑筒相连接， 另一端与输入轴相连接， 导磁体安装在支 撑筒上，线圈组位于导磁体的左侧或右侧。花键及花键套的使用使导体环相对于永磁体移 动， 在本技术方案中通过调节线圈组中的电流水平， 通过调节导磁环的左右移动， 调节导 体环与永磁体的作用面积， 使柔性连接装置随时可以调节输出扭矩的大小。  A flexible torque transmitting device comprising an input shaft, a conductor barrel, a conductor ring, a permanent magnet, a permanent magnet barrel, an output shaft, a coil set, a spline, a spline sleeve, a magnetizer, an elastomer, and a conductor ring mounted on the conductor barrel On the inner surface, the permanent magnet is mounted on the outer surface of the permanent magnet cylinder, there is an air gap between the conductor ring and the permanent magnet, the permanent magnet barrel is connected with the output shaft, the input shaft is connected with the spline, and the spline and spline sleeve are connected. Connected, the spline sleeve is connected with the conductor tube, the support cylinder is provided with a support cylinder on one side of the spline sleeve, one end of the elastic body is connected with the support cylinder, the other end is connected with the input shaft, and the magnetizer is mounted on the support cylinder The coil set is located on the left or right side of the magnetizer. The use of splines and spline sleeves causes the conductor loop to move relative to the permanent magnets. In the present solution, by adjusting the current level in the coil assembly, by adjusting the left and right movement of the magnetic flux loop, the active area of the conductor loop and the permanent magnet is adjusted. The flexible connecting device can adjust the output torque at any time.
优选地： 还包括导柱， 导柱一端与输入轴或输出轴相连接， 支撑筒套装在导柱上，弹 性体套装于导柱上。支撑筒与导柱之间采用间隙配合或者过渡配合，通过支撑筒使导体筒 及花键套的一部分重量作用于导柱上，保证了导体环与永磁体之间的水平。弹性体在导柱 的导向作用下， 实现了弹性体平稳的水平轴向移动。  Preferably, the guide post is further included, and one end of the guide post is connected to the input shaft or the output shaft, the support cylinder is set on the guide post, and the elastic body is set on the guide post. A clearance fit or a transition fit is used between the support cylinder and the guide post, and a part of the weight of the conductor cylinder and the spline sleeve is applied to the guide post through the support cylinder to ensure the level between the conductor loop and the permanent magnet. Under the guiding action of the guide column, the elastic body realizes a smooth horizontal axial movement of the elastic body.
优选地： 还包括线圈固定体、 轴承、 锁紧螺母， 线圈组位于线圈固定体内， 轴承通过 锁紧螺母固定安装在输入轴或输出轴上，线圈固定体安装在轴承上。这样做可以使结构更 为紧凑。 线圈组固定体与输出轴旋转分离， 保证了线圈组与控制***的稳定运行。  Preferably, the utility model further comprises: a coil fixing body, a bearing and a lock nut. The coil group is located in the coil fixing body, and the bearing is fixedly mounted on the input shaft or the output shaft through the lock nut, and the coil fixing body is mounted on the bearing. This will make the structure more compact. The coil assembly fixed body and the output shaft are rotated and separated to ensure stable operation of the coil group and the control system.
优选地： 导柱的另一端与输入轴或输出轴相连接，且导柱可相对于输入轴或输出轴旋 转。通过导柱的另一端与输入轴或输出轴相连接，使导柱的受力结构由悬臂结构变为简支 结构。 使导柱的受力更为均匀， 增强了整体结构的刚度， 减小了变形量。  Preferably, the other end of the guide post is coupled to the input or output shaft and the guide post is rotatable relative to the input or output shaft. By connecting the other end of the guide post to the input shaft or the output shaft, the force-bearing structure of the guide post is changed from a cantilever structure to a simple support structure. The force of the guide post is more uniform, which enhances the rigidity of the overall structure and reduces the amount of deformation.
优选地： 还包括过渡法兰， 弹性体的一端位于支撑筒内， 支撑筒远离输入轴的一侧安 装有过渡法兰， 过渡法兰套装于导柱上， 并与导柱采用间隙配合或者过渡配合， 弹性体的 一端与过渡法兰相连接。  Preferably, the transition flange is further included, one end of the elastic body is located in the support cylinder, the side of the support cylinder away from the input shaft is provided with a transition flange, the transition flange is set on the guide pillar, and a clearance fit or transition is adopted with the guide pillar. Cooperating, one end of the elastomer is connected to the transition flange.
优选地： 还包括弹性体固定法兰 -， 弹性体固定法兰一套装于导柱上， 与过渡法兰相 连接，弹性体固定法兰一与导柱采用间隙配合或者过渡配合，弹性体的一端与弹性体固定 法兰一相连接。 优选地： 永磁体筒上至少安装有一圈永磁体， 在与永磁体相对应的位置上， 导体筒上 至少安装有一圈导体环。 使扭矩的传递更为稳定， 使柔性传递装置的运转更平稳。 Preferably, the method further comprises: an elastic fixing flange - the elastic fixing flange is disposed on the guide post and connected with the transition flange, and the elastic fixing flange has a clearance fit or a transition fit with the guide post, the elastic body One end is connected to the elastomer fixing flange. Preferably, at least one ring of permanent magnets is mounted on the permanent magnet cylinder, and at least a ring of conductor rings is mounted on the conductor barrel at a position corresponding to the permanent magnets. The torque transmission is more stable, and the flexible transmission device is operated more smoothly.
优选地： 永磁体筒上安装有二个永磁体， 导体筒上安装有二个导体环， 二个导体环或 二个永磁体之间存在间隔，二个导体环之间的间隔大于永磁体的宽度，二个永磁体之间的 间隔大于导体环的宽度。 实现扭矩传递从 0-100%的改变， 大大缩短了调节距离。  Preferably, two permanent magnets are mounted on the permanent magnet cylinder, two conductor loops are mounted on the conductor cylinder, and two conductor loops or two permanent magnets are spaced apart, and the interval between the two conductor loops is larger than that of the permanent magnets. Width, the spacing between the two permanent magnets is greater than the width of the conductor loop. The torque transmission is changed from 0-100%, which greatly shortens the adjustment distance.
优选地：导体环与永磁体的宽度相同。使得花键只需要移动一个导体环的宽度就可以 实现扭矩从 0-100%的变化， 从而使结构更为紧凑。  Preferably: the conductor loop is the same width as the permanent magnet. The spline only needs to move the width of one conductor ring to achieve a torque change from 0-100%, which makes the structure more compact.
优选地：花键套和导体筒形成的结合体的重心位于花键套的内腔范围内。这样做可以 使花键套与导体筒的结合体的重量的大部分由花键来承受， 更有利于本结构的稳定。 有益效果：  Preferably, the center of gravity of the combination formed by the spline sleeve and the conductor barrel is located within the lumen of the spline sleeve. This allows the majority of the weight of the combination of the spline sleeve and the conductor barrel to be received by the spline, which is more conducive to the stability of the structure. Beneficial effects:
本发明通过向控制柜传输控制信号，控制线圈组中的电流大小，从而控制线圈组产生 的电磁力与导磁体的作用，吸引导体筒沿轴向移动， 并通过力平衡实现导体筒的轴向精确 定位；装置驱动主动部件进行柔性扭矩传递的调节，减少了通过调节负载装置时因转速差 变化带来的动载荷的干扰， 使调节过程更加稳定并且高效。  The invention controls the magnitude of the current in the coil group by transmitting a control signal to the control cabinet, thereby controlling the electromagnetic force generated by the coil assembly and the function of the magnetizer, attracting the conductor tube to move in the axial direction, and realizing the axial direction of the conductor tube through force balance. Precise positioning; the device drives the active components to adjust the flexible torque transmission, which reduces the disturbance of the dynamic load caused by the change of the rotational speed difference when adjusting the load device, making the adjustment process more stable and efficient.
说明书附图 Instruction sheet
图 1为一种柔性扭矩传递装置结构示意图。 1 is a schematic structural view of a flexible torque transmitting device.
图 2为输入装置结构示意图。 2 is a schematic structural view of an input device.
图 3为输出装置结构示意图。 Figure 3 is a schematic diagram of the structure of the output device.
图 4为线圈组及其固定体结构示意图。 Figure 4 is a schematic view showing the structure of the coil group and its fixed body.
图 5为调节装置结构示意图。 Figure 5 is a schematic view showing the structure of the adjusting device.
图 6为花键及导柱结构示意图。 Figure 6 is a schematic view of the structure of the spline and the guide post.
图 7为永磁体筒结构示意图。 Figure 7 is a schematic view showing the structure of a permanent magnet cylinder.
附图标记名称如下： The reference numerals are as follows:
1、 支撑托板； 2、 线圈固定体； 3、 线圈组； 4、 永磁体； 5、 导体环； 6、 导体筒； 7、 永 磁体筒； 8、 螺钉； 9、 导磁体； 10、 过渡法兰； 11、 螺钉； 12、 永磁体挡圈； 13、 弹性体 固定法兰一； 14、 花键套； 15、 螺钉； 16、 花键； 17、 螺钉； 18、 输入轴； 19、 螺钉； 20、 导柱； 21、 弹性体固定法兰二； 22、 螺钉； 23、 弹性体； 24、 螺钉； 25、 轴承端盖； 26、 轴承； 27、 螺钉； 28、 螺钉； 29、 轴承： 30、 锁紧螺母； 31、 输出轴； 32、 控制柜； 33、 散热孔 ； 34、 空腔； 35、 螺丝。  1. Supporting pallet; 2. Coil fixed body; 3. Coil set; 4. Permanent magnet; 5. Conductor ring; 6. Conductor tube; 7. Permanent magnet tube; 8. Screw; 9. Magnetizer; Flange; 11, screw; 12, permanent magnet retaining ring; 13, elastic fixed flange one; 14, spline sleeve; 15, screw; 16, spline; 17, screw; 18, input shaft; 20, guide column; 21, elastomer fixed flange 2; 22, screw; 23, elastic body; 24, screw; 25, bearing end cover; 26, bearing; 27, screw; 28, screw; 29, bearing: 30, lock nut; 31, output shaft; 32, control cabinet; 33, cooling holes; 34, cavity; 35, screws.
具体实施方式 一种柔性扭矩传递装置， 包括输入装置， 输出装置和调节装置。输入装置包括输入轴 18、 导体筒 6、 导体环 5 ; 输出装置包括永磁体 4、 永磁体筒 7、 输出轴 31 ; 调节装置包 括花键 16、 花键套 14、 导柱 20、 弹性体 23、 线圈组 3、 线圈固定体 2、 过渡法兰 10。输 出轴 31与永磁体筒 7通过螺钉 8相连接， 永磁体筒 7的外筒采用导磁性材料制成， 只要 有一定强度和刚度即可，永磁体 4安装在永磁体筒 7的外表面上，永磁体 4采用强永磁材 料做成； 导体环 5安装在导体筒 6的内表面上， 导体环 5为导电体且具有导磁性， 最好使 用铜作为制作材料。 导体环 5与永磁体 4之间存在气隙。 花键套 14和导体筒 6通过螺钉 22相连接； 花键套 14与花键 16相连接， 花键 16和花键套 14形成花键联接副， 花键套 14可以在花键 16上沿轴向左右移动， 由于花键套 14与导体筒 6相连接， 故导体筒 6也 可以沿轴向左右移动； 输入轴 18通过螺钉 17和花键 16相连接。 当导体筒 6沿轴向左右 移动时， 导体环 5与永磁体 4之间的作用面积也在变化。 detailed description A flexible torque transmitting device includes an input device, an output device, and an adjustment device. The input device comprises an input shaft 18, a conductor barrel 6, a conductor ring 5; the output device comprises a permanent magnet 4, a permanent magnet barrel 7, an output shaft 31; the adjusting device comprises a spline 16, a spline sleeve 14, a guide post 20, an elastomer 23 , coil set 3, coil fixed body 2, transition flange 10. The output shaft 31 is connected to the permanent magnet cylinder 7 by a screw 8. The outer cylinder of the permanent magnet cylinder 7 is made of a magnetically permeable material, and the permanent magnet 4 is mounted on the outer surface of the permanent magnet cylinder 7 as long as it has a certain strength and rigidity. The permanent magnet 4 is made of a strong permanent magnet material; the conductor ring 5 is mounted on the inner surface of the conductor barrel 6, and the conductor ring 5 is electrically conductive and has magnetic permeability, and copper is preferably used as a material for fabrication. There is an air gap between the conductor ring 5 and the permanent magnet 4. The spline sleeve 14 and the conductor barrel 6 are connected by a screw 22; the spline sleeve 14 is connected to the spline 16, the spline 16 and the spline sleeve 14 form a spline coupling pair, and the spline sleeve 14 can be on the spline 16 The axial direction moves left and right, since the spline sleeve 14 is connected to the conductor barrel 6, the conductor barrel 6 can also move left and right in the axial direction; the input shaft 18 is connected to the spline 16 by the screw 17. When the conductor barrel 6 is moved left and right in the axial direction, the area of action between the conductor ring 5 and the permanent magnet 4 also changes.
导体筒 6靠近花键套 14的一侧设置有支撑筒，导体筒 6与输入轴 18之间安装有弹性 体 23， 弹性体 23—端与支撑筒相连接， 另一端与输入轴 18相连接。 由于弹性体 23的存 在， 在弹性体 23不受外力影响的情况下， 花键套 14不会在花键 16上移动， 当弹性体 23 受到外力影响而伸长或缩短时， 花键套 14就会随着弹性体 23的伸长或缩短在花键 16上 左右移动， 从而带动导体筒 6上的导体环左右移动。 花键套 14上还设置有螺纹通孔， 花 键套 14可以通过螺丝 35固定在花键 16， 使花键套 14不能在花键 16上移动。  A support cylinder is disposed on a side of the conductor cylinder 6 adjacent to the spline sleeve 14, and an elastic body 23 is mounted between the conductor cylinder 6 and the input shaft 18. The elastic body 23-end is connected to the support cylinder, and the other end is connected to the input shaft 18. . Due to the presence of the elastic body 23, the spline sleeve 14 does not move on the spline 16 in the case where the elastic body 23 is not affected by the external force, and the spline sleeve 14 is extended or shortened when the elastic body 23 is affected by an external force. As the elastic body 23 is elongated or shortened, it moves to the left and right on the spline 16, thereby causing the conductor ring on the conductor barrel 6 to move left and right. The spline sleeve 14 is also provided with a threaded through hole, and the spline sleeve 14 can be fixed to the spline 16 by a screw 35 so that the spline sleeve 14 cannot move on the spline 16.
支撑筒上安装有导磁体 9， 导磁体 9采用磁性材料制作而成。 在导磁体 9的左侧或右 侧安装有线圈组 3。 在本实施例中支撑筒的左侧安装有导磁体 9， 导磁体 9的左侧安装有 线圈组 3 , 且永磁体筒 7的支撑体采用透磁材料制作而成， 以保证线圈组 3产生的磁场能 穿过永磁体筒 7的支撑体对导磁体 9产生作用， 永磁体筒 7的外筒采用导磁材料制成，支 撑体通过悍接的方式与永磁体筒 7的外筒相连接。当电流通过线圈组 3时，线圈组 3产生 磁场， 使导磁体 9向线圈组 3—侧移动， 从而通过支撑筒、 导体筒 6、 花键套 14实现导 体环 5的移动。 可以通过施加在线圈组 3上的电流大小来控制导磁体的移动量。  A magnetizer is mounted on the support cylinder, and the magnetizer 9 is made of a magnetic material. A coil group 3 is attached to the left or right side of the magnetizer 9. In the present embodiment, the magnetizer 9 is mounted on the left side of the support cylinder, and the coil group 3 is mounted on the left side of the magnetizer 9, and the support body of the permanent magnet cylinder 7 is made of a magnetically permeable material to ensure the generation of the coil assembly 3. The magnetic field can pass through the support body of the permanent magnet cylinder 7 to act on the magnetizer 9. The outer cylinder of the permanent magnet cylinder 7 is made of a magnetically permeable material, and the support body is connected to the outer cylinder of the permanent magnet cylinder 7 by means of splicing. . When the current passes through the coil group 3, the coil group 3 generates a magnetic field to move the magnetizer 9 toward the coil group 3 side, thereby realizing the movement of the conductor ring 5 through the support cylinder, the conductor barrel 6, and the spline sleeve 14. The amount of movement of the magnetizer can be controlled by the magnitude of the current applied to the coil group 3.
线圈组 3可以独立的设置在输入轴 18或者输入轴 31的一侧； 也可以安装在输入轴 18或者输出轴 31上， 线圈组 3可以随输入轴 18或者输出轴 31—起旋转， 也可以不随输 入轴 18或者输出轴 31—起旋转。 在本实施例中线圈组 3安装在输出轴 31上， 安装在输 出轴 31上可以使结构更为紧凑。 如图所示二个并排的轴承 29通过锁紧螺母 30套装在输 出轴 31上， 并通过锁紧螺母 30使轴承 29不会在输出轴 31上沿轴向串动。 线圈固定体 2 安装在轴承 29上，线圈固定体 2与轴承 29的外圈为紧配合。线圈组 3安装在线圈固定体 2内。 支撑托板 1套装于输出轴 31上且与输出轴 31不接触， 线圈固定体 2通过螺钉 28 与支撑托板 1相连接。 线圈组 3及线圈固定体 2不随输出轴 31—起旋转可以减轻输出轴 31的惯性。 The coil group 3 can be independently disposed on one side of the input shaft 18 or the input shaft 31; or can be mounted on the input shaft 18 or the output shaft 31, and the coil group 3 can be rotated with the input shaft 18 or the output shaft 31, or It does not rotate with the input shaft 18 or the output shaft 31. In the present embodiment, the coil group 3 is mounted on the output shaft 31, and mounting on the output shaft 31 makes the structure more compact. Two side-by-side bearings 29 are fitted over the output shaft 31 by means of a lock nut 30 as shown, and the bearing 29 is not axially strung on the output shaft 31 by the lock nut 30. The coil fixing body 2 is mounted on the bearing 29, and the coil fixing body 2 and the outer ring of the bearing 29 are tightly fitted. The coil set 3 is mounted on the coil fixing body 2 inside. The support pallet 1 is fitted on the output shaft 31 and is not in contact with the output shaft 31, and the coil fixture 2 is connected to the support pallet 1 by screws 28. The coil group 3 and the coil fixed body 2 do not rotate with the output shaft 31 to reduce the inertia of the output shaft 31.
支撑筒的中心设置有通孔。 导柱 20穿过支撑筒上的通孔。 导柱 20—端与输入轴 18 或输出轴 31相连接， 也就是说导柱 20随输入轴 18或输出轴 31—起旋转。支撑筒的通孔 的内径比导柱 20的直径略大，支撑筒与导柱 20间隙配合或者过渡配合，也就是说支撑筒 与导柱 20之间可以相对旋转。 由于支撑筒与导柱 20间隙配合或者过渡配合， 导柱 20承 受了由支撑筒传递来的导体筒 6及花键套 14的一部分重量。由于导柱 20的存在，使导体 筒 6及花键套 14获得了更稳定的支撑，更有利于导体环 5处于水平位置。弹性体 23套装 在导柱 20上。  A through hole is provided in the center of the support cylinder. The guide post 20 passes through a through hole in the support cylinder. The guide post 20-end is connected to the input shaft 18 or the output shaft 31, that is, the guide post 20 rotates with the input shaft 18 or the output shaft 31. The inner diameter of the through hole of the support cylinder is slightly larger than the diameter of the guide post 20, and the support cylinder is gap-engaged or transition-fitted with the guide post 20, that is, the support cylinder and the guide post 20 are relatively rotatable. Due to the clearance fit or transition fit of the support cylinder with the guide post 20, the guide post 20 receives a portion of the weight of the conductor barrel 6 and the spline sleeve 14 transferred from the support cylinder. Due to the presence of the guide post 20, the conductor tube 6 and the spline sleeve 14 are more stably supported, which is more advantageous for the conductor ring 5 to be in a horizontal position. The elastomer 23 is fitted over the guide post 20.
当导柱 20与输入轴 18相连接时，支撑筒与导柱 20不会发生相对转动。导柱 20与输 出轴 31相连接时， 支撑筒与导柱 20之间会发生相对转动， 可以在支撑筒与导柱 20之间 设置轴承。  When the guide post 20 is coupled to the input shaft 18, the support cylinder and the guide post 20 do not rotate relative to each other. When the guide post 20 is connected to the output shaft 31, relative rotation occurs between the support cylinder and the guide post 20, and a bearing can be disposed between the support cylinder and the guide post 20.
由于导柱 20—端与输入轴 18或输出轴 31，且导柱 20上还承受支撑筒传来的导体筒 6及花键套 14的重量， 导柱 20的受力结构为悬臂结构。 为了使导柱 20的受力结构更为 稳定， 导柱 20的另一端与输出轴 31或输入轴 18相连接， 且导柱 20可相对于输出轴 31 或输入轴 18旋转。 在本实施例中： 导柱 20的一端通过螺钉 19与输入轴 18相连接， 更进 一步的， 输出轴 31靠近输入轴 18的一端设置有空腔 34， 空腔 34中安装有轴承 26, 轴承 26的外圈与空腔 34为紧配合， 导柱 20的另一端安装在轴承 26内， 导柱 20与轴承 26的 内圈为紧配合， 使得导柱 20可以相对于输出轴 31旋转； 为了延长轴承 26的使用寿命， 轴承 26的右侧还安装有轴承端盖 25， 使空腔 34处于密封状态。 由于导柱 20承受了支撑 筒传递来的重力， 当导柱 20的另一端安装在轴承 26上时， 可以使导柱 20的受力结构由 悬臂结构为简支结构。  Since the guide post 20 is end-to-end with the input shaft 18 or the output shaft 31, and the guide post 20 is also subjected to the weight of the conductor barrel 6 and the spline sleeve 14 from the support cylinder, the force receiving structure of the guide post 20 is a cantilever structure. In order to make the force receiving structure of the guide post 20 more stable, the other end of the guide post 20 is coupled to the output shaft 31 or the input shaft 18, and the guide post 20 is rotatable relative to the output shaft 31 or the input shaft 18. In this embodiment, one end of the guide post 20 is connected to the input shaft 18 by a screw 19, and further, an end of the output shaft 31 near the input shaft 18 is provided with a cavity 34, and a bearing 26 is mounted in the cavity 34, the bearing The outer ring of 26 is in tight engagement with the cavity 34, and the other end of the guide post 20 is mounted in the bearing 26, and the inner diameter of the guide post 20 and the bearing 26 are tightly fitted so that the guide post 20 can be rotated relative to the output shaft 31; The service life of the bearing 26 is extended, and a bearing end cover 25 is mounted on the right side of the bearing 26 to seal the cavity 34. Since the guide post 20 is subjected to the gravity transmitted from the support cylinder, when the other end of the guide post 20 is mounted on the bearing 26, the force receiving structure of the guide post 20 can be made into a simple support structure from the cantilever structure.
更进一步的， 过渡法兰 10通过螺钉 1 1安装在支撑筒的左侧 （即远离输入轴 18的一 侧）， 过渡法兰 10套装于导柱 20上， 过渡法兰 10与导柱 20之间采用间隙配合或者过渡 配合。 支撑筒的通孔内径略大于弹性体 23的直径， 弹性体 23的一端位于支撑筒内， 弹性 体 23的一端与过渡法兰 10相连接， 另一端与输入轴 18相连接。 导磁体 9安装在过渡法 兰 10上， 当然弹性体 23也可以直接与支撑筒相连接， 通过弹性体 23的伸长与缩短带动 花键套 14的左右移动。  Further, the transition flange 10 is mounted on the left side of the support cylinder (ie, the side away from the input shaft 18) by the screw 1 1 , and the transition flange 10 is set on the guide post 20 , and the transition flange 10 and the guide post 20 Use a clearance fit or a transition fit. The inner diameter of the through hole of the support cylinder is slightly larger than the diameter of the elastic body 23. One end of the elastic body 23 is located in the support cylinder, and one end of the elastic body 23 is connected to the transition flange 10, and the other end is connected to the input shaft 18. The magnetizer 9 is mounted on the transition flange 10. Of course, the elastomer 23 can also be directly connected to the support cylinder, and the left and right movement of the spline sleeve 14 can be driven by the elongation and shortening of the elastic body 23.
更进一步的， 弹性体固定法兰一 13通过螺钉 24安装在过渡法兰 10上， 弹性体固定 法兰一 13套装于导柱 20上。 弹性体固定法兰一 13位于支撑筒的通孔内。 弹性体固定法 兰一 13与导柱 20采用间隙配合或者过渡配合。 过渡法兰 10的内径大于导柱 20的直径。 弹性体 23的一端与弹性体固定法兰一 13相连接， 另一端与输入轴 18相连接。 Further, the elastic fixing flange 13 is mounted on the transition flange 10 by screws 24, and the elastic body is fixed. The flange 13 is placed on the guide post 20. The elastomer fixing flange 13 is located in the through hole of the support cylinder. The elastic fixing flange 13 and the guide post 20 adopt a clearance fit or a transition fit. The inner diameter of the transition flange 10 is greater than the diameter of the guide post 20. One end of the elastic body 23 is connected to the elastic fixing flange 13 and the other end is connected to the input shaft 18.
为了使弹性体 23更加稳定， 在花键 16的左侧， 通过螺钉 15使弹性体固定法兰二 21 安装在花键 16的左侧， 弹性体 23套装于弹性体固定法兰二 21的内孔。  In order to make the elastic body 23 more stable, on the left side of the spline 16, the elastic fixing flange 21 is mounted on the left side of the spline 16 by the screw 15, and the elastic body 23 is fitted in the elastic fixing flange 21 hole.
在本实施例中采用弹簧作为弹性体 23。 线圈组 3与控制柜 32相连接， 并通过控制柜 32来控制电流的大小。  In the present embodiment, a spring is employed as the elastic body 23. The coil assembly 3 is connected to the control cabinet 32 and controls the current through the control cabinet 32.
所述装置在未进行调节时， 花键套 14处于花键 16行程的最右端， 由于花键套 14与 导体筒 6连接为一整体， 导体筒 6上的导体环 5处于永磁体 4的右端，且导体环 5和永磁 体 4的作用面积为零， 传递扭矩为零， 当线圈组 3通过电流时， 产生了电磁力， 通过与导 磁体 9的相互作用， 吸引导磁体 9沿轴向向左移动， 由于导磁体 9通过过渡法兰 10、 导 体筒 6与导体环 5成为一整体，通过导磁体 9向左移动带动导体环 5向左移动，使得导体 环 5和永磁体 4啮合面积逐渐增大， 传递扭矩逐渐增大。  When the device is not adjusted, the spline sleeve 14 is at the rightmost end of the stroke of the spline 16. Since the spline sleeve 14 is connected to the conductor barrel 6 as a whole, the conductor ring 5 on the conductor barrel 6 is at the right end of the permanent magnet 4. And the working area of the conductor ring 5 and the permanent magnet 4 is zero, the transmission torque is zero, and when the coil group 3 passes the current, an electromagnetic force is generated, and by the interaction with the magnetizer 9, the suction guiding magnet 9 is axially oriented. Moving to the left, since the magnetizer 9 is integrated with the conductor ring 5 through the transition flange 10, the conductor 9 is moved to the left by the magnetizer 9, and the conductor ring 5 is moved to the left, so that the meshing area of the conductor ring 5 and the permanent magnet 4 gradually increases. When increased, the transmitted torque gradually increases.
所述装置， 可实现柔性扭矩传递的精确调节， 向控制柜 32输入控制信息， 控制线圈 组 3中的电流大小， 从而控制所产生的∑F ， 设弹性体 23在轴向移动过程中其他外力 为 移动距离为 x， 弹性体 23在变形过程中弹性模量为函数 f ( X) ，轴向的力平衡方 程式为∑F =F f [x*f(x)]dx，即可实现导体筒 6的轴向精确定位，从而实现扭矩的精确 调节。  The device can realize precise adjustment of the flexible torque transmission, input control information to the control cabinet 32, control the magnitude of the current in the coil group 3, thereby controlling the generated ∑F, and setting other external forces during the axial movement of the elastic body 23. For the moving distance x, the elastic modulus of the elastic body 23 is a function f (X) during the deformation process, and the axial force balance equation is ∑F = F f [x*f(x)]dx The axial positioning of the 6 is precisely positioned to achieve precise adjustment of the torque.
所述导体环 5至少为一圈， 就是说可以为一圈， 也可以是多圈， 在本实施例中采用了 二圈， 在导体筒 6的左右二侧分别设置一圈导体环 5。 每圈导体环 5可以是完整的一圈。 也可以是分段式的一圈，也就是说将分块的导体板绕成一圈形成环状安装在导体筒 6的内 壁上。设置在永磁体筒 7上的永磁体 4可至少为一圈，就是说可以为一圈，也可以是多圈， 在本实施例中采用了二圈， 在永磁体筒 7的左右二侧分别设置一圈永磁体 4， 二圈永磁体 4之间相隔一定的间隔， 永磁体筒 7的二侧还安装有永磁体挡圈 12以防止永磁体 4向二 侧串动。每圈永磁体 4可以是完整的一圈。 也可以是分段式的一圈， 也就是说将分块的永 磁体板绕成一圈形成环状安装在永磁体筒 10的外壁上。 导体环 5圈数的多少、 宽度的大 小以及导体板的数量可以根据所需负载的大小来调整； 同样永磁体 4的圈数的多少、宽度 的大小、 永磁体板的数量以及磁性的大小也可以根据负载的大小来调整。  The conductor ring 5 is at least one turn, that is, it may be one turn or a plurality of turns. In the present embodiment, two turns are used, and a ring of conductor rings 5 are respectively disposed on the left and right sides of the conductor barrel 6. Each turn of the conductor loop 5 can be a complete one turn. It may also be a segmented one, that is to say, the divided conductor plates are wound in a ring to form an annular mounting on the inner wall of the conductor barrel 6. The permanent magnets 4 disposed on the permanent magnet tube 7 may be at least one turn, that is, may be one turn or multiple turns. In the present embodiment, two turns are used, respectively on the left and right sides of the permanent magnet tube 7. A ring of permanent magnets 4 is arranged, and the two-ring permanent magnets 4 are spaced apart from each other by a certain interval. On both sides of the permanent magnet tube 7, a permanent magnet retaining ring 12 is further mounted to prevent the permanent magnets 4 from being strung to the two sides. The permanent magnet 4 per revolution can be a complete one. It may also be a segmented one, that is, the segmented permanent magnet plate is wound into a ring to be annularly mounted on the outer wall of the permanent magnet cylinder 10. The number of turns of the conductor ring 5, the size of the width, and the number of conductor plates can be adjusted according to the required load; likewise, the number of turns of the permanent magnet 4, the size of the width, the number of permanent magnet plates, and the size of the magnet are also It can be adjusted according to the size of the load.
在本实施例中导体环 5安装在永磁体 4的正上方，导体环 5的宽度与永磁体 4的宽度 相同。 二个导体环 5之间存在间隔。 使二个导体环 5之间的间隔大于永磁体 4的宽度，二 个永磁体 4之间的间隔大于导体环 5的宽度， 当导体筒 6向左移动时， 只需移动一个导体 环 5的宽度就可以使导体环 5与永磁体 4的作用面积变为 100%。 因此本实施例可以实现 导体环 5与永磁体 4之间的作用面积从 0变化为 100%， 大大缩短了调节距离。 In the present embodiment, the conductor ring 5 is mounted directly above the permanent magnet 4, and the width of the conductor ring 5 is the same as the width of the permanent magnet 4. There is a gap between the two conductor loops 5. Making the interval between the two conductor rings 5 larger than the width of the permanent magnet 4, The spacing between the permanent magnets 4 is greater than the width of the conductor ring 5. When the conductor barrel 6 is moved to the left, the width of the conductor ring 5 and the permanent magnet 4 can be changed to 100% by simply moving the width of one conductor ring 5. . Therefore, in this embodiment, the effective area between the conductor ring 5 and the permanent magnet 4 can be changed from 0 to 100%, and the adjustment distance is greatly shortened.
所述花键 16以及花键套 14， 是利用花键连接承载能力高， 对中性好且便于导向的优 点， 适用于本装置的动联接的特点。  The spline 16 and the spline sleeve 14 are advantages of high spline connection, good neutrality and easy guiding, and are suitable for the dynamic coupling of the device.
在输入装置和输出装置上开有一系列的通孔，用于散热。其中永磁体筒 7内部的支撑 体上开有散热孔 33。  A series of through holes are formed in the input device and the output device for heat dissipation. A heat dissipation hole 33 is formed in the support body inside the permanent magnet tube 7.
花键套 14和导体筒 6形成的结合体的重心位于花键套 14的内腔范围内。也就是说在 结构设计过程中， 由于花键 16具有一定的宽度， 这样可以使结合体的大部分重量落在花 键 16上， 减轻了落在导柱 20上的重量， 减小了导柱 20由于受力而产生的变形， 从而更 进一步的保证了弹性体 23调节的精确性。 也保证了结构的稳定性及结构的使用寿命。  The center of gravity of the combination formed by the spline sleeve 14 and the conductor barrel 6 is located within the lumen of the spline sleeve 14. That is to say, in the structural design process, since the spline 16 has a certain width, most of the weight of the combined body falls on the spline 16, which reduces the weight falling on the guide post 20 and reduces the guide post. 20 The deformation due to the force, thereby further ensuring the accuracy of the adjustment of the elastic body 23. It also guarantees the stability of the structure and the service life of the structure.
工作原理：永磁体筒 7外表面上布置的永磁体 4会在气隙中形成一定的磁场， 当导体 筒 6随输入轴 18旋转时， 其内表面上布置的导体环 5做切割磁感线运动时便会在导体环 5中产生感应电流， 该电流和原先磁场相互作用， 可使永磁体筒 7受到一个和导体筒 6旋 转方向一致的电磁转矩， 而使永磁体筒 7转动， 从而起到传递扭矩的作用； 在未进行调节 时， 导体筒 6处于花键 16行程的最右端， 导体环 5和永磁体 4啮合面积为零， 传递扭矩 为零， 当线圈组 3通过电流时，产生了电磁力，透过永磁体筒 7的透磁材料部位（支撑体） 与安装在导体筒 6上的导磁体 9相互作用， 吸引导体筒 6沿轴向向左移动， 使导体环 5 和永磁体 4啮合面积逐渐增大， 传递扭矩逐渐增大。  Working principle: the permanent magnet 4 disposed on the outer surface of the permanent magnet cylinder 7 forms a certain magnetic field in the air gap. When the conductor barrel 6 rotates with the input shaft 18, the conductor ring 5 disposed on the inner surface thereof cuts the magnetic induction line. During the movement, an induced current is generated in the conductor loop 5, and the current interacts with the original magnetic field, so that the permanent magnet cylinder 7 receives an electromagnetic torque that coincides with the direction of rotation of the conductor cylinder 6, and the permanent magnet cylinder 7 is rotated. The function of transmitting torque; when unadjusted, the conductor barrel 6 is at the rightmost end of the stroke of the spline 16, the meshing area of the conductor ring 5 and the permanent magnet 4 is zero, the transmission torque is zero, when the coil group 3 passes current, An electromagnetic force is generated, and a portion of the magnetically permeable material (support) that passes through the permanent magnet cylinder 7 interacts with the magnetizer 9 mounted on the conductor barrel 6, and the attracting conductor barrel 6 moves axially to the left to make the conductor ring 5 and The meshing area of the permanent magnet 4 is gradually increased, and the transmission torque is gradually increased.

Claims

权 利 要 求 书 Claims
1、一种柔性扭矩传递装置， 包括输入轴 （18)、 导体筒 （6)、 导体环 （5)、 永磁体 （4)、 永磁体筒 （7)、 输出轴 （31)， 导体环 （5) 安装在导体筒 （6) 的内表面上， 永磁体 （4) 安装在永磁体筒 （7) 的外表面上， 导体环 （5) 与永磁体 （4) 之间存在气隙， 永磁体筒1. A flexible torque transmitting device comprising an input shaft (18), a conductor barrel (6), a conductor ring (5), a permanent magnet (4), a permanent magnet barrel (7), an output shaft (31), a conductor ring ( 5) Mounted on the inner surface of the conductor barrel (6), the permanent magnet (4) is mounted on the outer surface of the permanent magnet barrel (7), and there is an air gap between the conductor ring (5) and the permanent magnet (4). Magnet barrel
(7)与输出轴（31)相连接， 其特征在于： 还包括线圈组（3)、花键（16)、花键套（14)、 导磁体（9)、 弹性体（23)， 输入轴（18)与花键（16)相连接， 花键（16)与花键套（14) 相连接， 花键套 （14) 与导体筒 （6) 相连接， 导体筒 （6) 靠近花键套 （14) 的一侧设置 有支撑筒， 弹性体（23)—端与支撑筒相连接， 另一端与输入轴（18)相连接， 导磁体（9) 安装在支撑筒上， 线圈组 （3) 位于导磁体 （9) 的左侧或右侧。 (7) connected to the output shaft (31), characterized by: further comprising a coil group (3), a spline (16), a spline sleeve (14), a magnetizer (9), an elastomer (23), and an input The shaft (18) is connected to the spline (16), the spline (16) is connected to the spline sleeve (14), the spline sleeve (14) is connected to the conductor barrel (6), and the conductor barrel (6) is close to the flower One side of the key sleeve (14) is provided with a support cylinder, the elastic body (23) is connected to the support cylinder, the other end is connected to the input shaft (18), and the magnetizer (9) is mounted on the support cylinder, the coil assembly (3) Located on the left or right side of the magnetizer (9).
2、 根据权利要求 1所述的装置， 其特征在于： 还包括导柱 （20)， 导柱 （20)—端与输入 轴 （18) 或输出轴 （31) 相连接， 支撑筒套装在导柱 （20) 上， 弹性体 （23) 套装于导柱 2. The apparatus according to claim 1, further comprising: a guide post (20), the end of the guide post (20) being connected to the input shaft (18) or the output shaft (31), and the support cylinder is set in the guide On the column (20), the elastomer (23) is placed on the guide post
(20) 上。 (20) On.
3、 根据权利要求 1所述的装置， 其特征在于： 还包括线圈固定体 （2)、 轴承（29)、 锁紧 螺母 （30)， 线圈组 （3) 位于线圈固定体 （2) 内， 轴承 （29) 通过锁紧螺母 （30) 固定 安装在输入轴 （18) 或输出轴 （31) 上， 线圈固定体 （2) 安装在轴承 （29) 上。  3. The device according to claim 1, further comprising: a coil fixing body (2), a bearing (29), a lock nut (30), and the coil group (3) is located in the coil fixing body (2), The bearing (29) is fixedly mounted on the input shaft (18) or the output shaft (31) by a lock nut (30), and the coil fixing body (2) is mounted on the bearing (29).
4、 根据权利要求 2所述的装置， 其特征在于： 导柱 （20) 的另一端与输入轴 （31) 或输 出轴 （18) 相连接， 且导柱 （20) 可相对于输入轴 （31) 或输出轴 （18) 旋转。  4. Apparatus according to claim 2, characterized in that the other end of the guide post (20) is connected to the input shaft (31) or the output shaft (18) and the guide post (20) is rotatable relative to the input shaft ( 31) Or the output shaft (18) rotates.
5、 根据权利要求 2所述的装置， 其特征在于： 还包括过渡法兰 （10)， 弹性体（23) 的一 端位于支撑筒内， 支撑筒远离输入轴 （18) 的一侧安装有过渡法兰（10)， 过渡法兰（10) 套装于导柱 （20) 上， 并与导柱 （20) 采用间隙配合或者过渡配合， 弹性体（23) 的一端 与过渡法兰 （10) 相连接。  5. The apparatus according to claim 2, further comprising: a transition flange (10), one end of the elastic body (23) is located in the support cylinder, and the side of the support cylinder away from the input shaft (18) is installed with a transition The flange (10), the transition flange (10) is placed on the guide post (20) and has a clearance fit or transition fit with the guide post (20). One end of the elastomer (23) is in transition with the transition flange (10). connection.
6、 根据权利要求 5所述的装置， 其特征在于： 还包括弹性体固定法兰一（13)， 弹性体固 定法兰一（13)套装于导柱（20)上， 与过渡法兰（10)相连接， 弹性体固定法兰一（13) 与导柱（20)采用间隙配合或者过渡配合， 弹性体（23)的一端与弹性体固定法兰一（13) 相连接。  6. The device according to claim 5, further comprising: an elastic body fixing flange (13), the elastic body fixing flange (13) is set on the guide post (20), and the transition flange ( 10) The connecting body, the elastic fixing flange (13) and the guiding column (20) adopt a clearance fit or a transition fit, and one end of the elastic body (23) is connected with the elastic fixing flange (13).
7、根据权利要求 1所述的装置，其特征在于：永磁体筒（7)上至少安装有一圈永磁体（4)， 在与永磁体 （4) 相对应的位置上， 导体筒 （6) 上至少安装有一圈导体环 （5)。  7. Apparatus according to claim 1, characterized in that at least one permanent magnet (4) is mounted on the permanent magnet cylinder (7), and at a position corresponding to the permanent magnet (4), the conductor cylinder (6) Install at least one turn of the conductor ring (5).
8、 根据权利要求 7所述的装置， 其特征在于： 永磁体筒 （7) 上安装有二个永磁体 （4)， 导体筒 （6) 上安装有二个导体环 （5)， 二个导体环 （5) 或二个永磁体 （4) 之间存在间 隔， 二个导体环 （5) 之间的间隔大于永磁体 （4) 的宽度， 二个永磁体 （4) 之间的间隔 大于导体环 （5) 的宽度。 9、 根据权利要求 8所述的装置， 其特征在于： 导体环 （5) 与永磁体 （4) 的宽度相同。8. Apparatus according to claim 7, characterized in that: two permanent magnets (4) are mounted on the permanent magnet cylinder (7), and two conductor loops (5) are mounted on the conductor cylinder (6), two There is a gap between the conductor ring (5) or the two permanent magnets (4), the interval between the two conductor rings (5) is larger than the width of the permanent magnet (4), and the interval between the two permanent magnets (4) is greater than The width of the conductor loop (5). 9. Apparatus according to claim 8, characterized in that the conductor loop (5) is of the same width as the permanent magnet (4).
10、 根据权利要求 1所述的装置， 其特征在于： 花键套 （14) 和导体筒 （6) 形成的结合 体的重心位于花键套 （14) 的内腔范围内。 10. Apparatus according to claim 1, characterized in that the center of gravity of the combination formed by the spline sleeve (14) and the conductor barrel (6) lies within the inner cavity of the spline sleeve (14).
PCT/CN2013/001539 2013-10-21 2013-12-11 Flexible torque transmission apparatus WO2015058326A1 (en)

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