CN110380555B - Harmonic speed-reducing coreless brushless permanent magnet motor - Google Patents
Harmonic speed-reducing coreless brushless permanent magnet motor Download PDFInfo
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- CN110380555B CN110380555B CN201910685044.5A CN201910685044A CN110380555B CN 110380555 B CN110380555 B CN 110380555B CN 201910685044 A CN201910685044 A CN 201910685044A CN 110380555 B CN110380555 B CN 110380555B
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 26
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 22
- 239000004917 carbon fiber Substances 0.000 claims abstract description 22
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 238000004519 manufacturing process Methods 0.000 claims abstract description 6
- 238000004804 winding Methods 0.000 claims description 31
- 210000000078 claw Anatomy 0.000 claims description 23
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 5
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 3
- 239000011810 insulating material Substances 0.000 claims description 3
- 238000009413 insulation Methods 0.000 claims description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 229910052751 metal Inorganic materials 0.000 claims description 2
- 239000002184 metal Substances 0.000 claims description 2
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- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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Abstract
A harmonic speed-reducing coreless brushless permanent magnet motor, the harmonic speed reducer is arranged at the central position in the shell, the coreless brushless permanent magnet motor is arranged at the circumferential position in the shell, the double-ring permanent magnet rotor is composed of a permanent magnet ring, the diameter of the double-ring permanent magnet rotor is large, the linear velocity is high, the weight is light, 20 small magnetic fields with mutually opposite polarities of the ring magnetic field ring rotate at high speed to generate magnetic line cutting motion with the ring coil group, the ring coil group is sealed in a carbon fiber coil framework to form a sealed ring stator, the coreless permanent magnet motor operates at high speed to improve the efficiency, the harmonic speed reducer is coaxial with the coreless permanent magnet motor at different speeds, the harmonic speed reducer has high bearing capacity, large transmission ratio, small volume, stable transmission and high transmission precision, is coaxially coupled with the high-speed coreless permanent magnet motor, reduces the speed, and is small in size and light in weight, can be applied to the field of electric vehicles and the field of robot manufacture.
Description
Technical Field
The invention relates to a harmonic speed reduction motor, in particular to a harmonic speed reduction coreless brushless permanent magnet motor.
Background
The harmonic speed reducing motor is a speed reducing motor integrating a motor and a harmonic speed reducer, has small volume and light weight, and is widely applied to the mechanical field, particularly the robot manufacturing field. For example, the invention patent application with the application number of 2019100302748 discloses an electromechanical integrated harmonic reducer, which is characterized in that a harmonic reducer is arranged at the front end in a shell of the electromechanical integrated harmonic reducer, and a common motor is arranged at the rear end, so that the common motor and the harmonic reducer in the prior art cause the complex structure, the large volume and the heavy weight of the whole machine, and are not beneficial to the wide application in the robot manufacturing field.
Disclosure of Invention
In order to overcome the defects of the conventional harmonic speed reduction motor, the invention discloses a harmonic speed reduction coreless brushless permanent magnet motor which is simple in structure, small in size, light in weight and high in efficiency.
The technical scheme that harmonic speed reduction coreless brushless permanent magnet motor adopted comprises harmonic speed reducer and coreless brushless permanent magnet motor, wherein including cylindric shell, disk end cover, step drive shaft, flexible outer ring gear, rigid inner ring gear, wave generator, dicyclo permanent magnet rotor, annular stator, its structural feature: the harmonic speed reduction coreless brushless permanent magnet motor is provided with a cylindrical shell, the cylindrical shell is provided with a left end cover, the cylindrical shell and the left end cover are integrally manufactured and molded, the middle part of the left end cover is provided with a bearing frame and a left bearing, the right end of the cylindrical shell is provided with a connecting disc, the right end of the connecting disc is provided with a disc-shaped end cover, a positioning table ring is arranged between the connecting disc and the disc-shaped end cover, the connecting disc and the circumference of the disc-shaped end cover are provided with a plurality of fastening screws, the connecting disc and the circumference of the disc-shaped end cover are provided with 4 mounting screw holes, the middle part of the disc-shaped end cover is provided with the bearing frame and a right bearing, the central part in the cylindrical shell is provided with a harmonic speed reducer which is provided with a step type driving shaft, inner circles of the left bearing and the right bearing, the wave generator is provided with a disc-shaped bracket, the center of the disc-shaped bracket is provided with a cylindrical bearing frame, a large bearing is arranged on the right inner circle of the cylindrical bearing frame, a small bearing is arranged on the left inner circle of the cylindrical bearing frame, the inner circle of the large bearing is arranged on the right step of a middle shaft of the stepped driving shaft, the inner circle of the small bearing is arranged on the left step of a thin shaft of the stepped driving shaft, the right end of the disc-shaped bracket is provided with an upper short shaft and a lower short shaft, the right ends of the upper short shaft and the lower short shaft are provided with outer snap springs, the left ends of the upper short shaft and the lower short shaft are provided with positioning tables, the left ends of the upper positioning table and the lower positioning tables are provided with short shaft screw caps, the upper short shaft and the lower short shaft are fastened at the right end of the disc-shaped bracket by the short shaft screw caps, the upper bearing and the lower bearing are respectively arranged on the, the upper plastic pulley and the lower plastic pulley are respectively supported at the upper end and the lower end of the inner circle of the flexible outer gear ring, so that the flexible outer gear ring is deformed into an elliptical outer gear ring; the left end of the disc-shaped end cover is provided with a cylindrical ring frame, the left end of the cylindrical ring frame is provided with a rigid inner gear ring, upper-end external teeth and lower-end external teeth of the oval outer gear ring are respectively engaged with upper-end internal teeth and lower-end internal teeth of the rigid inner gear ring, left-end external teeth and right-end external teeth of the oval outer gear ring are respectively separated from left-end internal teeth and right-end internal teeth of the rigid inner gear ring, the modulus of the internal teeth is equal to the modulus of the external teeth, the number of the internal teeth is greater than that of the external teeth, the disc-shaped support rotates around the stepped driving shaft, the upper plastic pulley and the lower plastic pulley revolve along the inner circle of the flexible outer gear ring on one hand, and the upper plastic pulley and the lower plastic pulley rotate on the other hand, so that the flexible outer gear ring becomes the rotationally deformed oval outer gear ring, a harmonic, the revolution value of the flexible outer gear ring is equivalent to the linear distance of the difference between the number of the inner teeth and the number of the outer teeth, so that the reduction ratio of the harmonic wave reduction gear is large; the periphery part in the cylindrical shell is provided with an ironless brushless permanent magnet motor, the ironless brushless permanent magnet motor is provided with a double-ring permanent magnet rotor, the double-ring permanent magnet rotor is provided with a magnetic conduction ring, a permanent magnet ring is arranged in the inner circle of the magnetic conduction ring, the right end of the magnetic conduction ring is aligned with the right end of the permanent magnet ring, the permanent magnet ring is formed by arranging 20 strip-shaped permanent magnets, the strip-shaped permanent magnets are strong magnets manufactured by neodymium iron boron materials, the polarity of the strip-shaped permanent magnets is radial, the polarities of the adjacent permanent magnets are opposite to each other and are alternately arranged to form a permanent magnet ring, the left end circumference of the magnetic conduction ring is connected with 20 equally-divided L-shaped magnetic conduction claws, the width of each L-shaped magnetic conduction claw is slightly smaller than that of the strip-shaped permanent magnet, the 20L-shaped magnetic conduction claws are positioned in the magnetic conduction ring to form a magnetic conduction claw ring, the same interval is arranged, an annular magnetic field space is arranged between the outer circle of the magnetic conduction claw ring and the inner circle of the permanent magnet ring, the radial direction of each strip-shaped permanent magnet of the permanent magnet ring is aligned with each L-shaped magnetic conduction claw, a positioning ring step is arranged at the right end of the disc-shaped support, the magnetic conduction claw ring on the left side of the double-ring permanent magnet rotor is installed in the positioning ring step, and a plurality of rotor screws are arranged on the circumference of the disc-shaped support and connected with and fastened with the L-shaped; the disc-shaped end cover is provided with a connecting ring frame, a ring-shaped stator is arranged on the outer circle of the connecting ring frame, the ring-shaped stator is provided with a carbon fiber coil framework, the carbon fiber coil framework is provided with an outer ring frame and an inner ring frame, a coil cavity is arranged between the outer ring frame and the inner ring frame, the right end of the coil cavity is a closed cavity bottom ring, the periphery of the cavity bottom ring is provided with a plurality of framework screws, the carbon fiber coil framework is fastened on the outer circle of the connecting ring frame by the framework screws, the cavity bottom ring is provided with wire holes, the disc-shaped end cover is provided with wire holes, 18 strip-shaped coils are arranged in the coil cavity and form a ring-shaped coil group, the right end of the ring-shaped coil group is provided with a jumper wire cavity, the ring-shaped coil group respectively consists of an A-phase coil, a B-phase coil and a C-phase coil, the phase difference position between the three-phase coils is 120 degrees in electrical angle, each phase coil respectively consists of 3 branching coil windings with the same, the branching coil winding is formed by connecting 2 adjacent strip coils with the same number of turns in series, the winding directions of the adjacent strip coils are opposite, the strip coils are wound on a coil mould by using a plurality of strands of enameled wires, three Hall sensors at different positions are respectively arranged at the middle positions of the strip coils, the phase difference position between the three Hall sensors is an electrical angle of 60 degrees, each branching coil winding is formed on the coil mould, each branching coil winding is provided with a head end jumper wire and a tail end jumper wire, the annular coil group is totally provided with 9 branching coil windings, the left ends of the 9 branching coil windings are sequentially arranged in an annular groove of the forming mould and are orderly arranged into an annular shape by the forming mould, the branching coil windings in each phase of the coil groups are evenly distributed in the annular coil group according to the phase difference position of 120 degrees electrical angle between the three phase of the coil groups, and according to the position of each branching coil winding, determining the connection relation between a plurality of head end jumpers and tail end jumpers at the right end of the annular coil group, accurately connecting the head end jumpers and the tail end jumpers into a plurality of jumper connectors, respectively connecting 9 branching coil windings in series into an A-phase coil, a B-phase coil and a C-phase coil, connecting the three-phase coil into a Y-shaped circuit form, leading out an output line of the three-phase coil, and combining the output line of the three-phase coil and an output line of the Hall sensor to form an output cable; the right end of the annular coil group on the forming die is installed from the left end of the coil cavity of the carbon fiber coil framework, the output cable penetrates into the wire outlet hole of the cavity bottom ring, the joints of the plurality of jumper wires are positioned in the jumper wire cavity, and the coil cavity of the carbon fiber coil framework at the left end of the annular coil group is sealed by AB glue.
The harmonic speed reduction coreless brushless permanent magnet motor has the beneficial effects that: the harmonic reducer of the harmonic speed reduction coreless brushless permanent magnet motor is arranged at the central position in the shell, the coreless brushless permanent magnet motor is arranged at the circumferential position in the shell, the space in the shell is fully utilized, the double-ring permanent magnet rotor consists of a permanent magnet ring, the diameter of the double-ring permanent magnet rotor is large, the linear velocity is high, the weight is light, the dynamic balance is stable during high-speed rotation, the annular magnetic field ring generated by electrifying the annular coil group does not need the magnetic conduction of an iron core to change the direction of a magnetic circuit and is directly superposed with the annular magnetic field ring formed between the permanent magnet ring and the magnetic conduction claw ring, 20 small magnetic fields with mutually opposite polarities of the annular magnetic field ring rotate at high speed to generate magnetic line cutting motion with the annular coil group, 18 small magnetic fields with mutually opposite polarities generated by the annular coil group automatically change the phase along with the signal of the Hall sensor, the annular coil group with 18 magnetic, the inductance of the annular coil group is enhanced, the driving force of the motor is enhanced, the annular coil group is sealed in the carbon fiber coil framework to form a sealed annular stator of the coreless permanent magnet motor, the carbon fiber is a high-strength insulating material, and the problems of support, insulation and sealing of the coreless permanent magnet motor annular stator are solved; the coreless permanent magnet motor can improve the efficiency only in a high-speed running state, therefore, a harmonic reducer is selected to be matched with the coreless permanent magnet motor for speed reduction, the harmonic reducer is installed at the center of the coreless permanent magnet motor and is coaxial with the coreless permanent magnet motor at different speeds, the harmonic reducer is high in bearing capacity, large in transmission ratio, small in size, stable in transmission and high in transmission precision, is coaxially coupled with the high-speed coreless permanent magnet motor, is good in speed reduction transmission and matching, is small in size and light in weight, and can be applied to the field of electric vehicles and the field of robot manufacturing.
Drawings
Fig. 1 is a schematic view of a front-view cross-sectional structure of a harmonic-wave deceleration coreless brushless permanent magnet motor.
Fig. 2 is a schematic diagram of a right-view cross-sectional structure of a harmonic-wave deceleration coreless brushless permanent magnet motor.
Fig. 3 is a schematic diagram of a right-side cross-sectional structure of the annular coil assembly.
Fig. 4 is a schematic structural diagram of a front cross section of the coil winding.
Fig. 5 is a schematic structural view of the annular coil assembly and the forming mold.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The harmonic speed reduction coreless brushless permanent magnet motor is provided with a cylindrical shell 1, the cylindrical shell is provided with a left end cover 2, the cylindrical shell and the left end cover are integrally manufactured and molded, the middle part of the left end cover is provided with a bearing frame and a left bearing 3, the right end of the cylindrical shell is provided with a connecting disc 4, the right end of the connecting disc is provided with a disc-shaped end cover 5, a positioning table ring 6 is arranged between the connecting disc and the disc-shaped end cover, the circumferences of the connecting disc and the disc-shaped end cover are provided with a plurality of fastening screws 7, the circumferences of the connecting disc and the disc-shaped end cover are provided with 4 mounting screw holes 8, the middle part of the disc-shaped end cover is provided with the bearing frame and a right bearing 9, the central part in the cylindrical shell is provided with a harmonic speed reducer, the harmonic speed reducer is provided with a stepped driving shaft 10, the left, the flexible outer gear ring is in a metal cylinder shape, the cylinder wall is thin, the flexible outer gear ring not only has flexibility but also has elasticity, the circumference of the left end of the flexible outer gear ring is provided with outer teeth, the step type driving shaft, the conical disc support and the flexible outer gear ring are manufactured and molded integrally, the wave generator is provided with a disc support 13, the center of the disc support is provided with a cylinder-shaped bearing support 14, a large bearing 15 is arranged on the right inner circle of the cylinder-shaped bearing support, a small bearing 16 is arranged on the left inner circle of the cylinder-shaped bearing support, the large bearing inner circle is arranged on the right step of a middle shaft of the step type driving shaft, the small bearing inner circle is arranged on the left step of a thin shaft of the step type driving shaft, the right end of the disc-shaped support is provided with an upper short shaft 17 and a lower short shaft 18, the right ends of the upper short shaft and the lower, an upper bearing 22 and a lower bearing 23 are respectively arranged on the upper short shaft and the lower short shaft, plastic pulleys 24 are respectively arranged on the outer circles of the upper bearing and the lower bearing, and the upper plastic pulley and the lower plastic pulley are respectively supported at the upper end and the lower end of the inner circle of the flexible outer gear ring, so that the flexible outer gear ring is deformed to be an elliptical outer gear ring; the left end of the disc-shaped end cover is provided with a cylindrical ring frame 25, the left end of the cylindrical ring frame is provided with a rigid inner gear 26, upper-end external teeth and lower-end external teeth of the oval outer gear ring are respectively engaged with upper-end internal teeth and lower-end internal teeth of the rigid inner gear ring, left-end external teeth and right-end external teeth of the oval outer gear ring are respectively separated from left-end internal teeth and right-end internal teeth of the rigid inner gear ring, the modulus of the internal teeth is equal to the modulus of the external teeth, the number of the internal teeth is greater than that of the external teeth, the disc-shaped support rotates around the stepped driving shaft, the upper plastic pulley and the lower plastic pulley revolve along the inner circle of the flexible outer gear ring on one hand, and the upper plastic pulley and the lower plastic pulley revolve around the inner circle on the other hand respectively, so that the flexible outer gear ring becomes the rotationally deformed oval outer gear, the revolution value of the flexible outer gear ring is equivalent to the linear distance of the difference between the number of the inner teeth and the number of the outer teeth, so that the reduction ratio of the harmonic wave reduction gear is large; the periphery part in the cylindrical shell is provided with an ironless brushless permanent magnet motor, the ironless brushless permanent magnet motor is provided with a double-ring permanent magnet rotor, the double-ring permanent magnet rotor is provided with a magnetic conduction ring 27, a permanent magnet ring 28 is arranged in the inner circle of the magnetic conduction ring, the right end of the magnetic conduction ring is aligned with the right end of the permanent magnet ring, the permanent magnet ring is formed by arranging 20 strip-shaped permanent magnets 29, each strip-shaped permanent magnet is a strong magnet made of neodymium iron boron, the polarity of the strip-shaped permanent magnets is radial, the polarities of the adjacent permanent magnets are opposite, the permanent magnet ring is formed by alternately arranging, the left end circumference of the magnetic conduction ring is connected with 20 equally-divided L-shaped magnetic conduction claws 30, the width of each L-shaped magnetic conduction claw is slightly smaller than that of each strip-shaped permanent magnet, the 20L-shaped magnetic conduction claws are positioned in the magnetic conduction ring to surround a magnetic conduction claw, the double-ring magnetic conduction ring and the permanent magnet ring form a double-ring permanent magnet rotor, an annular magnetic field space 33 is arranged between the outer circle of the magnetic conduction claw ring and the inner circle of the permanent magnet ring, the radial direction of each strip-shaped permanent magnet of the permanent magnet ring is aligned with each L-shaped magnetic conduction claw, a positioning ring step is arranged at the right end of the disc-shaped support, the magnetic conduction claw ring on the left side of the double-ring permanent magnet rotor is installed in the positioning ring step, and a plurality of rotor screws 34 are arranged on the circumference of the disc-shaped support; the disc-shaped end cover is provided with a connecting ring frame 35, the outer circle of the connecting ring frame is provided with a ring-shaped stator, the ring-shaped stator is provided with a carbon fiber coil framework, the carbon fiber coil framework is provided with an outer ring frame 36 and an inner ring frame 37, a coil cavity is arranged between the outer ring frame and the inner ring frame, the right end of the coil cavity is provided with a closed cavity bottom ring 38, the periphery of the cavity bottom ring is provided with a plurality of framework screws 39, the carbon fiber coil framework is fastened on the outer circle of the connecting ring frame by the framework screws, the cavity bottom ring is provided with wire holes 40, the disc-shaped end cover is provided with wire outlet holes, 18 strip-shaped coils 41 are arranged in the coil cavity, 18 strip-shaped coils are arranged to form a ring-shaped coil group 42, the right end of the ring-shaped coil group is provided with a jumper wire cavity 43, the ring-shaped coil group is respectively composed of an A-phase coil, a B-phase coil and a C-phase coil, the, 3 branching coil windings are respectively equally divided on 3 different positions of an annular coil group, each branching coil winding is formed by connecting 2 adjacent strip coils 41 with the same number of turns in series, the winding directions of the adjacent strip coils are opposite, the strip coils are wound on a coil mould by using a plurality of strands of enameled wires, Hall sensors 45 at three different positions are respectively arranged at the middle positions of a plurality of strip coils, the phase difference position between the three Hall sensors is an electrical angle of 60 degrees, each branching coil winding is formed on the coil mould, each branching coil winding is provided with a head-end jumper wire 46 and a tail-end jumper wire 47, the annular coil group is totally provided with 9 branching coil windings, the left ends of the 9 branching coil windings are sequentially arranged in an annular groove of the forming mould and are regularly arranged into an annular shape by the forming mould, the branching coil windings in each phase coil group are evenly distributed in the annular coil group according to the phase difference position of 120 degrees between the three phase coil groups, determining the connection relation between a plurality of head-end jumpers and tail-end jumpers at the right end of the annular coil group according to the position of each branching coil winding, accurately connecting the head-end jumpers and the tail-end jumpers into a plurality of jumper connectors 48, respectively connecting 9 branching coil windings in series into an A-phase coil, a B-phase coil and a C-phase coil, connecting the three-phase coils into a Y-shaped circuit form, leading out output lines of the three-phase coils, and combining the output lines of the three-phase coils and the output lines of the Hall sensor to form an output cable 49; the right end of the annular coil assembly on the forming die 50 is installed from the left end of the coil cavity of the carbon fiber coil framework, the output cable penetrates into the wire hole of the cavity bottom ring, the joints of the plurality of jumper wires are positioned in the jumper wire cavity, and the coil cavity of the carbon fiber coil framework at the left end of the annular coil assembly is sealed by AB glue 51.
The harmonic reducer of the harmonic speed reduction coreless brushless permanent magnet motor is arranged at the central position in the shell, the coreless brushless permanent magnet motor is arranged at the circumferential position in the shell, the space in the shell is fully utilized, the double-ring permanent magnet rotor consists of a permanent magnet ring, the diameter of the double-ring permanent magnet rotor is large, the linear velocity is high, the weight is light, the dynamic balance is stable during high-speed rotation, the annular magnetic field ring generated by electrifying the annular coil group does not need the magnetic conduction of an iron core to change the direction of a magnetic circuit and is directly superposed with the annular magnetic field ring formed between the permanent magnet ring and the magnetic conduction claw ring, 20 small magnetic fields with mutually opposite polarities of the annular magnetic field ring rotate at high speed to generate magnetic line cutting motion with the annular coil group, 18 small magnetic fields with mutually opposite polarities generated by the annular coil group automatically change the phase along with the signal of the Hall sensor, the annular coil group with 18 magnetic, the inductance of the annular coil group is enhanced, the driving force of the motor is enhanced, the annular coil group is sealed in the carbon fiber coil framework to form a sealed annular stator of the coreless permanent magnet motor, the carbon fiber is a high-strength insulating material, and the problems of support, insulation and sealing of the coreless permanent magnet motor annular stator are solved; the coreless permanent magnet motor can improve the efficiency only in a high-speed running state, therefore, a harmonic reducer is selected to be matched with the coreless permanent magnet motor for speed reduction, the harmonic reducer is installed at the center of the coreless permanent magnet motor and is coaxial with the coreless permanent magnet motor at different speeds, the harmonic reducer is high in bearing capacity, large in transmission ratio, small in size, stable in transmission and high in transmission precision, is coaxially coupled with the high-speed coreless permanent magnet motor, is good in speed reduction transmission and matching, is small in size and light in weight, and can be applied to the field of electric vehicles and the field of robot manufacturing.
Claims (2)
1. The utility model provides a harmonic speed reduction does not have brushless permanent-magnet machine of iron core, comprises harmonic speed reducer ware and no brushless permanent-magnet machine of iron core, wherein includes cylindric shell, disk end cover, step drive shaft, flexible outer gear ring, rigidity ring gear, wave generator, dicyclo permanent-magnet rotor, annular stator, its characterized in that: the harmonic speed reduction coreless brushless permanent magnet motor is provided with a cylindrical shell (1), the cylindrical shell is provided with a left end cover (2), the cylindrical shell and the left end cover are integrally manufactured and formed, the middle part of the left end cover is provided with a bearing frame and a left bearing (3), the right end of the cylindrical shell is provided with a connecting disc (4), the right end of the connecting disc is provided with a disc-shaped end cover (5), a positioning table ring (6) is arranged between the connecting disc and the disc-shaped end cover, the circumferences of the connecting disc and the disc-shaped end cover are provided with a plurality of fastening screws (7), the circumferences of the connecting disc and the disc-shaped end cover are provided with 4 mounting screw holes (8), the middle part of the disc-shaped end cover is provided with the bearing frame and a right bearing (9), a harmonic speed reducer is arranged at the central part in the cylindrical shell and is provided with a stepped driving, the flexible outer gear ring (12) is connected with the periphery of the conical disc support, the flexible outer gear ring is in a metal cylinder shape, the cylinder wall is thin, flexibility and elasticity are achieved, external teeth are arranged on the periphery of the left end of the flexible outer gear ring, the stepped driving shaft, the conical disc support and the flexible outer gear ring are manufactured and formed in an integrated mode, the wave generator is provided with a disc-shaped support (13), a cylindrical bearing frame (14) is arranged in the center of the disc-shaped support, a large bearing (15) is installed on the right inner circle of the cylindrical bearing frame, a small bearing (16) is installed on the left inner circle of the cylindrical bearing frame, the large bearing inner circle is installed on the right step of a center shaft of the stepped driving shaft, the small bearing inner circle is installed on the left step of a thin shaft of the stepped driving shaft, an upper short shaft (17) and a lower short shaft (18) are, The left end of the lower positioning table is provided with a short shaft nut (21), the short shaft nut fastens an upper short shaft and a lower short shaft at the right end of the disc-shaped support, the upper short shaft and the lower short shaft are respectively provided with an upper bearing (22) and a lower bearing (23), the outer circles of the upper bearing and the lower bearing are respectively provided with a plastic pulley (24), and the upper plastic pulley and the lower plastic pulley are respectively supported at the upper end and the lower end of the inner circle of the flexible outer gear ring to deform the flexible outer gear ring into an elliptical outer gear ring; a cylindrical ring frame (25) is arranged at the left end of the disc-shaped end cover, a rigid inner gear ring (26) is arranged at the left end of the cylindrical ring frame, upper-end external teeth and lower-end external teeth of the oval outer gear ring are respectively meshed with upper-end internal teeth and lower-end internal teeth of the rigid inner gear ring, left-end external teeth and right-end external teeth of the oval outer gear ring are respectively separated from left-end internal teeth and right-end internal teeth of the rigid inner gear ring, the modulus of the rigid internal teeth is equal to the modulus of the oval external teeth, the number of the rigid internal teeth is greater than that of the oval external teeth, the disc-shaped support rotates around the stepped driving shaft, the upper plastic pulley and the lower plastic pulley revolve along the inner circle of the flexible outer gear ring on one hand, the upper plastic pulley and the lower plastic pulley rotate on the other hand respectively, the flexible outer gear ring becomes the rotationally deformed oval outer gear, the revolution value of the flexible outer gear ring is equivalent to the linear distance of the difference between the number of the inner teeth and the number of the outer teeth, so that the reduction ratio of the harmonic wave reduction gear is large; the iron-core-free brushless permanent magnet motor is arranged on the circumferential part in the cylindrical shell, the iron-core-free brushless permanent magnet motor is provided with a double-ring permanent magnet rotor, the double-ring permanent magnet rotor is provided with a magnetic conduction ring (27), a permanent magnet ring (28) is arranged in the inner circle of the magnetic conduction ring, the right end of the magnetic conduction ring is aligned with the right end of the permanent magnet ring, the permanent magnet ring is formed by arranging 20 strip-shaped permanent magnets (29), each strip-shaped permanent magnet is a strong magnet manufactured by neodymium iron boron materials, the polarities of the strip-shaped permanent magnets are radial, the polarities of the adjacent permanent magnets are opposite, the permanent magnet ring is formed by alternately arranging, the left end circumference of the magnetic conduction ring is connected with 20 equally-divided L-shaped magnetic conduction claws (30), the width of each L-shaped magnetic conduction claw is slightly smaller than that of each strip-shaped permanent magnet, the 20L-shaped magnetic conduction claws are positioned in the magnetic conduction ring to form, the double-ring magnetic conduction ring and the permanent magnet ring form a double-ring permanent magnet rotor, an annular magnetic field space (33) is arranged between the outer circle of the magnetic conduction claw ring and the inner circle of the permanent magnet ring, the radial direction of each strip-shaped permanent magnet of the permanent magnet ring is aligned with each L-shaped magnetic conduction claw, the right end of the disk-shaped support is provided with a positioning ring step, the magnetic conduction claw ring on the left side of the double-ring permanent magnet rotor is installed in the positioning ring step, and the periphery of the disk-shaped support is provided with a plurality of rotor screws (; the disc-shaped end cover is provided with a connecting ring frame (35), an annular stator is arranged on the outer circle of the connecting ring frame, the annular stator is provided with a carbon fiber coil framework, the carbon fiber coil framework is provided with an outer ring frame (36) and an inner ring frame (37), a coil cavity is arranged between the outer ring frame and the inner ring frame, the right end of the coil cavity is a closed cavity bottom ring (38), the periphery of the cavity bottom ring is provided with a plurality of framework screws (39), the carbon fiber coil framework is fastened on the outer circle of the connecting ring frame by the framework screws, the cavity bottom ring is provided with wire holes (40), the disc-shaped end cover is provided with wire holes, 18 strip coils (41) are arranged in the coil cavity, 18 strip coils form an annular coil group (42), the right end of the annular coil group is a jumper coil cavity (43), the annular coil group respectively consists of an A-phase coil, a B-phase coil and a C-phase coil, the phase difference position among the three-phase coils is an electric angle of 120 degrees, and each phase coil respectively consists of, 3 branching coil windings are respectively equally divided on 3 different positions of an annular coil group, the branching coil windings are formed by connecting 2 adjacent strip coils (41) with the same number of turns in series, the winding directions of the adjacent strip coils are opposite, the strip coils are wound on a coil mould by using a plurality of strands of enameled wires, three Hall sensors (45) at different positions are respectively arranged at the middle positions of the strip coils, the phase difference position between the three Hall sensors is an electrical angle of 60 degrees, each branching coil winding is formed on the coil mould, each branching coil winding is provided with a head-end jumper (46) and a tail-end jumper (47), the annular coil group is totally provided with 9 branching coil windings, the left ends of the 9 branching coil windings are sequentially arranged in an annular groove of the forming mould and are regularly arranged into an annular shape by the forming mould, the branching coil windings in each phase coil group are evenly distributed in the annular coil group according to the phase difference position of 120 degrees between the three phase coil groups, determining the connection relation between a plurality of head end jumpers and tail end jumpers at the right end of the annular coil group according to the position of each branching coil winding, accurately connecting the head end jumpers and the tail end jumpers into a plurality of jumper connectors (48), respectively connecting 9 branching coil windings in series into an A-phase coil, a B-phase coil and a C-phase coil, connecting the three-phase coils into a Y-shaped circuit form, leading out output lines of the three-phase coils, and combining the output lines of the three-phase coils and the output lines of the Hall sensor to form an output cable (49); the right end of an annular coil group on a forming die (50) is arranged from the left end of a coil cavity of a carbon fiber coil framework, an output cable penetrates through a wire hole of a cavity bottom ring, joints of a plurality of jumper wires are positioned in the jumper wire cavity, and the coil cavity of the carbon fiber coil framework at the left end of the annular coil group is sealed by AB glue (51).
2. The harmonic speed reduction ironless brushless permanent magnet electric machine of claim 1, wherein: the harmonic reducer of the harmonic speed reduction coreless brushless permanent magnet motor is arranged at the central position in the shell, the coreless brushless permanent magnet motor is arranged at the circumferential position in the shell, the space in the shell is fully utilized, the double-ring permanent magnet rotor consists of a permanent magnet ring, the diameter of the double-ring permanent magnet rotor is large, the linear velocity is high, the weight is light, the dynamic balance is stable during high-speed rotation, the annular magnetic field ring generated by electrifying the annular coil group does not need the magnetic conduction of an iron core to change the direction of a magnetic circuit and is directly superposed with the annular magnetic field ring formed between the permanent magnet ring and the magnetic conduction claw ring, 20 small magnetic fields with mutually opposite polarities of the annular magnetic field ring rotate at high speed to generate magnetic line cutting motion with the annular coil group, 18 small magnetic fields with mutually opposite polarities generated by the annular coil group automatically change the phase along with the signal of the Hall sensor, the annular coil group with 18 magnetic, the inductance of the annular coil group is enhanced, the driving force of the motor is enhanced, the annular coil group is sealed in the carbon fiber coil framework to form a sealed annular stator of the coreless permanent magnet motor, the carbon fiber is a high-strength insulating material, and the problems of support, insulation and sealing of the coreless permanent magnet motor annular stator are solved; the coreless permanent magnet motor can improve the efficiency only in a high-speed running state, therefore, a harmonic reducer is selected to be matched with the coreless permanent magnet motor for speed reduction, the harmonic reducer is installed at the center of the coreless permanent magnet motor and is coaxial with the coreless permanent magnet motor at different speeds, the harmonic reducer is high in bearing capacity, large in transmission ratio, small in size, stable in transmission and high in transmission precision, is coaxially coupled with the high-speed coreless permanent magnet motor, is good in speed reduction transmission and matching, is small in size and light in weight, and can be applied to the field of electric vehicles and the field of robot manufacturing.
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| US11646633B2 (en) * | 2021-04-06 | 2023-05-09 | Hamilton Sundstrand Corporation | Aircraft electric motor |
| CN114751326A (en) * | 2022-03-31 | 2022-07-15 | 浙江阜康机械有限公司 | Permanent magnet electric capstan |
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| JP2001112215A (en) * | 1999-10-05 | 2001-04-20 | Yaskawa Electric Corp | Reduction gear integrated actuator |
| CN203477199U (en) * | 2013-09-06 | 2014-03-12 | 上海鑫君传动科技有限公司 | Harmonic speed reducer capable of avoiding interference of gear |
| CN104935132B (en) * | 2015-06-15 | 2017-12-29 | 许昌学院 | A kind of double engagement permanent magnet motors |
| JP6441757B2 (en) * | 2015-07-17 | 2018-12-19 | 本田技研工業株式会社 | Eccentric direction detection device and variable gap motor |
| CN106230186B (en) * | 2016-08-15 | 2019-05-24 | 广州市昊志机电股份有限公司 | It is a kind of to gather the hollow type harmonic speed reducer for having motor |
| CN106877539B (en) * | 2017-04-16 | 2018-10-26 | 朱幕松 | Iron-core-free brushless gearless big hub motor |
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Effective date of registration: 20230913 Address after: 3-4, No. 58-21 Jinyang Street, Dongling District, Shenyang City, Liaoning Province, 110000 Patentee after: Sun Guoliang Address before: 236008 Room 203, No. 7 Building, No. 49 Yingzhou Middle Road, Yingquan District, Fuyang City, Anhui Province Patentee before: Zhu Musong |
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