CN207691666U - A kind of contactless nutating decelerating motor of novel two-stage - Google Patents

Abstract

The utility model relates to a novel two-stage non-contact nutating reduction motor, which comprises a box body, an output shaft passing through the box body, an output cone wheel set on the output shaft, and a two-stage nutating disk. Including the upper cone wheel and the lower cone wheel, the upper cone wheel is connected to the output shaft through the joint bearing, the upper cone wheel is evenly distributed in the radial direction with a number of permanent magnets A with interlaced and opposite magnetic poles, and the lower cone wheel is evenly distributed in the circumferential direction There are a number of permanent magnets B with staggered and opposite magnetic poles, and an iron ring is provided at the lower end of the lower cone wheel; a number of permanent magnets C with staggered and opposite magnetic poles are evenly distributed on the inner wall of the box for magnetic coupling with the permanent magnet B, and the bottom of the box There are a number of electromagnets uniformly distributed around the output shaft, and the electromagnets are sequentially energized and magnetically attracted by the iron ring; the radial direction of the output cone disc is evenly distributed with a number of permanent magnets with alternating and opposite magnetic poles for magnetic coupling with the permanent magnet A D, the output cone disc is connected with the output shaft drive. The utility model has a compact and novel structure and can realize non-contact nutation deceleration.

Description

A new type of two-stage non-contact nutating gear motor

Technical field:

The utility model relates to a novel two-stage non-contact nutating reduction motor.

Background technique:

Compared with the existing gear reduction box, the nutating transmission has the advantages of compact structure and large transmission ratio. When matched with the motor, the motor can achieve low speed and high torque. For example, US Patent No. 4837470 discloses such a device, which uses electromagnets to control the nutation of the gear plate, and drives the driven wheel to rotate through the meshing of the gears. This traditional mechanical contact nutation drive has problems such as complex structure, mechanical fatigue, large vibration and noise, large friction loss, short life, and lubrication.

Utility model content:

The utility model makes improvements to the problems existing in the above-mentioned prior art, that is, the technical problem to be solved by the utility model is to provide a new type of two-stage non-contact nutating gear motor, which not only has a compact and novel structure, but also can realize non-contact Nutation deceleration.

In order to achieve the above purpose, the technical solution adopted by the utility model is: a new two-stage non-contact nutating geared motor, including a box body, an output shaft passing through the box body, and set on the output shaft sequentially from top to bottom The output cone disk and the secondary nutating disk, the secondary nutating disk includes an upper cone disk and a lower cone disk fixedly connected together, and the upper cone disk is connected to the output shaft through a joint bearing, There are several permanent magnets A with staggered and opposite magnetic poles uniformly distributed in the radial direction of the upper cone disc, and several permanent magnets B with staggered and opposite magnetic poles are evenly distributed in the circumferential direction of the lower cone disc, and the lower end of the lower cone disc is coaxially arranged There are iron rings; the inner wall of the box is evenly distributed with a number of permanent magnets C with staggered and opposite magnetic poles for magnetic coupling with the permanent magnet B, and the bottom of the box is provided with a number of electromagnets that are evenly distributed in a ring around the output shaft After a number of electromagnets are energized in turn, the two-stage nutating disk is driven to move through the iron ring; the disk of the output cone disk is evenly distributed in the radial direction with a number of permanent magnets D for magnetically coupling with the permanent magnet A, whose magnetic poles are staggered and opposite, The output cone disc is connected with the output shaft in transmission, so as to drive the output shaft to output torque.

Further, the outer ring of the joint bearing is fixed on the upper cone disc, and the inner ring of the joint bearing is fixed through the shoulder on the output shaft and the spring collar.

Further, the upper cone disc and the lower cone disc are connected by bolts.

Further, the output shaft is connected to the output bevel disc through a flat key.

Further, the upper port of the box body is provided with a box cover; the upper and lower ends of the output shaft are respectively provided with an end cover and a ball bearing between the box cover and the box body, and the end cover and the box cover and The boxes are respectively connected by several bolts; the outer ring of the ball bearing is fixed by the end cover, and the inner ring of the ball bearing is fixed by the sleeve set on the output shaft.

Further, the outer edge of the upper end of the box body is provided with a number of connecting ears A which are evenly distributed around the circumference, and the outer edge of the box cover is provided with connecting ears B corresponding to the connecting ears A one-to-one. It is connected with the connecting ear A by bolts.

Compared with the prior art, the utility model has the following effects: the utility model has a novel, unique and compact structural design, utilizes the characteristics of the nutating motion deceleration block and large transmission torque, and utilizes the advantages of non-contact and small vibration of the magnetic transmission, Not only can it be widely used in the fields of robot wrist joint transmission, aerospace vehicles and micro-miniature motors, but also solve the problems of complex structure, mechanical fatigue, large vibration noise, large friction loss, short life and lubrication in the prior art.

Description of drawings:

Fig. 1 is the front view sectional structure schematic diagram of the utility model embodiment;

Fig. 2 is the explosion schematic diagram of the utility model embodiment;

Fig. 3 is the structure schematic diagram of output cone wheel disc;

Fig. 4 is a schematic diagram of the structure of the second-stage nutating disk;

Fig. 5 is a schematic diagram of the structure of the second-stage nutating disk;

Fig. 6 is a schematic diagram of the structure of the box.

In the picture:

1-box; 101-connecting ear A; 102-groove; 103-mounting seat; 2-output shaft; 3-output cone disc; 4-secondary nutating disc; 401-upper cone disc; 402- Lower cone wheel; 5-joint bearing; 6-permanent magnet A; 7-permanent magnet B; 8-iron ring; 9-permanent magnet C; 10-electromagnet; 11-permanent magnet D; 12-spring collar; 13-box cover; 131-connecting ear B; 14-end cover; 15-ball bearing; 16-sleeve.

Detailed ways:

In order to explain the utility model more clearly, the utility model will be further described below in conjunction with the accompanying drawings and embodiments. Obviously, the accompanying drawings listed below are only some specific embodiments of the utility model.

As shown in Figures 1-5, the utility model is a new type of two-stage non-contact nutating geared motor, including a box body 1, an output shaft 2 passing through the box body 1, and set on the output shaft 2 sequentially from top to bottom. The upper output cone disc 3 and the secondary nutating disc 4, the secondary nutating disc 4 includes an upper cone disc 401 and a lower cone disc 402 fixedly connected together, and the upper cone disc 401 passes through the joint The bearing 5 is connected with the output shaft 2, and the upper cone wheel 401 is evenly distributed in the radial direction with a number of permanent magnets A6 with staggered and opposite magnetic poles, and the circumferential direction of the lower cone 402 is evenly distributed with a number of permanent magnets with staggered and opposite magnetic poles B7, the lower end of the lower cone wheel 402 is coaxially provided with an iron ring 8; the inner wall of the box 1 is evenly distributed with a number of permanent magnets C9 with alternating and opposite magnetic poles for magnetic coupling with the permanent magnet B7, the box 1 There are several electromagnets 10 that are evenly distributed in a ring around the output shaft 2 at the bottom of the bottom. After the electromagnets 10 are energized in turn, the secondary nutating disk 4 is driven to move through the iron ring 8; the disk radial direction of the output cone wheel 3 is uniform. A number of permanent magnets D11 for magnetically coupling with the permanent magnet A6 are distributed with staggered and opposite magnetic poles, and the output cone disc 3 is connected to the output shaft 2 in transmission. When working: the electromagnet 10 is energized in sequence, and the electromagnet 10 drives the lower cone wheel 402 to move by magnetically attracting the iron ring 8. The permanent magnets B7 distributed oppositely to the magnetic poles produce magnetic coupling, which makes the lower cone wheel 402 nutate and rotate; the upper cone wheel 401 nutates with the lower cone wheel 402, and the upper cone wheel 401 The permanent magnets A6 distributed oppositely to the staggered magnetic poles and the permanent magnets D11 distributed oppositely staggered in the radial direction of the output cone disc 3 produce a magnetic coupling effect, so that the output cone disc 3 rotates and drives the output shaft 2 to output torque.

In this embodiment, the outer ring of the joint bearing 5 is fixed on the upper cone wheel 401 , and the inner ring of the joint bearing 5 is fixed through the shoulder on the output shaft 2 and 12 spring clips.

In this embodiment, the upper cone disc 401 and the lower cone disc 402 are connected by bolts.

In this embodiment, the output shaft 2 is connected to the output cone wheel through a flat key.

In this embodiment, the upper port of the box body 1 is provided with a box cover 13; the upper and lower ends of the output shaft 2, the box cover 13 and the box body 1 are respectively provided with an end cover 14 and a ball bearing 15 , the end cover 14 is connected with the box cover 13 and the box body 1 through several bolts respectively; the outer ring of the ball bearing 15 is fixed by the end cover 14, and the inner ring of the ball bearing 15 is sleeved on the output shaft 2 The sleeve 16 is fixed.

In this embodiment, the outer edge of the upper end of the box body 1 is provided with several connecting ears A101 uniformly distributed around the circumference, and the outer edge of the box cover 13 is provided with connecting ears B131 corresponding to the plurality of connecting ears A101 one-to-one. The connecting ear B131 and the connecting ear A101 are connected by bolts.

In this embodiment, the inner side wall of the box body 1 is evenly distributed with a number of grooves 102 to facilitate the embedding of the permanent magnet C9, and the bottom of the box body 1 is provided with a number of mounting seats 103 uniformly distributed in a ring around the output shaft 2, so The electromagnet 10 is installed in the mounting seat 103 .

The above descriptions are only preferred embodiments of the present utility model, and all equivalent changes and modifications made according to the patent scope of the present utility model shall fall within the scope of the present utility model.

Claims (6)

1. A new type of two-stage non-contact nutating geared motor, characterized in that it includes a box, an output shaft passing through the box, an output cone set on the output shaft from top to bottom, and a two-stage The nutating disk, the two-stage nutating disk includes an upper cone disk and a lower cone disk fixedly connected together, the upper cone disk is connected to the output shaft through a joint bearing, and the disk radial direction of the upper cone disk A number of permanent magnets A with staggered and opposite magnetic poles are evenly distributed, and a number of permanent magnets B with staggered and opposite magnetic poles are evenly distributed in the circumferential direction of the lower cone wheel, and an iron ring is coaxially arranged at the lower end of the lower cone wheel; the box body There are several permanent magnets C with staggered and opposite magnetic poles on the inner wall of the box for magnetic coupling with the permanent magnet B. The bottom of the box is provided with a number of electromagnets uniformly distributed in a ring around the output shaft. Several electromagnets are energized in sequence and pass The iron ring drives the secondary nutating disc to move; the disc of the output cone disc is evenly distributed in the radial direction with a number of permanent magnets D with staggered and opposite magnetic poles for magnetic coupling with the permanent magnet A, and the output cone disc and the output shaft drive connected to drive the output shaft to output torque. 2. The new two-stage non-contact nutating geared motor according to claim 1, characterized in that: the outer ring of the joint bearing is fixed on the upper cone disc, and the inner ring of the joint bearing passes through the shaft on the output shaft. Shoulder and spring collar fastening. 3. The new two-stage non-contact nutating geared motor according to claim 1, characterized in that: the upper cone disc and the lower cone disc are connected by bolts. 4. The new two-stage non-contact nutating geared motor according to claim 1, characterized in that: the output shaft is connected to the output cone wheel through a flat key. 5. The new two-stage non-contact nutating geared motor according to claim 1, characterized in that: the upper port of the box body is provided with a box cover; the upper and lower ends of the output shaft are connected with the box cover and There are end covers and ball bearings respectively arranged between the box bodies, and the end covers, the box cover and the box body are respectively connected by several bolts; the outer ring of the ball bearings is fixed by the end covers, and the inner ring of the ball bearings is The sleeve fixed on the output shaft is fixed. 6. The new two-stage non-contact nutating geared motor according to claim 5, characterized in that: the outer edge of the upper end of the box is provided with a number of connecting ears A uniformly distributed around the circumference, and the outer edge of the box cover The edge is provided with connecting ears B corresponding to several connecting ears A one by one, and the connecting ears B and the connecting ears A are connected by bolts.