dc.description.abstract | The non-contact nutation deceleration motor proposed in this paper adds the magnetic meshing system on the basis of the traditional motor and the reducer, and realizes nutation deceleration effect by relying on the interaction force generated by the magnetic pole of the permanent magnet on the main and slave driving wheels to replace the meshing of the gears in the internal reducer of the original reducer. The motor has the advantages of large transmission ratio, small size, simple and reliable structure of nutation drive, as well as the vibration filtration and overload protection ability of magnetic drive. Papers use 3d design software design of the casing of the motor, nutation and permanent magnet structure, through permanent magnet, magnet arrangement, ratio analysis of the important parameters, such as size, chapters on the secondary magnetic mechanism internal magnetic field in motion and rotation between the air-gap magnetic field in the process of change and the pole to the load characteristics are analyzed.
With the continuous development and application of industrial robot technology, the requirements for robot joint drive components are also increasing. Traditional tandem joint drive reduction schemes often limit the flexibility of the robot joints and are accompanied by frictional wear and vibration problems caused by gear meshing. In order to solve this problem, the dissertation aims to design a non-contact geared motor combining magnetic drive technology and nutation deceleration principle, which makes the motor have the advantages of large transmission ratio, small size and simple and reliable structure. It also has the vibration transmission and overload protection capability of the magnetic drive. In this regard, the dissertation carried out the following work.
Firstly, based on the nutation principle and the planetary gear mechanism with few teeth difference, this dissertation deduced the calculation method of the transmission ratio of the non-contact magnetic nutation transmission mode. According to the working principle of the non-contact magnetic nutation geared motor, combined with the magnetic circuit design method and the characteristics of the permanent magnet material, the structural parameters of the nutating body and the permanent magnet are designed, and the box, the outer cone moving plate and the inner cone are completed. The basic structural parameters of the moving plate and the permanent magnet are determined. Combined with the magnetic circuit design principle, the micro-source method is used to theoretically analyze the magnetic force and magnetic moment between the primary and secondary magnetic rectification mechanism main driven wheels, and the magnetic nutation deceleration mechanism is obtained under non-equal spacing. The theoretical calculation formula of magnetic force and magnetic moment was finally designed and assembled in Solidworks software, which provided the structural scheme and theoretical basis for the study of the magnet structure parameters of the motor.
Secondly, using the three-dimensional finite element method, Maxwell software is used to analyze the influence of main design parameters such as the number of magnetic pole pairs, air gap size, permanent magnet thickness and permanent magnet length on the load capacity of the motor. The permanent magnet structure parameters and magnetic circuit arrangement of the motor. The radial, axial and circumferential magnetic induction changes of the two-stage magnetic nutation deceleration mechanism in the initial state of the air gap magnetic field are calculated, and the magnetic field distribution and magnetic field changes are analyzed. The basis of the air gap magnetic field change and load torque characteristics during the motion of the moving body provides the basis.
Finally, the Maxwell software is used to calculate the air gap magnetic field change and the moment angle characteristics of the first and second-order magnetic nutation deceleration mechanisms during operation. Through the analysis of the motion characteristics of the magnetic deceleration mechanism during the nutation, it is verified that it can meet the required design goals. Through reasonable analysis of the change of the magnetic field, some improvement measures are proposed.
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