RU2538478C1 - Gear-motor drive with integrated precessing gear wheel (versions) - Google Patents

Abstract

FIELD: electricity.

SUBSTANCE: gear-motor drive comprises (1) a gear wheel (2) and inductance coils (10), and each coil has a movable core (11). The intermediate gear wheel (3) with tooth rings (4, 5) is fixed so that it ensures precessing motion of an auxiliary axis (7) placed by its first end in the body (2) and by the other end in the output shaft bore (9). The inductance coils (10) are placed in a circumferential direction in the peripheral part of the precessing gear wheel (3) with a gap between the butt end of the inductance coil and flat surface of the precessing wheel. The core (11) protrudes outside the butt end of the inductance coil (10) and in protruded state it is pressed to the flat surface of the precessing gear wheel. Gear rings of all gear wheels are equipped with end teeth. Versions of the gear-motor wheel with rigid core, inductance coils and ferromagnetic straps and the gear-motor wheel with permanent magnets and inductance coils are specified herein.

EFFECT: development of a new design for electric machine combining advantages of the butt electric motor and precessional planetary transmission.

32 cl, 14 dwg

Description

The group of inventions relates to electrical engineering and is used in electromechanical drives, in particular in instrumentation, in automation for various technological lines. The invention relates, inter alia, to electromechanical drives in servo systems, for example, systems providing a combination of large loads on the output shaft and small angles of rotation of the output shaft.

The purpose of the invention is the creation of a new design of an electric machine, which is structurally coupled with a gearbox and can be used as an electric drive of wide application. A geared motor is used to convert electric energy coming from its external source, including, possibly, regulated by the necessary law, into the mechanical energy of rotation of the output shaft, articulated with elements and units of automated devices, machines and mechanisms.

OPTION 1

The invention is known as "Planetary precession transmission", copyright certificate SU 1456658, publ. 02/07/1989, IPC F16H 1/32, which is equipped with a housing, an output shaft, a conical wheel connected to the output shaft and a satellite with the possibility of oscillatory motion, performing the function of a precessing wheel They have gear rims made of end conical, and the satellites do not rotational, but precessional movement around the axis of the gearbox. Profiles of gear rims are made involute. The invention relates to gearboxes and has another The invention allows to increase the accuracy and durability of the transmission by eliminating the backlash in the gearing, however, it is not a gear motor, since it is equipped with an input power shaft that transmits the torque to the gears. surface, which reduces the resource and reliability of the design, and also significantly complicates its design.

The invention is known "Conical wave transmission", patent RU 2145016, publ. 01/27/2000, IPC F16H 1/32, equipped with a housing with at least two bevel gears with end gears mounted with the possibility of engagement, one of which is mounted motionless in the circumferential direction relative to the housing and with the possibility of axial swinging under the action of the oscillation generator, and the other wheel is fixed to the output shaft. The invention can be used in drives, but its function is limited only by the function of the gearbox, since it has an input power shaft. This device provides an increase in the load capacity of wave transmission while ensuring high efficiency and small dimensions, but is not a gear motor. The function of the oscillation generator is only the implementation of the precessional movement of the wheel, however, this design is complex and technologically expensive. In addition, the presence of flexible deformable elements significantly complicates the design and reduces its reliability.

The invention is known "End-face wave electric motor", copyright certificate SU 773851, publ. 10.23.1980, IPC 02K 41/06, which has a stator with a winding and gear transmission. It allows to increase the stability of the electric motor and increase the stability of the flexible rotor. However, this invention solves another problem, namely to overcome losses in a flexible multilayer magnetically conductive rotor due to the passage of magnetic flux across the layers. This device uses a flexible rotor, which reduces the reliability of the structure and complicates its production. Flexible elements also reduce the resource of the product and, in addition, do not allow to increase the torque on the output shaft for use in a given mode.

The closest technical solution to the claimed group of inventions is the invention "Planetary electric motor-reducer", patent RU 2294587, publ. 02/27/2007, IPC H02K 7/116, F16H 1/32, which is equipped with a housing, a gear wheel of the gearbox and an intermediate gear wheel (gear), and the gear wheel of the first stage of the gearbox functions as a motor stator and is equipped with electromagnet coils, made with teeth included into gearing with the teeth of the intermediate gear. An end collector is installed on the gear wheel of the 1st stage with current-supplying and current-removing contacts, the gear teeth come into contact with the teeth of the gear of the second stage (spindle) and the current supply to the electromagnet coils causes the intermediate wheel (gear) to shift relative to the point where its teeth enter the gear teeth of the 1st stage and the intermediate gear into each other, or relative to the contact point of the two friction pairs formed by them. The invention allows to combine the first and second stages of the gearbox as a stator and motor armature, respectively. However, the design has friction surfaces, which leads to additional costs for overcoming friction, as well as to the contact connector, in which sparking can occur, which significantly reduces the durability, reliability, and decrease in accuracy in the rotation angles and / or decrease in the accuracy of obtaining a given torque value torque on the output shaft. In addition, the design does not allow the use of a precessing gear wheel, with the help of which they provide in the proposed technical solution high accuracy of rotation of the output shaft. In addition, the gear transmission has a low load capacity due to the fact that there is no node transmitting the reaction of torque to the housing.

The objective of the invention is to provide a device that combines the advantages of the end motor and planetary precession transmission.

It is known that, with the development of automation tools of various technologies in automatic drive systems (APS) for rotating loads, devices appeared in which the electric motor and gearbox of various kinds of couplings are coupled. In this case, electric motors of various types were used: synchronous, asynchronous or stepper motors. The next generation of drive systems combined the stator and rotor into a common electric motor-gearbox system. Such devices became known as gear motors (MP). In them, the first stage with a gear wheel rigidly fixed to the housing carried the function of a stator, and the second stage with a gear wheel rigidly mounted on the output shaft carried the function of a rotor.

As the APS develops, to rotate the loads, including those requiring high precision in the execution of electrical commands to implement the given law of their movements, as well as to reduce the mass and size of MP, among the known designs of the actual gearboxes, various versions of the planetary gearboxes are used. Among them, due to their compactness (since they allow the realization of large gear ratios in one reduction stage), planetary gearboxes with spur gears with eccentric shafts stood out first. Moreover, they have all the elements made rigid, and the profiles of the gear rims of the wheels are made either involute or cycloidal.

To create high-precision APS, planetary gearboxes with flexible gear designs are currently being manufactured. Such gear designs are called wave gears. Moreover, they can be with spur and end gears.

In order to minimize the masses and dimensions of MP, especially to create high-precision APS, drives appeared in which individual parts (assemblies) combine the functions of both engine elements and gearbox elements, which ensures their smaller overall dimensions at the same power as previous designs MP. Moreover, initially their structural elements, providing the functions of the “reduction" proper to obtain large output moments of load rotation at lower rotation speeds, are made according to the principle of wave reducers with cylindrical flexible gears. This type of MP is called a responsive drive. (See Vorobyov A.V. Responsive Drive. -M.: Mechanical Engineering 1978).

Of the above, the most common option is described in the patent "End wave electric motor" by A. with. 773851, which is made on the basis of end wave reducers, as well as a gear motor according to patent RU 2171526.

So, the main technical task of the known developments was to overcome the low frequency of phase switching of electromagnetic coils, which is expressed in low speed due to the large mass of moving anchors (see AS 1598066 “Stepping motor with an oscillating rotor”). However, the inertia of the retractable core is a significant drawback. Their advantage includes the possibility of realizing large forces of solenoids, sequentially (as in stepper motors) applied to the precessing disk.

However, the design described in patent RU 2294587 "Planetary electric motor-reducer" is not a wave MP, and is also not an end MP. In its construction, planetary gearboxes with eccentric shafts are used. Its obvious drawback, at least, is the presence of movable brush contacts, which is inherent to DC collector motors. In addition, the magnetic resistance of the circuits of the formation of magnetomotive forces (MDS) is extremely high. Therefore, despite the fact that all elements are rigid, specific power per unit mass and size of these drives do not meet the required.

The proposed design also does not apply to planetary gear motors, nor to wave gear motors. However, the above disadvantages of the known structures are overcome in the proposed technical solution. In this regard, the proposed design can be attributed to high-precision gear motors with an integrated precessing gear wheel, which uses only rigid (inflexible) elements and which provides the advantages of high-precision wave gear motors and planetary gears at the same time.

Thus, with various variants of the proposed group of inventions, the following technical result is achieved:

- increase the resource of the motor gear due to, in particular, the lack of flexible elements that perform the function of a rotor, since it is not necessary to solve the problem of stability of flexible elements;

- increasing the accuracy of rotation of the output shaft and / or torque on the output shaft due, in particular, eliminating backlash in gearing;

- simplification of the design by eliminating complex elements with low reliability, which leads to an increase in the reliability of the product;

- the ability to work in various modes: both discrete-continuous and continuous rotation of the output shaft.

This technical result is achieved due to the fact that in option 1 use induction coils with a retractable core.

In common with the prototype is that the gear motor contains a housing equipped with a gear wheel, which is the gear of the gearbox (or one-stage or two-stage), and the housing with induction coils acts as a motor stator, the housing is equipped with induction coils (solenoid-type electromagnets) and the gear motor is equipped with an intermediate gear. Moreover, the gear wheel of the housing is made with teeth that are engaged with the teeth of the intermediate gear. The proposed design according to option 1 is characterized in that the housing is connected rigidly (or is made in one piece) with the gear of the housing. The housing is equipped with induction coils with a movable core, the intermediate gear wheel is made in the form of a precessing gear wheel with two gear crowns located on both sides and fixed with the possibility of precession movement. In one embodiment, the precessing gear wheel carries out the precession by connecting it by means of a spherical bearing, for example, spherical bearings, on the auxiliary axis, and in another embodiment, it performs the precession due to the fact that it is held by gearing in the gear wheel on one side only and gearing in the gear of the shaft on the other hand. In this case, the auxiliary axis and the output shaft are made as a single unit and rotate together in the housing. The precessing gear wheel in both versions performs the precession movement as a complete precession, i.e. regular precession and nutation at small angles. The gear wheel of the casing and the intermediate gear wheel (made in the form of a precessing gear wheel) together perform the function of a gear coupling or the first stage of the rotor, depending on the same number of teeth (coupling) or different number of teeth (first gear stage). The gearmotor is additionally equipped with a gear wheel shaft, rigidly mounted on the output shaft. In this case, on the one hand, the gear ring of the precessing gear engages the teeth of the gear of the casing, and on the other hand, the gear ring of the gear gear engages the teeth of the gear of the shaft. The auxiliary axis is fixed at one end in the housing, for example, rigidly on a press fit or with the possibility of technological rotation, if on a sliding fit, and the other in a blind bore on the output shaft with the possibility of rotation relative to the axis of the output shaft. In addition, the auxiliary axis can be fixed in the housing by means of a bearing, for example, spherical, then the precessing movement is carried out as a complex joint movement of the axis with the precessing gear wheel. In this case, nutation of the auxiliary axis at small angles is allowed, and the precessing gear wheel is held only due to the engagement of its gear rims on both sides. In another embodiment, the auxiliary axis is made with the output shaft as a unit and they are fixed in the housing with two bearings. Induction coils of the casing with the gear wheel are arranged around the circumference in the peripheral part of the precessing gear wheel with a gap between the end face of the coil and the flat surface of the precessing gear wheel. The core of the corresponding induction coil is made protruding beyond its end, and in the extended position the end of the core is pressed against the flat surface of the precessing gear wheel without a gap. So the core in the extended position, for example, by means of a spring, is extended while maintaining the full engagement of the gear rims of the gear of the casing and the corresponding gear rim of the precessing gear, and in the retracted position forms a gap with its surface of at least the precession of the precessing gear in the longitudinal direction of the auxiliary axis. The output shaft is fixed at one end by means of bearings in the housing cover with the possibility of rotation, and the other end by means of a blind bore - with an auxiliary axis, in another design it is made together with an auxiliary axis. Moreover, the gear rims of all gear wheels are provided with end teeth and the gear wheel of the housing has the same or at least one tooth less than the number of teeth of the gear rim facing the precessing gear wheel located on the precessing gear wheel from its side, and the gear the crown on the precessing gear located on the gear side of the shaft has at least one number of teeth greater than the number of teeth of the gear of the shaft. In the case of a different number of teeth on the casing wheel and on the precessing wheel on its side, the functions of the gearbox are performed as the first gear stage. In particular cases, various designs of gear teeth are possible. So, for example, the profile of the gear teeth is made involute or cycloidal, or epicycloidal. In particular, the cycloidal profile of the gear teeth can be made hypocycloidal - shortened or elongated, as well as the profile of the epicycloidal teeth - shortened or elongated. For example, at least three induction coils can be placed around the circumference of the housing. The number of induction coils (solenoids) depends on the required amount of torque on the output shaft. The core of each induction coil is made of soft magnetic steel and is equipped with a spherical end face. In the particular case, the auxiliary axis is fixed at one end in the housing with the possibility of technological rotation to ensure alignment. The second end of the auxiliary axis is abutted against the end face of the blind sleeve of the output shaft, for example by means of a ball joint. In a particular case, the gear of the shaft is rigidly fixed to the flange of the output shaft (represents a single unit with it). For example, a motor with a pulse-width modulation current is supplied to a gearmotor via an external control unit to induction coils, depending on the mode of operation of the gearmotor.

The presented technical solution is illustrated by drawings, in which examples are shown that do not exhaust all the options for connecting control units and other units and devices necessary for the functioning of the rotor motor, and also do not cover all possible layouts and types of magnetic circuits on the housing and structural modifications details. The drawings show the most general principles for constructive solutions to option 1.

On figa and b shows a longitudinal section of a gear motor equipped with induction coils with a movable core according to Option 1; execution "a" - with an auxiliary axis, which is a single assembly with the output shaft. Execution "b" - with an auxiliary axis connected to the output shaft by means of a blind bore with a ball bearing and with the possibility of rotation of the output shaft around the auxiliary axis.

Figure 2 - shows a view And on the casing of the induction coils mounted on the housing of the gear motor.

Figure 3 shows a section bB with a rigidly mounted gear wheel of the output shaft on the output shaft and with an auxiliary axis, made as a unit with the output shaft.

The device consists of the following components.

The casing (1), the cogwheel of the casing (2) with end teeth is monolithically fixed on the casing.

The gear wheel of the housing (2) is at the same time a gear wheel that performs the function of a gearbox or gear coupling. Its teeth mesh with the teeth of the precessing (intermediate) gear (3). This pair of crowns plays the role of a gear coupling that prevents the rotation of the precessing disk around the axis of the product, and at the same time the central wheel of the planetary gear in the case of the same number of teeth. In case of difference in the number of teeth of the wheel (2) and the gear ring (4), this pair of gear rings performs the function of the first stage of the planetary gear. In this case, the gear wheel of the housing (2) performs the function by analogy with the central wheel of the planetary gear, which is stationary. In both versions, the function of the gearbox is performed jointly by all three gear wheels included in the design of the device. However, in the proposed design, instead of transmitting rotation from the input shaft, an electromotive force is used. In the second version, it can also provide a compensatory rotation of the precessing gear wheel (3) (i.e., in this case, its operation is similar to the differential).

The intermediate gear wheel (3) is made precessing in two planes around the axis OO ₁ . The gear ring of the gear of the casing (2) has the same number of teeth with the gear rim (4) (Fig. 1b) of the precessing gear wheel (3) located on the precessing gear wheel from the gear side of the casing (2). An embodiment with a different number of teeth of the gear of the casing (3) is at least one less than the number of teeth of the gear (4), shown in Fig. 1a. The precessing gear wheel (3) (precessing disk) is made with end teeth located by two gear rims (4 and 5) on both sides thereof. It is fixed by means of a spherical bearing (6) (Fig. 1a) on the auxiliary axis (7) with the possibility of precessional movement. The auxiliary axis (7) can be fixed in the housing through the support (7) (Fig. 1a), and the precessing gear wheel (3) is kept in operation only by gearing on both sides. The gear ring (5) of the precessing gear wheel (3), facing the gear of the shaft gear (8), engages with the teeth of the gear of the shaft gear (8), rigidly fixed to the output shaft (9). The gear ring (5) on the precessing gear wheel (3) and located on the gear side of the gear wheel of the output shaft (8) has at least the number of teeth one more than the number of teeth of the gear wheel of the output shaft wheel (8). The difference in the number of teeth between the pairs of gears (4 and 5) depends on the desired reduction gear ratio between the orbital precession speed and the required rotation speed of the output shaft (9) of the product. The calculation of the difference in the teeth is carried out according to the known calculations of planetary gears.

The tooth profiles of all three gears are made face. End conical teeth are designed in such a way that, based on a given value of the precession, to provide the smallest clearance at the mating point of the teeth. This calculation is carried out by known methods. Depending on the applied method for calculating the tooth profile, in the proposed design it is possible to use both a tooth profile involute, and cycloidal or epicycloidal. Moreover, both cycloidal and epicycloidal tooth shapes can be made shortened or elongated. In a particular case, the shape of the tooth can be hypocycloidal and made either shortened or elongated. It depends on the required accuracy of rotation of the output shaft, as well as on the required torque on the output shaft. The gear wheel (3) can be made as a whole, where there is a gear ring and a peripheral part, which is affected by the cores of induction coils. Also, the gear wheel can be made with lining made of strong steel, which will affect the cores. However, in any design, the precessing gear wheel (3) is monolithic (a single rigid structure). The precessing gear wheel (3) carries out either a full or regular precession. If the auxiliary axis (7) in the housing is fixed with the possibility of small oscillations, then there is nutation of this axis at small angles. If the auxiliary axis (7) is fixed in the housing (1) rigidly, then regular precession is carried out. In the version with a single design of the auxiliary axis (7) and the output shaft (9), nutation is unacceptable, because the runout of the output shaft (9) increases significantly, and, consequently, the noise. Throughout the text, the term precession is used, which, depending on the execution, can be full or regular.

In this description, the term precession is used in the meaning - the movement of the axis of the intermediate (precessing) gear (3) without its rotation, in which its axis describes a circular conical surface. At the same time, its axis can make nutational vibrations. In this case, the precession occurs without nutational fluctuations, i.e. regular precession, which in the text is called simply a precession. In the individual modifications under consideration (see Fig. 1b, 4b, if possible, small angles of rotation of the auxiliary axis in the housing or Figs. 1a, 4b) can be performed as a regular precession, as well as precession with nutation.

The term nutation in the structure under consideration is used to mean the oscillatory movement of the axis of the precessing (intermediate) gear (3), which occurs simultaneously with regular precession, at which the angle between the axis OO _{1 of the} output shaft (9), relative to which the precession occurs, and the axis of the precessing gear wheels (3). In the case of rotation around its axis of the precessing wheel (3), i.e. the implementation of the first stage of the planetary gearbox or differential operation variant, the precessing gear wheel can also perform regular or complete precession. However, nutation angles must be very small, since calculating the tooth profile and moving the contact point of the contacting teeth will be very difficult.

In option 1, the housing (1) is equipped with coils of electromagnets (10) with a movable core (11) and the housing with coils acts as a stator of an electric motor.

The gear wheel of the shaft (8) is an additional gear wheel with end teeth, rigidly mounted on the output shaft (9). The gear of the shaft (8) can be mounted either on the flange of the output shaft (9), or by means of splines. In this case, in a blind bore, into which the auxiliary axis (7) enters, a sleeve with a ball bearing can be provided, which will be either cylindrical or with a small angle diverging towards the end of the cone. The conical sleeve can be used with the full precession of the precessing gear wheel (3).

The gear ring (5) on the precessing gear wheel (3) located on the gear side of the gear wheel of the output shaft (9) has at least the number of teeth one more than the number of teeth of the gear wheel of the output shaft (9). The difference in the number of teeth is determined based on the required.

The output shaft (9) with a gear wheel (8) is fixed at one end by means of bearings (12) in the cover (13) of the housing (1) with the possibility of rotation, and the other end through, for example, a blind sleeve (14) and a ball (ball) bearing (15) with auxiliary axis (7).

The auxiliary axis (7) is fixed at one end rigidly in the housing (1) and to ensure alignment of the output shaft (9) with the auxiliary axis (7) of the precessing gear wheel (3), the other end is fixed in the blind sleeve (14) of the output shaft (9) , as one of the possible options - a ball bearing (15) is placed in the sleeve (14). The output shaft (9) freely rotates around the auxiliary axis (7). At the same time, the necessary clearance of the auxiliary axis is ensured, which also ensures that the auxiliary axis (7) is aligned with the sleeve (16), which is rigidly mounted on the housing (1). The auxiliary axis (7) is fixed in the sleeve (16) either by press fit or by slip fit, with a gap from 0 to several tens of micrometers. This provides a slight rotation of the auxiliary axis (7) in the sleeve (16) while ensuring that the auxiliary axis (7) is aligned with the output shaft (9) and the ball bearing (6) of the precessing gear wheel (3), for example, during nutation by the axis of the precessing gear wheels (3). And also when the gears are in differential mode (in the case of differences in the number of teeth of the gear of the casing (2) and the teeth of the precessing gear (3).

Induction coils (10) of the housing (1) with the gear of the housing (2) are placed around the circumference in the peripheral part of the precessing gear wheel (3) with a gap (“a”) between the end face of the coil and the flat surface of the precessing gear wheel (3). The number of induction coils (10) must be at least three. The number of induction coils (10) depends on the required value of the EMF, which is obtained to achieve the desired value of the torque on the output shaft (9) of the gear motor. The optimal number of solenoids for option 1-6 (six) induction coils (10) with moving cores (11).

The core (11) of each induction coil (10) is made protruding beyond its end and may have, for example, a spherical end. The core (11) of each induction coil (10) is made movable from magnetically soft steel and forms a solenoid with it. The spherical end face of the core can be made spherical to minimize air gap with a precessing gear wheel (3).

In the extended position, the core (11) is pressed against the flat surface of the precessing gear wheel (3) without a gap, and in the retracted position forms a gap with its surface that is larger (no less) than the precession in the longitudinal direction of the auxiliary axis. The core can be spring-loaded for more tight pressing in the surface or to return it to a normally extended position.

The core induction coil group forms a solenoid.

In this description, groups of inventions use the term solenoid as a type of electromagnets (magnetic circuits). In this case, the solenoid is a single-layer (or multi-layer) coil of cylindrical shape, the turns of which are wound closely, and the length is much larger than the diameter.

In all three designs, the solenoids are characterized by a significant ratio of the winding length to the diameter of the mandrel (core), which allows you to create a relatively uniform magnetic field inside the coil.

The solenoid is usually supplied with an external magnetic circuit. The internal magnetic circuit in the structure under consideration is made in the form of a core both movable (option 1) and motionless (option 2), or not at all (option 3). In option 3, the magnetic circuit can be made of soft magnetic steel strips with grooves on which the windings are wound in the same manner as on the stators of stepper or asynchronous motors.

The solenoids are controlled by means of a control unit, which provides a current with pulse-width modulation to the induction coils (10) from the current source, depending on the operating mode of the gear motor.

Thus, the electromagnetic flux source is obtained on solenoids, which are always structurally connected to the housing (1) of the gear motor and to the gear (2).

The precessing gear wheel (3), on which both the ring gear and peripheral elements are rigidly attached, for example, of strong steel (option 1) or soft magnetic steel (option 2), together with the magnetic flux on the stator form a magnetomotive force (MDS), which forces the precess precessing gear wheel (3). In other words, the precessing gear wheel (3) can be called the gear precessing rotor of the gear motor.

The output shaft (9), on which the gear wheel (8) with the front teeth (5) is rigidly fixed, rotates in the cover (13) of the housing (1) of the gear motor.

In option 1, the stator is a set of solenoids with extendable cores, and on the precessing rotor only flat surfaces, which can be, in particular, simply overlays made of strong steel.

The proposed design of the gear motor provides an increase in resource, increase the accuracy of rotation of the output shaft and increase the torque on the output shaft while simplifying the design.

The system operates as follows.

In the process of the appearance of magnetomotive force (MDS) in the solenoids, the cores are alternately pulled out of the induction coils and press on the flat peripheral part of the precessing gear. Contact with the surface of the wheel (3) of the cores can occur from maximum exposure to the absence of contact (provided by the springs). In this case, the intermediate cores will either press the wheel (3), but with less effort (and therefore shift it by a smaller amount), or there will be no contact and the gap between them will be distributed across the cores from the maximum gap to the minimum. In a particular case, no more than three cores (11) act with different efforts on the wheel (3) and, accordingly, do not affect the others. The MDS value acting on the precessing rotor, which is the precessing gear wheel (3), is the MDS vector directed parallel to the OO ₁ axis during regular precession. In the case of small nutation angles, the OO ₁ axis can rotate by a very small angle, performing nutation. Increasing this angle will result in unacceptable vibration. Such a turn is possible only with the execution according to options 1 and 2. MDS is formed due to the source of the electromagnetic flux of the stator. After the MDS is removed, the core is removed due to the MDS directed in the direction opposite to the initial impact. Thus, the precessing gear has the ability to precess with respect to the auxiliary axis or OO ₁ . Due to the fact that the gears of the gears of the casing (2) and the precessing wheel (3) are in rigid engagement, and the gear of the casing (2) is integral with the casing (1), the precession is carried out without turning the gear (3). In the case of rotation of the gear wheel (3), the gear ratio will increase significantly, as well as the accuracy of the angle of rotation of the output shaft (9), and the torque on the output shaft (9) will decrease. This embodiment can best be used in instrumentation gear motors where large torque is not required. In this case, either regular precession (without nutation) occurs if the auxiliary axis is completely coaxial with the axis of the output shaft, or complete precession (with nutation) if the auxiliary axis is able to deviate at small angles from the longitudinal axis of the output shaft. Due to the fact that one end of the auxiliary axis is fixed in the sleeve of the housing, as well as the fact that the gears of the precessing gear wheel (3) and the gear wheel of the shaft (8) are mated and have a difference in the number of teeth of at least one, the output shaft is rotated by set angle with great accuracy. With a partial rotation of the auxiliary axis in the housing or the precessing gear wheel around its longitudinal axis - due to the absence of backlash in the kinematic chain of the gear motor. In this case, in the case of using a gear motor in a position feedback actuator (the mode follows the position of the actuator), it is possible to obtain the angle of rotation on the output shaft with an error determined by the resolution of the feedback sensor, i.e. measured in units of arc seconds.

In the case of the complete alignment of the auxiliary axis with the output shaft and the auxiliary axis being rigidly fixed in the housing, as well as the complete absence of rotation of the precessing toothed disk, provided that the stator is solenoid powered, it is most advisable to obtain significant torques on the shaft for the considered option - up to - 5.0 Nm .

The design of the motor gearbox according to options 2 and 3 in the main parts, such as a housing with a rigidly mounted gear wheel, an output shaft with a gear wheel rigidly mounted on it, an auxiliary axis, as well as the mounting of a precessing gear wheel and the arrangement of gear rims on it, as well as the gearing of the above gears is the same as described in option 1. However, in option 3, nutation is not allowed, because it adversely affects the accuracy of the angle of rotation.

In option 2, the above technical result is achieved due to the fact that using induction coils with a fixed core.

OPTION 2

The invention is known as "Electric motor", patent RU 2030082, publ. 02/27/1995, IPC H02K 41/06, comprising a stator installed in the housing with a magnetic circuit and a rotor with a magnet, and the rotor and stator are connected by a kinematic pair made in the form of a gear transmission. The invention improves reliability and improves the static and dynamic characteristics of an electric motor. The purpose of this design in electrical engineering is, in particular, to perform the function of an electric drive, but which does not allow to increase the accuracy of rotation of the output shaft and / or torque on the output shaft due, in particular, to eliminate play in gearing, which also provides the necessary gear ratio . In this design there is no precessing wheel, and also this design does not allow to work in various modes of discrete-continuous or continuous rotation of the output shaft. Moreover, this device has low reliability, as well as significant dynamic overload, which reduces its reliability. In addition, an eccentrically mounted rotor when transmitting a torque reaction through gearing, the teeth of the wheels experience high loads and have large play, leading to rapid wear of the teeth, which limits the use of this design in power mechanisms.

The invention is known "Conical wave transmission", RU 2145016, publ. 01/27/2000, IPC F16H 1/32, equipped with a housing with at least two bevel gears with end gears mounted with the possibility of engagement, one of which is mounted motionless in the circumferential direction relative to the housing and with the possibility of axial swinging under the action of the oscillation generator, and the other wheel is fixed to the output shaft. The transmission uses an oscillation generator, the function of which is only to carry out the precessional movement of the wheel, however, this design is complex and technologically expensive. In addition, the oscillation generator is made in the form of an oblique crank connected with the input shaft, which increases vibration and increases the backlash when swinging in the axial direction of the gear. The generator does not use electromagnetic forces, so the design is much more complicated and less reliable. The design is not a gear motor, since it performs only the function of a gearbox and has an input power shaft.

Known utility model "End wave electric motor", patent RU 99666, publ. 11/20/2010, IPC H02K 41/06, equipped with a winding made in the form of coils, the output shaft with a rigid gear wheel, and the electric motor itself is stepped, the steps of which are made with different gear ratios, while the winding is made in the form of electromagnetic coils located on pole tips of the hard wheel, and magnetic pads are placed on the intermediate wheel. However, in this design, the rotor, made in the form of a flexible wheel, and a flexible wheel of the second stage of the electric motor is rigidly connected with the primary output shaft. Due to the fact that there is a flexible intermediate wheel, it is impossible to ensure its precessing motion, as well as the presence of flexible elements significantly reduces the reliability of the structure, its durability, and therefore the resource of the product. In addition, it is required to solve the problem of the stability of flexible elements. Thus, it is impossible to achieve an increase in the accuracy of the angle of rotation and / or torque on the output shaft, in particular, due to the inability to eliminate the backlash in the gearing. This design does not provide work in various modes: discrete-continuous or continuous rotation of the output shaft and at the same time has significant values of vibration.

The invention is known "Wave electric motor with an internal stator", patent RU 2292107, publ. 02.15.2005, IPC H02K 41/06, in which there is a stator with induction windings, a rotor and a magnetically sensitive element in contact with the rotor without slipping. The invention improves the manufacturability in the manufacture, simplify the design and increase the electromagnetic moment of the wave electric motor. However, a flexible steel cylinder does not have sufficient mechanical reliability during prolonged operation of the electric motor, and also such an electric motor creates significant noise during operation when moving the plates and colliding with the stator. In addition, it does not have the function of a planetary gear and does not significantly increase the accuracy of the angle of rotation and / or torque on the output shaft.

The closest design for the second variant of the presented group of inventions is the invention "Planetary electric motor-reducer", patent RU 2294587, publ. 02/27/2007, IPC H02K 7/116, F16H 1/32, which is equipped with a housing, a gear wheel of the gearbox and an intermediate gear wheel (gear), and the gear wheel of the first stage of the gearbox functions as a motor stator and is equipped with electromagnet coils, made with teeth included into gearing with the teeth of the intermediate gear. However, the gear of the planetary gearbox performs the function of a satellite-armature of an electric motor, on which an end collector with current-carrying and current-carrying contacts is installed. The presence of an eccentrically rotating collector leads to additional costs for overcoming friction, as well as to the contact connector, in which sparking can occur, which significantly reduces the durability, reliability, and decrease in accuracy in rotation angles and / or decrease in the accuracy of obtaining a given torque value on the output shaft .

This invention allows to avoid backlash in the contacting links and thereby improve the accuracy of transmission. The presence of the combined first and second stages of the gearbox as a stator, when linking the 1st stage with the housing, allows the transmission of a torque reaction to the housing. However, the proposed design does not allow to obtain a pressing force, under the action of which the precessing gear moves, and therefore does not provide the necessary increase in accuracy and / or torque on the output shaft. In addition, the design according to this invention does not provide operation in various modes: discrete-continuous or continuous rotation of the output shaft. Due to the fact that the end face of the electric motor has the ability to rotate eccentrically relative to the housing, due to which the phase displacement of the electromotive force (EMF) of the electric motor is ensured, the operation mode of such an electric motor is very limited, in addition, it is unstable, since the phase displacement is eccentric The collector will always be uneven.

The prior art designs in which the rotor is made in the form of a flexible wheel (see patent RU 2418351). In this case, the flexible wheel theoretically has less fatigue strength than rigid parts. However, as practice shows, with rigid gear rims such rotors are not created on them, as in other things, and simply wave face gears with flexible disks.

In the claimed design, this drawback is overcome, and, in addition, the capabilities of the inductors are realized in the best way. In addition, in the technical solution proposed in the application, it is possible to create many modifications of inductors. Thus, an increase in resource, accuracy of the angle of rotation of the output shaft and obtaining torque on the output shaft while simplifying the design is also achieved.

This technical result is achieved due to the fact that in option 2 use induction coils with a fixed core.

In common with the prototype is that the gear motor contains a housing equipped with a gear wheel, which is the gear wheel of the gearbox, and the housing with induction coils acts as a stator of the electric motor, the housing is equipped with induction coils (solenoid-type electromagnets) and the gear motor is equipped with an intermediate gear . Moreover, the gear wheel of the housing is made with teeth that are engaged with the teeth of the intermediate gear. The advanced design according to option 2 is characterized in that the housing is rigidly connected or made in one piece with the gear of the housing and is equipped with induction coils with a fixed core. The intermediate gear wheel is made in the form of a precessing gear wheel with two gear rims located on both sides, and fixed with the possibility of precession movement. In one embodiment, the precessing gear wheel carries out the precession by connecting it by means of a ball bearing, for example, spherical bearings on the auxiliary axis, and in another embodiment, it performs the precession due to the fact that it is held only by gearing in the gear wheel on one side and gearing in the gear wheel of the shaft - on the other hand. In this case, the auxiliary axis and the output shaft are made as a single unit and rotate together in the housing. The precessing gear wheel in both versions performs the precession movement as a complete precession, i.e. regular precession and nutation at small angles. The gear wheel of the casing and the intermediate gear wheel (made in the form of a precessing gear wheel) together perform the function of a gear coupling or the first stage of the rotor, depending on the same number of teeth (coupling) or different number of teeth (first gear stage). On the flat surface of the precessing gear wheel there are pads opposite the induction coils of the casing with the gear wheel, equal to the number of induction coils. Pads are made of soft steel or any other ferromagnetic material with low magnetic resistance. The gear motor is additionally equipped with a gear wheel of the shaft, rigidly mounted on the output shaft, while on the one hand the gear ring of the precessing gear wheel is engaged with the teeth of the gear of the casing, and on the other hand, the gear ring of the gear wheel is engaged with the gear teeth of the gear shaft. The auxiliary axis is fixed at one end in the housing, for example, rigidly on a press fit, or with the possibility of technological rotation, if on a sliding fit, and the other in a blind bore on the output shaft with the possibility of rotation relative to the axis of the output shaft. In another embodiment, the auxiliary axis is made with the output shaft as a unit and they are fixed in the housing with two bearings. Induction coils of the casing with the gear wheel are placed around the circumference in the peripheral part of the intermediate wheel with a gap between the end face of the core of the coil and the flat surface of the lining of the intermediate gear. The core of the corresponding induction coil is made protruding beyond its end and, when the maximum (rated) current is applied to this induction coil, it is pressed as far as possible to the lining of the precessing gear wheel, which ensures the movement of the precessing gear wheel at the contact point by a predetermined (calculated) value of the precession in the longitudinal the direction of the auxiliary axis while maintaining the full engagement of the gear rims of the gear of the casing and the corresponding gear rim of the precessing gear. In this case, the cores of other induction coils form a gap between the end face of the core and the lining of the precessing gear, which are placed on the intermediate gear opposite the corresponding induction coil, providing a gap of at least the precession of the precessing gear in the longitudinal direction of the auxiliary axis. The output shaft is fixed at one end by means of bearings in the housing cover with the possibility of rotation, and the other end by means of a blind bore - with an auxiliary axis, in another design it is made together with an auxiliary axis. Moreover, the gear rims of all gear wheels are provided with end teeth and the gear wheel of the housing has the same or at least one tooth less than the number of teeth of the gear rim facing it, the precessing gear wheel located on the precessing gear wheel from its side, and the gear on the precessing gear located on the side of the gear of the shaft has at least the number of teeth is one more than the number of teeth of the gear of the shaft. In particular cases of execution, the profile of the teeth of the gears is made involute, or cycloidal, or epicycloidal, both shortened and elongated. At least three induction coils can be placed around the circumference in the housing, the number of which depends on the required torque value on the output shaft. The core of each induction coil is fixed and can be made, for example, of soft magnetic steel, with a spherical end face. Pads can be ferromagnetic pads and are made round or sectional. The auxiliary axis can be made fixed at one end in the housing with the possibility of technological rotation. In the particular case, the second end of the auxiliary axis can be abutted against the end face of the blind sleeve of the output shaft by means of a ball bearing. For example, direct or alternating current with pulse-width modulation, depending on the operating mode of the stator of the gearmotor, is supplied to the gearmotor via an external control unit on induction coils.

The presented technical solution is illustrated by drawings, in which examples are shown that do not exhaust all the options for connecting control units and other units and devices necessary for the functioning of the motor rotor, and also do not cover all possible layouts and types of magnetic circuits on the housing and structural modifications details. The drawings show the most general principles for constructive solutions to option 2.

Figures 4a and b show a longitudinal section of a geared motor equipped with induction coils with a fixed core according to Option 2; execution "a" - with an auxiliary axis, which is a single assembly with the output shaft. Execution "b" - with an auxiliary axis connected to the output shaft by means of a blind bore with a ball bearing and with the possibility of rotation of the output shaft around the auxiliary axis.

Figures 5a and b show a cross-section in which the lining of soft magnetic steel, the housing (1) and the precessing gear wheel (3) are visible; a - with overlays segmented, b - with overlays rectangular.

The design of the motor gearbox according to the shaft variant in its main structural elements, such as the housing (1), the gear of the housing (2), the mounting of the precessing gear wheel (3) on the auxiliary axis (7), the mounting of the auxiliary axis (7) in the housing ( 1) and in the output shaft (9), the gear of the shaft (8) and the output shaft (9) are made similar to the design of option 1.

However, lining (17) made of soft magnetic steel is provided on the precessing gear wheel.

Induction coils (10) of the housing (1) with the gear of the housing (2) are placed around the circumference in the peripheral part of the precessing gear wheel (3) with a gap ("b") between the end face of the core (11) of the coil (10) and the flat plate (17) ) on the surface of the precessing gear (3). Pads can be made sectional or solid, as well as in the form of a circle, segment or other shape. The pads (17) on the flat surface of the precessing gear wheel (3) (where there are no teeth), the pads (17) are made of soft magnetic steel or other ferromagnetic material with low magnetic resistance and are placed opposite the induction coils (10) of the gear casing, equal to the number of induction coils.

Inductors are made with fixed cores.

The number of induction coils (10) must be at least three. Fig. 5a shows mild magnetic steel plates corresponding to nine inductors (10). The number of induction coils (10) depends on the required value of the emf, which is obtained to achieve the desired value of the torque on the output shaft (9) of the gear motor. The optimal number of solenoids for option 2-9 (nine) induction coils (10) with fixed movable cores (11).

The core (11) of each induction coil (10) is made protruding beyond its end and may have, for example, a spherical end. The core (11) of each induction coil (10) is made stationary from soft magnetic steel and forms a solenoid with it. The end face of the core can be made spherical to minimize the air gap with the precessing gear wheel (3).

When the maximum (rated) current is supplied to the corresponding induction coil, the core (11) is pressed against the plate (17) of the precessing gear wheel (3), which ensures the movement of the precessing gear wheel (3) at the point of contact by a predetermined (calculated) value of its precession in the longitudinal direction of the auxiliary axis (7) while maintaining full engagement of the gears of the gears of the casing (2) and the corresponding gears of the precessing gears (3). In this case, the pressing of the core (11) is ensured by attracting the precessing gear wheel (3) to it.

In this case, the cores (11) of other induction coils (10) form a gap “b” between the end face of the core and the lining (17) of the precessing gear wheel (3) placed on the intermediate gear wheel (3) opposite the corresponding induction coil (10), providing a gap of not less than the precession of the precessing gear in the longitudinal direction of the auxiliary axis (7).

All modifications of designs, attachment of the auxiliary axis, the number of teeth of the mating wheels and the mounting variant of the precessing wheel (3) are also applicable to option 2.

The system operates as follows.

When alternately supplying to the induction coils the maximum (rated) current from a direct or alternating current source with pulse-width modulation, depending on the operating mode of the precessing rotor of the gear motor, which is provided by the control unit (not shown in the drawings), the core of the corresponding induction coil is spherical (ALMOST) is pressed against the ferromagnetic pad of the precessing gear due to the MDS arising in the longitudinal direction (along the OO ₁ axis), the pad (17) is pressed to the core. After removing the MDS, the precessing gear wheel (3), which is the precessing rotor, moves away from the core (I) by pressing the next lining to the core. In this case, the precessing rotor, as in option 1, either performs a regular precession or a complete precession, depending on the modification of the performance. Due to the fact that one end of the auxiliary axis is fixed in the sleeve of the housing, as well as the fact that the gears of the precessing gear wheel (3) and the gear wheel of the shaft (8) are mated and have a difference in the number of teeth of at least one, the output shaft is rotated by set angle with great accuracy. All work options described in option 1. can be implemented in option 2.

For option 2, the accuracy of the angle of rotation of the output shaft (9) can be achieved with the same errors as with option 1, the torque advantages also remain, but option 2 is advisable if it is necessary to have a higher speed of the output shaft.

In option 3, the above technical result is achieved due to the fact that using induction coils in the form of magnetic cores with end windings.

OPTION 3

The invention is known "Wave electric motor", patent RU 2289186, publ. 12/10/2006, IPC H02K 41/06, in which a stator and induction coils with a core are placed in the housing, a magnetically sensitive element and a power disk are placed with the possibility of movement. In this particular case, the magnetically sensitive element is made in the form of a series of ferromagnetic plates, axial cores are made of ferromagnetic material. And the induction coil can be formed by tightly wound in a single layer of ferromagnetic wire, to the inner surface of which are attached axial pins (cores), the middle sections of which are connected to each turn of the ferromagnetic wire. The invention improves the electromagnetic moment of the wave electric motor. However, a flexible magnetosensitive element, made in the form of a ferromagnetic wire tightly wound in one layer, creates problems in its manufacture, installation and repair, is technologically complex and reduces the life of the electric motor. The electromagnetic moment is transmitted from the magnetically sensitive element through axial pins to two power disks fixed rigidly to the motor shaft. This eliminates the possibility of using a precessing disk, i.e. does not allow to increase the accuracy of the angle of rotation of the shaft and / or torque on the output shaft. In addition, the presence of flexible elements significantly reduces the reliability of the structure, since it is required to ensure the stability of these flexible elements.

The invention is known, “End wave electric motor”, patent RU 2418351, publ., 05/10/2011, IPC H02K 41/06 H02K 41/00, in the housing of which a stator is located, a flexible intermediate wheel with end teeth, an output shaft with a hard gear wheel with end teeth teeth and electromagnetic coils, and permanent magnets are located opposite each inductance coil. The invention improves the speed by increasing the maximum switching frequency of the phases of the electromagnetic coils, increasing the frequency of engine throttle response. However, the invention does not solve the problem of increasing the accuracy and / or torque on the output shaft by eliminating backlash in the gear mesh and increasing the resource and providing the possibility of working in various modes: discrete-continuous or continuous rotation of the output shaft.

As for options one and two, for option three, the closest analogue, which is taken as a prototype, is the invention "Planetary electric motor-reducer", patent RU 2294587, publ. 02.27.2007, IPC H02K 7/116, F16H 1/32, which is equipped with a housing, a gear wheel of the gearbox and an intermediate gear wheel (gear), and the gear wheel of the first gear stage serves as an electric motor stator and is equipped with electromagnet coils. In this design, the low frequency of phase switching of the electromagnetic coils, expressed in low speed due to the large mass of movable anchors connected to the charged magnetic circuits, does not allow for the operation of the motor-inductor in different modes, and also does not provide the required accuracy of the angle of rotation and / or torque on the output shaft. In addition, in this design, an end collector with current-supplying and current-removing contacts is installed on the gear, which complicates the design and, due to the collector rotation, eccentric relative to the housing, creates additional costs for overcoming friction, as well as on the contact connector, in which sparking can occur, which significantly reduces durability and reliability.

In option 3, the technical result indicated above for all the variants is achieved due to the fact that, in fact, the stator is a case with a gear wheel fixed on it (2), and the case is equipped with a round magnetic circuit. Induction coils are made, for example, in the form of a magnetic circuit with grooves in which the windings are placed (similar to the stators of ordinary face electric motors of various types), and on the precessing rotor (precessing gear wheel (3) there are plates of high-energy permanent magnets (the same as for the same end-face electric motors of various types).

In common with the prototype is that the gear motor contains a housing equipped with a gear wheel, which is a gear gear, and the housing with induction coils acts as a stator of the electric motor, the housing is equipped with induction coils (electromagnets such as a magnetic circuit with windings) and the gear motor is equipped with an intermediate gear wheel. Moreover, the gear wheel of the housing is made with teeth that are engaged with the teeth of the intermediate gear. The proposed design of embodiment 3 is characterized in that the housing is rigidly connected to the gear of the housing and the induction coils provided with the housing, made in the form of stator windings of a brushless face motor, the intermediate gear is made in the form of a precessing gear with two gear crowns located on both sides. and fixed by means of spherical bearings, in particular spherical bearings, on the auxiliary axis with the possibility of precession movement. On its flat surface are placed overlays of high-energy permanent magnets located opposite the induction coils of the casing with the gear wheel, equal to the number of induction coils. Induction coils of the casing with the gear wheel function as a stator of a brushless motor and are placed around the circumference in the peripheral part of the precessing gear wheel with a gap between the end face of the induction coil winding and the flat surface of the high-energy permanent magnet, providing a gap of no more than the precession of the precessing gear in the longitudinal direction of the auxiliary axis. The gearmotor is additionally equipped with a gear wheel shaft, rigidly mounted on the output shaft. In this case, on the one hand, the gear ring of the precessing gear engages the teeth of the gear of the casing, and on the other hand, the gear ring of the gear gear engages the teeth of the gear of the shaft. The auxiliary axis is fixed at one end rigidly in the housing, and the other in a blind bore on the output shaft with the possibility of rotation relative to the axis of the output shaft. In a particular case, induction coils are made as a magnetic circuit with grooves in which the windings are placed. The output shaft is fixed at one end by means of bearings in the housing cover, and at the other end by means of a blind bore with an auxiliary axis. Moreover, the gears of all gears are equipped with end teeth and the gear of the casing has the same number (and, if necessary, different - see option 1) of teeth with a gear precessing gear on the side of the gear located on the precessing gear on its side, t. e. the gear of the casing has the same or at least one less number of teeth than the gear rim of the precessing gear located on the precessing gear wheel on its side, and the gear rim on the precessing gear wheel located on the gear side of the shaft has at least at least, the number of teeth per unit is greater than the number of teeth of the shaft gear. So, for example, the profile of the gear teeth is made involute, or cycloidal, or epicycloidal. In particular, the cycloidal profile of the gear teeth can be made hypocycloidal - shortened or elongated, as well as the profile of the epicycloidal teeth - shortened or elongated. At least three induction coils are placed around the circumference in the housing, the number of which depends on the required torque value on the output shaft. The most optimal is six magnetic cores with windings placed on them. The magnetic poles of the same name made of high-energy permanent magnets should be located on one side. Permanent magnets can also be replaced with induction coils. Induction coils can also be made in the form of magnetic cores with end windings. Pads can be made round or sectional when placing induction coils with fixed cores. In a private embodiment, the profile of the plates is made corresponding to the profile of the end of the magnetic circuit with end windings. The auxiliary axis at one end is rigidly fixed in the housing, and the possibility of technological rotation is not permissible. The second end of the auxiliary axis is abutted against the end face of the blind sleeve of the output shaft by means of, for example, a ball joint. Also, in particular, a pulse-width modulated current is supplied to the induction coils of the geared motor via an external control unit, depending on the operating mode of the geared motor.

One of the options for option 3 may be that the induction coils are paired and placed on both sides of the precessing rotor. In other words, the gearmotor is equipped with induction coils arranged in pairs along the circumference of the casing with a gear wheel on both sides of the precessing gear wheel opposite each other and opposite the corresponding permanent magnets of the precessing gear wheel, with one induction coil placed around the circumference of the casing opposite the permanent magnets located on the peripheral parts of the precessing gear facing the gear of the casing, and the induction coils paired with them are placed around the fingers on the casing fingers on the opposite side of the precessing gear wheel and are also rigidly connected to the casing by means of fingers with seats for induction coils, the fingers are placed in the grooves of the precessing gear wheel with a gap of not less than the precession in the direction of the precession of the auxiliary axis, and lining of high-energy permanent magnets placed on both sides of the precessing gear opposite the corresponding induction coil of each pair by a number different from the number of pairs of induction coils, and the gap "in" between the corresponding induction coil of the casing with the gear wheel and the pad on the flat surface of the precessing gear wheel on each side is made no more than the magnitude of the precession in the longitudinal direction of the auxiliary axis and distributed so that in the extreme positions of the precessing gear wheel lining of magnets alternately pressed to one induction coil of a pair, then to another with a minimum allowable gap.

The presented technical solution is illustrated by drawings, which show examples that do not exhaust all the options for connecting control units and other units and devices necessary for the functioning of the motor rotor, and also do not cover all possible layouts and types of magnetic circuits on the housing. The drawings show the most general principles for constructive solutions to options 3.

Figure 6 shows a longitudinal section of a gear motor equipped with induction coils in the form of a magnetic circuit with grooves in which the windings according to Option 3 are placed.

Figure 7 shows a cross-section, which shows an annular magnetic circuit, where 3 radial grooves are cut in which the turns of the windings pass.

On Fig shows a cross section showing three "shoes" with grooves, inside of which the windings are made according to the number of grooves.

Figure 9 shows a longitudinal section of a gear motor equipped with induction coils in the form of a magnetic circuit with grooves in which paired windings are placed, induction coils are placed on the housing on the seats of the fingers entering with a gap in the precessing gear wheel and placed from the side of its other gear crown according to Option 3.

Figure 10 shows a cross section showing a precessing gear wheel with holes for fingers to pass with a clearance of "g".

11 is a cross-sectional view showing a precessing gear wheel with a crown and openings for the fingers of the housing.

The design of the uktor according to embodiment 3 in its main structural elements, such as the casing (1), the cogwheel of the casing (2), the fastening of the precessing gear wheel (3) according to the variant “b” on the auxiliary axis (7), fastening of the auxiliary axis (7) in the housing (1) according to the variant “b” and in the output shaft (9) according to the variant “b”, the gear of the shaft (8) and the output shaft (9) are made similarly to the design of options 1 and 2.

So, the difference between Option 3 from Option 2 is that if in Option 2 the MDS causing the precession of the gear disc is generated by currents in the amount of several separate solenoids, then in Option 3 it is formed in a single round (ring) magnetic circuit (in Figure 6 - position 10), at the end of which radial grooves are cut, in which the windings are laid. Thus, the entire magnetic circuit with windings, there is a similarity of stators of conventional brushless end-face electric motors of various modifications. 7 and 8 reflect only the following modifications:

For example, there may be a stator of a “clearly polar” three-phase motor. In his ring magnetic circuit only 3 radial grooves can be cut, in which the turns of the windings pass. Sometimes 3 sheet sectors of electrical steel (called “Shoe”) are tightly attached to the resulting 3 sectors in the ring of the magnetic circuit. But the shoes can also be superimposed on the annular magnetic circuit, in which not 3, but much more radial grooves, through which the turns of the windings (but not even three coils) pass. This is shown in one of the "Shoes" in Fig. 8.

On the precessing disc, only lining made of high-energy permanent magnets.

However, pads (18) of high-energy permanent magnets that can be replaced by induction coils are provided on the precessing gear wheel. And on the housing (1) there are magnetic cores (19) with windings placed in the grooves (not shown conditionally), forming induction coils (10) by the type of stators of synchronous or asynchronous motors.

The precessing gear wheel (3) is designed so that it can be placed on it in a circle in a place where there are no gear crowns (4 and 5), permanent magnets (18) either on one side only (Fig. 7) or on two parties (Fig. 8). In the second version - with paired induction coils, holes are provided in the precessing gear wheel (3), which, during its precession, allow fingers (20) to move without collision. Pads of high-energy permanent magnets opposite the induction coils of the gear housing are equal to the number of induction coils. The number and shape of the plates of high-energy permanent magnets opposite the induction coils of the gear housing are selected in the same way as in conventional end-face synchronous motors. Those. pads can be made round or sectional in shape. The magnetic poles of the same name with permanent magnets are located on one side for left and right execution.

In the case of using a magnetic circuit with end windings, the linings have a profile corresponding to the profile of the end winding of the magnetic circuit.

Induction coils (10) of the casing (1) with the gear wheel (2) are placed around the circumference in the peripheral part of the precessing gear wheel (2) with a clearance “between” between the induction coil (10) and the cover plate (18) on the flat surface of the intermediate gear wheel ( 3). The clearance “c” is made larger than the precession of the precessing gear wheel (3) in the longitudinal direction of the auxiliary axis (7). Induction coils (10) are placed around the circumference of at least three in an amount depending on the required output torque on the output shaft (9) of the gear motor. Induction coils (10) are made, for example, in the form of end induction coils, which are made as shown in Fig.7. In this case, the windings are made around each lining on the outside. Or in the form of end windings (magnetic circuits) (19) with end windings (21), which are made in the grooves of the lining according to the number of grooves, as shown in Fig. 8. In this case, the gearmotor is equipped with a control unit (not shown in the drawing) that provides the connection of induction coils (10) to a current source with pulse-width modulation, depending on the operating mode of the stator of the gearmotor.

The gap “c” between the induction coil (10) and the plate (18) on the flat surface of the precessing gear wheel (3) on each side is made large by its precession in the longitudinal direction of the auxiliary axis (3). In this case, in the second - paired design, the gap is distributed between the ends of the paired induction coils (10) and the plates (18) so that in the extreme positions of the intermediate gear wheel (3) the magnets from the magnets alternately are pressed to one end of the induction coil (10) , then to the end face of another (paired) induction coil (10).

Paired induction coils (10) of the housing (1) are arranged in pairs along the circumference of the housing with a gear wheel (2) on both sides of the precessing gear wheel (3) opposite each other and opposite the corresponding permanent magnets (18) of the precessing gear wheel (3). Some are placed around the circumference of the case opposite the permanent magnets (18) located on the peripheral part of the precessing wheel, the gear ring (4) of which is facing the gear wheel of the case (2), and the induction coils (10) paired with it are placed around the circumference on the fingers (20) case (1) on the opposite side of the precessing gear wheel (3) and also rigidly connected to the case (1) by means of fingers (20) with seats for induction coils (10). The fingers (20) are placed in the holes (grooves) of the precessing gear wheel (3) with a gap "g" greater than the magnitude of the precession in the precession direction of the auxiliary axis. On both sides of the precessing gear wheel (3) (where there are no teeth) there are plates (20) made of high-energy permanent magnets opposite the pairs of induction coils (10) of the housing (1) with the gear wheel (2) equal to the number induction coils (10).

The system operates as follows.

When the maximum (calculated) direct or alternating current is supplied to induction coils from a current source with pulse-width modulation depending on the operating mode of the precessing rotor of the gearmotor, an MDS is created, while the magnetizing force vector longitudinal to the axis OO ₁ provides the precession motion of the precessing rotor (precessing gear (3)). The absence of rotation of the auxiliary axis (7) ensures regular precession. Modulation, as well as the mode of supplying a current pulse to induction coils, is provided by a control unit (not shown in the drawings) to which a gear motor is connected. Therefore, in the proposed design, it becomes possible to provide many structural solutions for induction coils with counterparts (for example, magnets) located on the precessing rotor in the form of plates. Moreover, the proposed design allows for the creation of a rotating magnetic field that generates MDS methods similar to the operation of the stators of brushless end motors, both asynchronous and synchronous or valve. The conversion of the precessing motion of the gear wheel (3) to the rotational movement of the output shaft (9) is carried out in the same way as in versions 16 and 26. For option 3, the accuracy of the angle of rotation of the output shaft (9) can be achieved with the error specified in option 1. (Here - see Var. 1 and 2) The torque on the output shaft in these Options (certainly greater than in Var. 1 and 2), is selected by a joint analysis, - the required speeds and moments of rotation of the loads, taking into account also - the desired weight and size parameters of the gear motor.

MDS is formed according to the laws of Maxwell and / or Lorentz and corresponds to a change in the forms of magnetic field lines in a pulsed or continuous mode similar to its change in stepper or synchronous motors, and the magnitude of the current pulse and phase shifts of the current relative to each other in each induction coil according to a given accuracy of rotation angle on the output shaft or a predetermined amount of torque on the output shaft ..

In other words, the electrical functions of the gearmotor are the creation of magnetic cores with various types of windings whose task is to create a rotating magnetic field (as in conventional motors) that interact in one way or another with the rotor. In the presented design, in contrast to the known electric motors, the rotor is precessing, without its rotation around the axis OO ₁ .

In other words, the essential difference of the proposed design of the gear motor is in its mechanical part and consists in the method of impact on the rotor.

The stator's task is to create a rotating magnetic field that exerts a force on the precessing rotor or, in other words, the ESD generates torque around the longitudinal axis of the output shaft under load by acting on the hard precessing disk (rotor). Thus, a rotating magnetic field generating an emf serves as a “carrier” of the input shaft in a traditional gearbox.

High accuracy of the transmission, and consequently, the rotation angles of the output shaft is ensured by eliminating backlash such as lateral clearances in the gears of the gears with relatively low requirements for the accuracy of their manufacture. And the operability of the gearmotor with an integrated precessing hard gear is ensured by preventing contact between the fastening parts of the induction coils and the precessing rotor moving in the transverse and longitudinal directions.

Thus, the claimed technical result is achieved - increasing the resource, increasing accuracy and simplifying the design.

At the same time, the positive properties of the end gears and, in particular, compactness at high values of the required gear ratios (gear ratios up to 150 can be realized in one reduction step) are retained, similar to the properties of known wave transmissions. But unlike them, expensive, having a limited service life, elastic structural elements are not required.

A number of design units of the ESD in the proposed design of the geared motor can be created on a modular basis, which significantly reduces the cost of creating parametric series in terms of torque on the output shaft and the accuracy of the angle of rotation of the output shaft. This, in turn, expands the markets for the respective gearmotors.

Claims (32)

1. The gear motor, comprising a housing equipped with a gear wheel that performs the function of a gear wheel of the gearbox, induction coils that perform the function of a stator of an electric motor together with the housing, is equipped with an intermediate gear wheel, the gear wheel of the housing being made with teeth that mesh with the teeth of the intermediate gear wheels, characterized in that the housing is rigidly connected to the gear of the housing and the induction coils that the housing is equipped with, each of which is equipped with a movable core, the intermediate gear wheel is made in the form of a precessing gear wheel with gear crowns located on both sides and fixed with the possibility of precession movement, the gear motor is equipped with an additional gear wheel shaft rigidly mounted on the output shaft, while on the one hand the gear ring of the precessing gear wheel engages with the teeth of the gear of the casing, and on the other hand, the gear ring of the precessing gear is engaged with the teeth of the gear of the shaft, auxiliary the solid axis is fixed at one end in the housing, and the other in a blind bore on the output shaft with the possibility of rotation relative to the axis of the output shaft or makes up a single part with the output shaft, the induction coils of the housing with the gear wheel are arranged around the circumference in the peripheral part of the precessing gear wheel with a gap between the end face of the coil and the flat surface of the precessing gear wheel, the core of the corresponding induction coil is made protruding beyond its end, and in the extended position the end of the core without the ora is pressed against the flat surface of the precessing gear wheel, and in the retracted position forms with its surface a gap of not less than the precession of the precessing gear wheel in the longitudinal direction of the auxiliary axis, the output shaft is fixed at one end by means of at least one bearing in the housing with the possibility of rotation, the crowns of all gear wheels are provided with end teeth and the gear wheel of the housing has the same or at least one less number of teeth than the gear ring siruyuschego gear disposed on a precessing gears with his hand, and the toothing on the toothed wheel precessing located on the side gear shaft has at least number of teeth is one more than the number of teeth of the gear shaft, 2. The gear motor according to claim 1, characterized in that the profile of the teeth of the gears is made involute. 3. The gear motor according to claim 1, characterized in that the profile of the teeth of the gears is made cycloidal. 4. The gear motor according to claim 1, characterized in that the tooth profile of the gears is made epicycloidal. 5. The gear motor according to claim 3, characterized in that the cycloidal profile of the teeth of the gears is made hypocycloidal - shortened or elongated. 6. The motor gearbox according to claim 4, characterized in that the tooth profile of the gears is made epicycloidal - shortened or elongated. 7. The gearmotor according to claim 1, characterized in that at least three induction coils are placed around the circumference in the housing, the number of which depends on the required amount of torque on the output shaft. 8. The motor gearbox according to claim 1, characterized in that the core of each induction coil is made of soft magnetic steel and provided with a spherical end face. 9. The gear motor according to claim 1, characterized in that the second end of the auxiliary axis is abutted against the end face of the blind sleeve of the output shaft by means of a ball bearing. 10. The gearmotor according to claim 1, characterized in that a current with pulse-width modulation is supplied to the induction coils of the gearmotor by means of an external control unit, depending on the specified mode of operation of the gearmotor. 11. The gear motor, comprising a housing equipped with a gear wheel that performs the function of a gear wheel of the gearbox, induction coils that perform the function of a stator of an electric motor together with the housing, is equipped with an intermediate gear wheel, the gear wheel of the housing being made with teeth that mesh with the teeth of the intermediate gear wheels, characterized in that the housing is rigidly connected to the gear of the housing and the induction coils that are provided with the housing, each of which is equipped with a fixed core, the intermediate gear wheel is made in the form of a precessing gear wheel with gear crowns located on both sides and fixed with the possibility of precession movement, lining made of ferromagnetic material with low magnetic resistance opposite the induction coils of the casing with the gear wheel, equal to the number of induction coils, is placed on the flat surface of the precessing gear wheel , the gear motor is additionally equipped with a gear wheel of the shaft, rigidly mounted on the output shaft, while on one side The gear ring of the precessing gear engages the teeth of the gear of the casing, and on the other hand, the gear of the gear gear engages the teeth of the gear of the shaft, the auxiliary axis is fixed at one end in the housing and the other in the blind bore on the output shaft with the possibility of rotation about the axis of the output shaft or makes up a single part with the output shaft, the induction coils of the casing with the gear wheel are placed around the circumference in the peripheral part of the intermediate scaffold with a gap between the end face of the core of the coil and the flat surface of the lining of the intermediate gear wheel, the core of the corresponding induction coil is made to protrude beyond its end and when the rated current is applied to this induction coil, it is pressed against the overlay of the precessing gear wheel, which ensures the movement of the precessing gear wheel at the contact point on a given value of the precession in the longitudinal direction of the auxiliary axis, while the cores of other induction coils form a gap between the end face m of the core and the overlay of the precessing gear wheel, which are placed on the intermediate gear wheel opposite the corresponding induction coil, providing a gap of no more than the precession of the precessing gear wheel in the longitudinal direction of the auxiliary axis, the output shaft is fixed at one end with at least one bearing in the housing with the possibility rotation, and the gears of all gears are provided with end teeth, and the gear of the housing has the same or at least and a unit has fewer teeth than the gear ring of the precessing gear located on the precessing gear wheel on its side, and the gear rim on the precessing gear wheel located on the gear side of the shaft has at least the number of teeth one more than the number of teeth gear wheel shaft. 12. The gear motor according to claim 11, characterized in that the tooth profile of the gears is made involute. 13. The gear motor according to claim 11, characterized in that the tooth profile of the gears is made cycloidal. 14. The gear motor according to claim 11, characterized in that the tooth profile of the gears is made epicycloidal. 15. The motor gearbox according to item 13, wherein the cycloidal profile of the teeth of the gears is made hypocycloidal - shortened or elongated. 16. The gear motor according to 14, characterized in that the tooth profile of the gears is made epicycloidal - shortened or elongated. 17. The gearmotor according to claim 11, characterized in that at least three induction coils are placed in a housing around the circumference, the number of which depends on the required amount of torque on the output shaft. 18. The motor gearbox according to claim 11, characterized in that the core of each induction coil is fixed from magnetically soft steel and provided with a spherical end face. 19. The gear motor according to claim 11, characterized in that the ferromagnetic linings are made round or sectional. 20. The gear motor according to claim 11, characterized in that the second end of the auxiliary axis is abutted against the end face of the blind sleeve of the output shaft by means of a ball bearing. 21. The gearmotor according to claim 11, characterized in that a current with pulse-width modulation is supplied to the induction coil via an external control unit to the induction coil, depending on the specified (calculated) mode of operation of the gearmotor. 22. The gear motor, comprising a housing equipped with a gear wheel that performs the function of a gear wheel of the gearbox, induction coils that perform the function of a stator of an electric motor together with the housing, is equipped with an intermediate gear wheel, the gear wheel of the housing being made with teeth that mesh with the teeth of the intermediate gear wheels, characterized in that the housing is rigidly connected to the gear of the housing and the induction coils that the housing is equipped with, made in the form of stator windings, brushless about the end engine, the intermediate gear wheel is made in the form of a precessing gear wheel with gear crowns located on both sides and fixed with a spherical support on the auxiliary axis with the possibility of precession movement, on a flat surface there are overlays of high-energy permanent magnets located opposite the induction coils of the gear housing wheel, a number different from the number of induction coils, the gear motor is additionally equipped with a gear wheel shaft, rigidly fixed on the output shaft, while on the one hand the gear ring of the precessing gear engages with the teeth of the gear of the casing, and on the other hand, the gear ring of the gear gear engages with the teeth of the gear of the shaft, the auxiliary axis is fixed at one end rigidly in the housing and for others - in a blind bore on the output shaft with the possibility of rotation relative to the axis of the output shaft, the induction coils of the housing with a gear wheel serve as a stator of a brushless motor and placed around the circumference in the peripheral part of the precessing gear wheel with a gap between the end face of the winding of the induction coil and the flat surface of the high-energy permanent magnet, providing a gap of not more than the precession of the precessing gear wheel in the longitudinal direction of the auxiliary axis, the output shaft is fixed at one end by at least one the bearing in the housing cover with the possibility of rotation, and the other end by means of a blind bore - with an auxiliary axis, The rims of all gears are provided with end teeth, and the gear of the casing has the same or at least one less number of teeth than the gear rim of the precessing gear located on the precessing gear wheel from its side, and the gear rim on the precessing gear wheel, located on the gear side of the shaft, has at least the number of teeth per unit greater than the number of teeth of the gear of the shaft. 23. The motor gearbox according to item 22, wherein the profile of the teeth of the gears is made involute. 24. The gear motor according to item 22, wherein the profile of the teeth of the gears is made cycloidal. 25. The gear motor according to item 22, wherein the profile of the teeth of the gears is made epicycloidal. 26. The gear motor according to paragraph 24, wherein the cycloidal profile of the teeth of the gears is made hypocycloidal - shortened or elongated. 27. The gear motor according to claim 25, wherein the tooth profile of the gears is made epicycloidal - shortened or elongated. 28. The gearmotor according to claim 22, characterized in that at least three induction coils are arranged around the circumference of the housing, the number of which depends on the required amount of torque on the output shaft. 29. The geared motor according to claim 22, wherein the magnetic poles of the same name from all the high-energy permanent magnet linings are located on one side. 30. The gear motor according to claim 22, wherein the second end of the auxiliary axis is abutted against the end face of the blind sleeve of the output shaft by means of a ball joint. 31. The gearmotor according to claim 22, characterized in that a pulse-width modulated current is supplied to the gearmotor via an external control unit to the induction coils, depending on the specified (calculated) mode of operation of the gearmotor. 32. The gear motor according to claim 22, characterized in that it is equipped with induction coils arranged in pairs around the circumference of the casing with a gear wheel on both sides of the precessing gear wheel opposite each other and opposite the corresponding permanent magnets of the precessing gear wheel, with one induction coil placed around the circumference of the casing opposite the permanent magnets located on the peripheral part of the precessing gear wheel facing the gear wheel of the casing, and the induction coils paired with it placed around the circumference on the fingers of the casing on the opposite side of the precessing gear wheel and are also rigidly connected to the casing by means of fingers with seats for induction coils, the fingers are placed in the grooves of the precessing gear wheel with a gap of at least the value of the precession in the direction of the auxiliary axis, and overlays of high-energy constants magnets are placed on both sides of the precessing gear opposite the respective induction coil of each pair, by a number other than the number of pairs induction coils, and the gap between the corresponding induction coil of the casing with the gear and the plate on the flat surface of the precessing gear on each side is made no more than the magnitude of the precession in the longitudinal direction of the auxiliary axis and distributed so that in the extreme positions of the precessing gear wheel of the magnets alternately then pressed to one induction coil of the pair, then to another with the minimum allowable gap.

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