SU1733771A1 - Gear - Google Patents

Abstract

Use: mechanical engineering, robot-technical systems and vehicles. The essence of the invention: the transmission comprises a housing, three shafts of ferromagnetic material accommodated therein. The parts of the body between the shafts are a magnetic core. Cone-shaped transmitting elements of ferromagnetic material mounted on the respective shafts with a gap along the generatrix. A magnetorheological fluid is placed in the gaps. The control system contains electrical coils, spanning shafts or magnet lines, and a control electrical unit whose output is connected to electrical coils. 6 hp f-ly, 8 ill.

Description

The invention relates to magnetic fluid transmissions.

Known friction gears with mutually intersecting shaft axes.

Also known are gears with two conical ferromagnetic wheels between which a magnetorheological fluid is placed.

The disadvantages of these transmissions are their narrow functionality, in particular the impossibility of electrically controlling the redistribution of the transmitted moments to two different output shafts.

The purpose of the invention is to expand the functionality.

FIG. 1 shows the transmission, the first option; in fig. 2 - the same. Second option; in fig. 3 - the same, the third option; in fig. 4 - the same, the fourth option; in fig. 5 is an electrical transmission control circuit of the first embodiment; in fig. 6 - the same, according to the second option; in fig. 7 - the same

the third option; in fig. 8 - the same, according to the fourth option.

The proposed transmission is a transmission with two different output shafts and can act as a differential (Fig. 1-4).

The transmission (Figures 1-4) contains ferromagnetic shafts 1-3, on which ferromagnetic cone-shaped transmitting elements 4-6 (or conical wheels) are mounted. Elements 4-6 are located inside the non-ferromagnetic housing 7. Where the magnetorheological fluid 8 (or suspension) is also placed, which is also located in the gaps between the wheels, elements 4-6. Magnetic cores 9 are installed between shafts 1-3, and fixed electric coils 10 and 11 are located around shafts 2 and 3. Magnetic cores 9 can form an external (ferromagnetic) transmission body.

For the first transmission variant (Fig. 1), two solenoid coils 10 and 11 are sufficient.

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In the second transmission variant (Fig. 2), a third fixed coil 12 is added to said coils 10 and 11, which is located around shaft 1.

In the third transmission variant (Fig. 3), the magnetic core 13, the fourth cone-shaped transmission element 14 (in the form of a conical ferromagnetic wheel) and the fourth ferromagnetic shaft 15 are added to the structure. Between the shafts 1 and

15 an intermediate element 16 can be placed, which is optional. Element 16 may allow shaft 15 to rotate relative to shaft 1. Element 16 may be non-ferromagnetic. Element

16can be performed, for example, in the form of bearings.

In the fourth transmission variant (Fig. 4), a solenoid coil 17 is also added to the previously mentioned parts, which can be fixedly mounted around the shaft 15. In the gaps between the wheels - elements 4, 5, 6 and 14 there is a magneto-rheological liquid 8.

To control and power the coils 10 and 11 of the transmission options of FIG. 1-3, the circuits shown in FIG. 5-7, where in addition to the previously mentioned coils 10 and 11, variable resistor 18 (or potentiometer), power supply 19 (constant or variable), amplifiers 20 and 21, digital-to-analog converters 22 and 23, and computer 24 are also used.

When using the second transmission option, the coils 10, 11 and 12 can be powered by the scheme shown in FIG. 8, where variable resistor 18 and power supply 19 are used.

When implementing the transmission variant of FIG. 4, the power supply of the coils 10, 11 and 12 can be carried out using the circuit of FIG. 8, and coil 17 may be connected between coil 12 and source 19 (Fig. 8).

The transmission works as follows.

If both coils 10 and 11 (fig. 1) are de-energized, then there is no magnetic field between the wheels- elements 4-6. From this, the magnetorheological fluid 8 in the gaps between elements 4-6 has a minimum of viscosity and no adhesion between elements 4-6.

If both coils 10 and 11 (fig. 1) are powered by the same size, which can be achieved with the middle position of the sliding contact of resistor 18 (fig. 5 and 6), then the powered coils 10 and 11 (fig. 1) will create magnetic fields two circuits (shown by arrows in Fig. 1), which are closed through the magnetic cores 9, the shafts

1-3 and wheels - elements 4-6. The occurrence of magnetic fields of equal strength in both gaps between the cone-shaped elements 4-6 in these gaps increases the viscosity of the magnetorheological fluid 8, which leads to the coupling of the drive wheel - element 4 with the driven elements 5 and 6. At the same time, due to the uniformity of the field forces The viscosity of the fluid 8 in both gaps, the wheel elements 5 and 6 from the wheel element 4 will be transmitted the same moments and speeds.

If, however, it is required for one of the shafts (for example, shaft 2) to transfer a moment larger than to the other shaft 3, then the sliding contact of the variable resistor 18 (Fig. 5 or 6) is shifted in the corresponding direction from the middle. In this case, the current in the coil 10 is amplified, and the current in the coil 11 is attenuated. This leads to an increase in the magnetic field in the gap between elements 4 and 5 and a weakening of the field in the gap between elements 4 and 6. As a result, the coupling of element 5 with the driving element 4 is enhanced, and the coupling of element 6 with element 14 is weakened. Thus, in transmission, there is a difference in the moments taken from the output shafts 2 and 3, and this difference in the moments is regulated purely electrically by redistributing the currents in the coils 10 and 11. Controlling the redistribution of the moments on the output shafts 2 and 3 is electric This simplifies its design and expands its functionality.

If it is required to transfer a larger moment to the shaft 3, then the sliding contact of the resistor 18 (FIGS. 5 and 6) is shifted (from the middle) to the other side. This causes an increase in the current in the coil 11 (as compared to the current in the coil 10), which causes the coupling of elements 6 and 4 to increase. More torque is transmitted to shaft 3 (from member 6).

The electric transmission control allows using (as a control device) not only resistors 18, but also computer 24 (Fig. 7). In this case, the digital outputs of the computer 24 (or an electronic computing device) are connected to the digital inputs of the corresponding digital-to-analog converters 22 and 23, which control the currents of the coils 10 and 11. The computer 24 produces digital data on the currents of the coils 10 and 11 on their outputs, sets, respectively, the magnitudes of the moments taken from the shafts 2 and 3 (Fig. 1), and the digital-to-analog converters 22 and 23 convert the digital signals of the computer 24 to the corresponding values of the currents applied to the coils 10 and 11.

The transmission operation of FIG. 2 is similar to the operation of the transmission of FIG. 1, a feature of the transmission operation of FIG. 2 is that the magnetic fields through the shaft 1 and the wheel member 4 are further enhanced by the coil 12, which is activated as shown in FIG. 8. By changing the position of the sliding contact of the resistor 18 (Fig. 8), the ratio of the moments taken from the shafts 2 and 3 of the transmission of FIG. 2

The transmission in FIG. 3 operates and is controlled in a manner similar to that in FIG. 1. The feature of the transmission operation in FIG. 3 is that the moments on the output shafts 2 and 3 are transmitted not only from the input shaft 1, but also from another input shaft 15 (through the coupling of elements 5, 6 and 14). By redistributing the currents in the coils 10 and 11 (Figs. 3, 5, 6 and 7), it is possible to redistribute the moments transmitted to shafts 2 and 3 from shafts 1 and 15.

The fourth transmission option (FIG. 4) works and reallocates moments in the same way as the transmission in FIG. 3. A feature of this transmission is that in it the field through shafts 1 and 15 is additionally reinforced by coils 12 and 17. The power supply circuit of all transmission coils 10, 11, 12 and 17 in FIG. 4 can be performed in a manner similar to that of FIG. 8, where the coil 17 can be connected between the coil 12 and the source 19.

The meringues of the gear design of FIG. 4 it is possible to implement one more (additional) transfer option. So, if in the construction of FIG. 4, the intermediate element 16 is realized in the form of a conventional coupling, which prevents the shaft 15 to rotate relative to the shaft 1 (i.e., if the shafts 1 and 15 are rigidly connected by the element 16), and the coils 10, 11, 12 and 17 (Fig. 4) are fed from individual corresponding digital-to-analog converters, which allow the force and direction of the currents to be changed through the individual coils 10, 11, 12 and 17, the design of FIG. 4 not only allows control of the redistribution of moments transmitted to the output shafts 2 and 3 from the input shafts 1 and 15 connected together, but even provide a reverse shaft 2 or 3 (or both shafts 2 and 3 simultaneously). All this enhances the functionality of the transfer.

Transmission on all options is simple, compact and reliable. These qualities, as well as its wide functionality, make it convenient for use in robotics, electric transport and automotive industry.

Claims (7)

1. Transmission, comprising a housing, first and second shafts made of ferromagnetic material, the first and second cone-shaped transmitting elements made of ferromagnetic material, mounted on the respective shafts with a gap along forming with each other relatively magnetorheological fluid placed in the gap, and a control system, 0 characterized in that, in order to extend the functionality, the shafts are installed with the intersection of the axes, the transmission is provided with a third shaft of ferromagnetic material, the axis of which 5 is located with the intersection of the axis of one of the first two shafts, the third cone-shaped transmitting element made of ferromagnetic material, mounted on the third shaft with a gap along the generatrix 0 relative to one of the first two transmitting elements, the magnetorheological fluid is placed in the gap along the generator of the third transmitting element, the body parts between the shafts are made in the form 5 magnetic circuits, and the control system is made in the form of the first and second electric coils, covering the shafts or magnetic conductors on opposite sides of the axis of one of the shafts, and the control electric unit, the output of which is connected to the electric coils. 2. Transfer pop. 1, characterized in that the first and second shafts are installed perpendicular to their axes, the third shaft is mounted coaxially with the second shaft, and the electric coils are made in the form of solenoids spanning the second and third shafts. 3. Transfer to PP. 1 and 2, I distinguish between 0 and the fact that it is equipped with an additional body, cone-shaped transmitting elements and a magnetorheological fluid are placed inside the additional body, and electrical coils are installed on fixed frames. 4. Transfer on PP. 1-3, characterized in that it is provided with a fourth shaft of ferromagnetic material placed coaxially with one of the first three 0 shafts, the fourth cone-shaped transmitting element made of ferromagnetic material, mounted on the fourth shaft with gaps along its generator relative to other transmitting elements, and 5, a magnetorheological fluid is placed in the gaps along the generator of the fourth transmission element. 5. Transmission according to claims, 1-4, characterized in that it is provided with a third electric coil, covering one of the shafts, located between the first two electric coils. 6. Transfer by PP, 4 and 5, differ 7. Transfer by PP. 1-6, that is, with the fact that the control electrical unit is designed as a differential electrical device at least with the addition of two outputs to which are connected by a winding, covering the fourth shaft. corresponding windings. 7. Transfer by PP. 1-6, that is, so that the control electrical unit is designed as a differential electrical device with at least two outputs to which the corresponding windings are connected. g, t t. i G; eri 2 figl   but / 12 4 o Xj t tЖ§й Ch J fie.8