CN109058423B - Harmonic speed reduction clutch integrated device - Google Patents
Harmonic speed reduction clutch integrated device Download PDFInfo
- Publication number
- CN109058423B CN109058423B CN201811229929.6A CN201811229929A CN109058423B CN 109058423 B CN109058423 B CN 109058423B CN 201811229929 A CN201811229929 A CN 201811229929A CN 109058423 B CN109058423 B CN 109058423B
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- China
- Prior art keywords
- wave generator
- memory alloy
- flexible gear
- gear
- steel
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- 230000009467 reduction Effects 0.000 title claims abstract description 9
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 26
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 25
- 239000010959 steel Substances 0.000 claims abstract description 25
- 239000013013 elastic material Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 230000006870 function Effects 0.000 abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 abstract description 6
- 230000008859 change Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gears, Cams (AREA)
- Retarders (AREA)
Abstract
The invention discloses an integrated device of a harmonic speed reduction clutch, which belongs to the field of harmonic transmission devices and comprises a wave generator, a flexible gear, a steel gear and a controller, wherein the wave generator is connected with the flexible gear, and the flexible gear is connected with the steel gear; bearings are arranged at two ends of the wave generator, a mounting groove is formed in the bottom of the wave generator, and memory alloy is arranged in the mounting groove; one end of the memory alloy extends into the mounting groove, and the other end of the memory alloy is fixed at the bottom of the wave generator through a screw; the controller is connected with the memory alloy through a wire; the invention can simply and conveniently realize the functions of the harmonic reducer and the clutch, effectively reduce the volume of equipment and improve the reliability of the equipment.
Description
Technical Field
The invention relates to the field of harmonic transmission devices, in particular to a harmonic speed reduction clutch integrated device.
Background
The harmonic speed reducer is a harmonic transmission device and has the advantages of large transmission speed ratio, high bearing capacity, high transmission precision, high transmission efficiency, stable motion, simple structure, less parts and convenient installation. The device has the characteristics of small volume and light weight, is increasingly widely applied to the aspects of aviation, aerospace, energy, navigation, shipbuilding, bionic machinery, common ordnance, machine tools, instruments, electronic equipment, mine metallurgy, transportation, hoisting machinery, petrochemical machinery, textile machinery, agricultural machinery, medical equipment and the like, and particularly has superiority when adopting harmonic gear transmission in a servo system with high dynamic performance; the clutch device can temporarily separate power transmission between the driving element and the driven element, and is widely applied to occasions needing frequent start and stop; however, there are few devices in the prior art that can simultaneously implement the functions of a harmonic reducer and a clutch.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the integrated device of the harmonic speed reduction clutch, which can simply and conveniently realize the functions of the harmonic speed reducer and the clutch, effectively reduce the volume of equipment and improve the reliability of the equipment.
The technical scheme adopted for solving the technical problems is as follows: the harmonic speed reduction clutch integrated device comprises a wave generator, a flexible gear, a steel gear and a controller, wherein the wave generator is connected with the flexible gear, and the flexible gear is connected with the steel gear; bearings are arranged at two ends of the wave generator, a mounting groove is formed in the bottom of the wave generator, and memory alloy is arranged in the mounting groove; one end of the memory alloy extends into the mounting groove, and the other end of the memory alloy is fixed at the bottom of the wave generator through a screw; the controller is connected with the memory alloy through a wire.
Further, the flexible gear is in a thin-wall cylinder shape, and external teeth are arranged outside one end of the flexible gear; the steel wheel is in a circular ring shape, and the inner ring of the steel wheel is provided with inner teeth.
Further, the flexible gear is connected with the inner teeth of the steel gear through the outer teeth arranged on the flexible gear in a meshed mode, and the outer teeth and the inner teeth are identical in modulus and different in number.
Further, the wave generator is made of an elastic material.
Further, the bottom of the flexible gear is provided with a plurality of through holes for being connected with a load.
Further, the steel wheel is provided with a plurality of through holes for being connected with a load.
The beneficial effects of the invention are as follows: the device can realize the functions of the harmonic reducer and the clutch very conveniently, effectively reduce the volume of equipment, improve the reliability of the equipment, and simultaneously has simple and convenient control on the memory alloy and easy operation; the device can expand the application range of the harmonic reducer.
Drawings
FIG. 1 is a schematic diagram of a split structure of the present invention;
FIG. 2 is a top view of the overall structure of the present invention;
fig. 3 is a schematic view of the bottom structure of the wave generator of the present invention.
Reference numerals in the drawings are as follows: 1. the wave generator, 2, flexspline, 3, steel wheel, 4, controller, 5, bearing, 6, memory alloy, 7, screw.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Example 1
The integrated device of the harmonic speed reduction clutch comprises a wave generator 1, a flexible gear 2, a steel gear 3 and a controller 4, wherein the long axis size of the wave generator 1 is larger than the radius size of the flexible gear 2, and the wave generator is made of elastic materials; the wave generator 1 is connected with the flexible gear 2, the flexible gear 2 is connected with the steel gear 3, the flexible gear 2 is in a thin-wall cylinder shape, and external teeth are arranged at one end of the flexible gear 2 and can deform to a certain extent; the steel wheel 3 is annular, the inner ring of the steel wheel is provided with inner teeth, and the flexible wheel 2 is in meshed connection with the inner teeth of the steel wheel 3 through the outer teeth arranged on the flexible wheel; the outer teeth and the inner teeth have the same modulus and different numbers; in order to avoid abrasion and heating caused by friction, bearings 5 are arranged at two ends of the wave generator 1, a mounting groove is formed in the bottom of the wave generator 1, and a memory alloy 6 is arranged in the mounting groove; one end of the memory alloy 6 extends into the mounting groove, and the other end of the memory alloy is fixed at the bottom of the wave generator 1 through a screw 7; the controller 4 is connected with the memory alloy 6 through a wire; the bottom of the flexible gear 2 is provided with a plurality of through holes for being connected with a load, and the steel wheel 3 is provided with a plurality of through holes for being connected with the load.
The wave generator 1 is used as a power input end to drive the flexible gear 2 and the wave generator 1 to reversely rotate, and the speed reduction is realized due to the tooth difference between the flexible gear 2 and the steel gear 3. The controller 4 can apply current to the memory alloy 6 so as to change the shape of the memory alloy 6, further change the length of the long shaft of the wave generator 1, control the engagement and disengagement between the flexible wheel 2 and the steel wheel 3, and realize the clutch function.
Preferably, the memory alloy 6 of the present invention is a two-way shape memory alloy which undergoes shrinkage deformation when heated and resumes its shape when cooled, and according to its nature, is controlled by applying a certain current thereto via the controller 4.
The working principle of the invention is as follows: the controller 4 is a single chip microcomputer or a chip, a circuit and equipment capable of realizing the function of the single chip microcomputer, and is connected to the memory alloy 6 through a circuit, so that a certain current can be applied to the memory alloy 6 in a controlled manner, when the memory alloy 6 is not driven by the current, the flexible wheel 2 is deformed to a certain extent due to the specification of the wave generator 1 and then meshed with the steel wheel 3, and the transmission and deceleration functions can be completed at the moment; when the shape of the memory alloy 6 is changed and contracted when current is applied, the length of the long shaft of the wave generator 1 is driven to be shortened, the flexible wheel 2 is restored to be in a size and is meshed with the steel wheel 3, and at the moment, the power input by the wave generator 1 cannot be transmitted, so that the clutch function is completed.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should be covered by the protection scope of the present invention by making equivalents and modifications to the technical solution and the inventive concept thereof.
Claims (1)
1. The integrated device of the harmonic speed reduction clutch is characterized by comprising a wave generator (1), a flexible gear (2), a steel gear (3) and a controller (4), wherein the wave generator (1) is connected with the flexible gear (2), and the flexible gear (2) is connected with the steel gear (3); bearings (5) are arranged at two ends of the wave generator (1), a mounting groove is formed in the bottom of the wave generator (1), and a memory alloy (6) is arranged in the mounting groove; one end of the memory alloy (6) extends into the mounting groove, and the other end of the memory alloy is fixed at the bottom of the wave generator (1) through a screw (7); the controller (4) is connected with the memory alloy (6) through a wire;
the flexible gear (2) is in a thin-wall cylinder shape, and external teeth are arranged outside one end of the flexible gear; the steel wheel (3) is annular, and the inner ring of the steel wheel is provided with inner teeth; the flexible gear (2) is connected with the inner teeth of the steel gear (3) through the outer teeth arranged on the flexible gear in a meshed manner, and the outer teeth and the inner teeth are identical in modulus and different in number;
the wave generator (1) is made of an elastic material;
the bottom of the flexible gear (2) is provided with a plurality of through holes for connecting with a load;
the steel wheel (3) is provided with a plurality of through holes for being connected with a load.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811229929.6A CN109058423B (en) | 2018-10-22 | 2018-10-22 | Harmonic speed reduction clutch integrated device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811229929.6A CN109058423B (en) | 2018-10-22 | 2018-10-22 | Harmonic speed reduction clutch integrated device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109058423A CN109058423A (en) | 2018-12-21 |
| CN109058423B true CN109058423B (en) | 2023-11-14 |
Family
ID=64765178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811229929.6A Active CN109058423B (en) | 2018-10-22 | 2018-10-22 | Harmonic speed reduction clutch integrated device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109058423B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102705451A (en) * | 2012-05-21 | 2012-10-03 | 深圳职业技术学院 | Method for reducing drive eccentric errors of harmonic gear and automatic aligning wave generator |
| CN105276127A (en) * | 2014-07-08 | 2016-01-27 | 哈米尔顿森德斯特兰德公司 | Harmonic drive assembly with selective disconnect and method |
| CN105276019A (en) * | 2014-05-27 | 2016-01-27 | 哈米尔顿森德斯特兰德公司 | Harmonic drive assembly with selective disconnect and reconnect |
| CN205503911U (en) * | 2015-11-29 | 2016-08-24 | 重庆洋迪机电有限公司 | Adjustable overall dimension wave generator |
| DE102016106721A1 (en) * | 2016-04-12 | 2017-10-12 | Hiwin Technologies Corp. | Bearings with a holder |
| CN208966983U (en) * | 2018-10-22 | 2019-06-11 | 大连大学 | A kind of harmonic reduction clutch integrative device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM451311U (en) * | 2012-09-26 | 2013-04-21 | Harmonic Innovation Technology Co Ltd | Harmonic decelerator with clutch function |
-
2018
- 2018-10-22 CN CN201811229929.6A patent/CN109058423B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102705451A (en) * | 2012-05-21 | 2012-10-03 | 深圳职业技术学院 | Method for reducing drive eccentric errors of harmonic gear and automatic aligning wave generator |
| CN105276019A (en) * | 2014-05-27 | 2016-01-27 | 哈米尔顿森德斯特兰德公司 | Harmonic drive assembly with selective disconnect and reconnect |
| CN105276127A (en) * | 2014-07-08 | 2016-01-27 | 哈米尔顿森德斯特兰德公司 | Harmonic drive assembly with selective disconnect and method |
| CN205503911U (en) * | 2015-11-29 | 2016-08-24 | 重庆洋迪机电有限公司 | Adjustable overall dimension wave generator |
| DE102016106721A1 (en) * | 2016-04-12 | 2017-10-12 | Hiwin Technologies Corp. | Bearings with a holder |
| CN208966983U (en) * | 2018-10-22 | 2019-06-11 | 大连大学 | A kind of harmonic reduction clutch integrative device |
Non-Patent Citations (1)
| Title |
|---|
| 压电谐波电机驱动系统非线性主共振分析;李冲，许立忠;振动、测试与诊断;第36卷(第3期);第575-610页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109058423A (en) | 2018-12-21 |
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