CN109681602A - A kind of harmonic speed changer with linear motion function - Google Patents
A kind of harmonic speed changer with linear motion function Download PDFInfo
- Publication number
- CN109681602A CN109681602A CN201910039157.8A CN201910039157A CN109681602A CN 109681602 A CN109681602 A CN 109681602A CN 201910039157 A CN201910039157 A CN 201910039157A CN 109681602 A CN109681602 A CN 109681602A
- Authority
- CN
- China
- Prior art keywords
- ball screw
- linear motion
- bearing
- flexbile gear
- generator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
-
- 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
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02034—Gearboxes combined or connected with electric machines
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of harmonic speed changers with linear motion function, including three linear motion unit, harmonic wave unit and electric motor units parts.The present invention is on the basis of conventional harmonic retarder, it is equipped with the precision drive of ball screw, form a composite structure, accurate rotary motion is transformed to accurate linear motion by it, there is unique advantage in some use occasions, the present invention also integrates the servo motor with hollow encoder with retarder simultaneously, further improve the performance indicator of retarder, the use space requirement for having compressed retarder, makes it have the integration reducer of with power function, close linear motion function.
Description
Technical field:
The present invention relates to a kind of harmonic speed changers with linear motion function.
Background technique:
Harmonic speed reducer keeps it increasing in manufacturing application range, especially one due to its distinctive characteristic
The use occasion of precision drive is needed a bit, and harmonic speed reducer is at only selection.Due to existing device rotating accuracy with
And have the defects that certain in terms of overall volume, it is unable to satisfy that small in size, transmission ratio is big, rotating accuracy is high, movement is stable
It is required that therefore, certain limitation is just received in some use occasions.
Summary of the invention:
The present invention is provided a kind of with the humorous of linear motion function to solve the above-mentioned problems of the prior art
Wave deceleration device.
The technical solution adopted in the present invention has: a kind of harmonic speed changer with linear motion function, comprising:
Linear motion unit, the linear motion unit include load shell, ball screw, ball screw nut, movement
Mechanism and guide post, the guide post are fixed on load shell, and ball screw nut is plugged on guide post, and ball screw nut is set
In in load shell, ball screw is threadedly coupled with ball screw nut, and actuating mechanism is fixedly connected with ball screw nut；
Harmonic wave unit, the harmonic wave unit include right-angled intersection bearing, generator, flexbile gear, lower case, cushion block in flexbile gear,
Flexible bearing and firm gear, the firm gear are set in lower case, are equipped with biography on the inner wall of firm gear and the outside wall surface of flexbile gear
Movable tooth portion is meshed between flexbile gear and firm gear by the transmission teeth portion, and cushion block and ball screw are fixed in flexbile gear, flexbile gear
In on the inner ring of right-angled intersection bearing, lower case and load shell are both secured on the outer ring of right-angled intersection bearing, generator
One end is rotatably connected in flexbile gear by flexible bearing；
Electric motor units, the electric motor units include hollow encoder, cover board, upper housing and stator, and the upper housing is under
Shell is fixedly connected, and stator is fixed in upper housing, and one end of generator stretches in stator and forms rotor portions, and cover board is fixed on
On upper housing, hollow encoder is set to the outside of cover board, and the end of generator passes through cover board and stretches in hollow encoder.
Further, it is equipped with right support bearing in the upper housing, is equipped with left support bearing, the generator branch in cover board
It holds in right support bearing and left support bearing.
Further, the generator includes integrally formed round plate and shaft, and the shaft passes through flexible shaft
It forwards to move and be set in flexbile gear, shaft is arranged in stator and is formed rotor portions, and the both ends of shaft pass through right support bearing
It is corresponding with left support bearing to be supported in upper housing and cover board.
Further, the ball screw includes integrally formed fixed pan portion and threaded shank, and fixed pan portion passes through screw
It is fixedly connected with the inner ring of right-angled intersection bearing, threaded shank is threadedly coupled with ball screw nut.
Further, the flexbile gear is cup configuration.
The invention has the following beneficial effects:
The present invention is equipped with the precision drive of ball screw on the basis of conventional harmonic retarder, form one it is compound
Mechanism, accurate rotary motion is transformed to accurate linear motion by it, compact-sized, and movement is steady, uses field at some
Closing has unique advantage, while the present invention also integrates the servo motor with hollow encoder with retarder, into
One step improves the performance indicator of retarder, has compressed the use space requirement of retarder, having it has power function
, the integration reducer of close linear motion function, resulting beneficial effect is:
1) compact-sized, reduction ratio is big, realizes rotary motion and the accurate transmitting between moving along a straight line；
2) integrated design of servo motor, harmonic speed reducer, straight-line motion mechanism is realized.
Detailed description of the invention:
Fig. 1 is cross-sectional view of the present invention.
Fig. 2 is three-dimensional figure of the present invention.
Fig. 3 is the structure chart of harmonic wave unit in the present invention.
Fig. 4 is the cross-sectional view of linear movement unit of the present invention.
Fig. 5 is the three-dimensional figure of linear movement unit of the present invention.
Fig. 6 is the cross-sectional view of electric motor units in the present invention.
Specific embodiment:
The present invention will be further described below with reference to the drawings.
Such as Fig. 1 to Fig. 6, a kind of harmonic speed changer with linear motion function of the present invention, including linear motion unit
1,3 three parts of harmonic wave unit 2 and electric motor units.
Linear movement unit 1 of the present invention includes load shell 11, ball screw 12, ball screw nut 13, movement machine
Structure 14 and guide post 15, two guide posts 15 are fixed on load shell 11 along the axial direction of load shell 11, ball screw nut
13 are plugged on guide post 15, and ball screw nut 13 is placed in load shell 11, ball screw 12 and ball screw nut 13
It is threadedly coupled, actuating mechanism 14 is fixedly connected with ball screw nut 13.
13 two sides of ball screw nut are equipped with guide post 15, guarantee the linear motion of ball screw nut, ball screw nut
On be fixed with actuating mechanism 14, scheduled function is completed by the up and down motion of actuating mechanism.
Harmonic wave unit 2 includes right-angled intersection bearing 21, generator 22, flexbile gear 24, lower case 25, cushion block 26 in flexbile gear, soft
Property bearing 27 and firm gear, firm gear is set in lower case 25, is equipped with biography on the inner wall of firm gear and the outside wall surface of flexbile gear 24
Movable tooth portion is meshed between flexbile gear 24 and firm gear by the transmission teeth portion.Cushion block 26 and ball screw in flexbile gear 24, flexbile gear
12 are both secured on the inner ring of right-angled intersection bearing 21, and the revolving speed of ball screw 12 is equal with the revolving speed of flexbile gear 24.Lower case 25
It is both secured on the outer ring of right-angled intersection bearing 21 with load shell 11, one end of generator 22 is connected by the rotation of flexible bearing 27
It connects in flexbile gear 24.
Electric motor units 3 include hollow encoder 31, cover board 32, upper housing 33 and stator 35, upper housing 33 and lower case 25
It is fixedly connected, stator 35 is fixed in upper housing 33, and one end of generator 22 stretches in stator 35 and forms rotor portions, cover board 32
It is fixed on upper housing 33, hollow encoder 31 is set to the outside of cover board 32, and the end of generator 22 passes through cover board 32 and stretches in
In hollow encoder 31.
The rotor composite shaft of generator 22 and servo motor is an axis, is cased with flexible bearing 27, flexible bearing 27 on axis
Outer surface and the inner surface of flexbile gear 24 fit, flexbile gear is meshed by teeth portion with the firm gear tooth on lower case inner surface.
It is equipped with right support bearing 34 in upper housing 33, is equipped with left support bearing 36, the shaft of generator 22 in cover board 32
222 are supported in right support bearing 34 and left support bearing 36.
The rotor composite shaft of generator 22 and servo motor is an axis, and the generator 22 in the present invention includes being integrally formed
Round plate 221 and shaft 222, shaft 222 by flexible bearing 27 rotation be set to flexbile gear 24 in, shaft 222 is worn
In in stator 35 and forming rotor portions, and the both ends of shaft 222 pass through right support bearing 34 and the corresponding branch of left support bearing 36
It holds in upper housing 33 and cover board 32.
Ball screw 12 includes integrally formed fixed pan portion 121 and threaded shank 122, fixed pan portion 121 by screw with
The inner ring of right-angled intersection bearing 21 is fixedly connected, and threaded shank 122 is threadedly coupled with ball screw nut 13.
Flexbile gear 24 in the present invention is cup configuration.
When motor rotation, armature spindle (shaft 222 of generator 22) generates rotation, since the armature spindle other end is processed
There is generator, which is double wave ellipse generator, and the outer diameter of generator and the internal diameter of flexible bearing are equal, and flexible bearing
On the inner hole of flexbile gear.When generator rotation, driving flexible bearing generates rotation, and the elliptic contour on generator drives soft
Wheel and makes tooth in appearance do radial motion when rotating in a circumferential direction, by with the tooth in firm gear in lower case inner surface into
Row engagement, so that flexbile gear generates rotation, drives the ball screw joined together with it to generate rotation using the harmonic wave theory of engagement,
It is final to realize that actuating mechanism pumps, achieve the purpose that rotary motion is changed into linear motion.
The movement relation of this combined harmonic retarder is as follows:
If the reduction ratio of harmonic wave unit is i, the screw pitch of ball screw is t mm, and the revolving speed of servo motor is n rpm, then should
The point-to-point speed of retarder are as follows:
The present invention organically integrates the straight-line motion mechanism of servo motor, harmonic speed reducer and ball screw,
It forms that one compact-sized, reduction ratio is big, rotary motion can be changed into the Novel reducer of linear motion, uses ball
Screw rod realizes the gapless movement of linear motion.
The flexbile gear output end of ball screw and harmonic speed reducer organically joins together, ensure that concentricity between the two
With the stationarity of movement；Generator, armature spindle and rotor are integrated into an organic whole, improve the operating of entire retarder
Steady row and service performance, also improve the service life of retarder, encoder are set to the outside of electric motor end cap, and adopt
With hollow type rotary encoder.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
It for member, can also make several improvements without departing from the principle of the present invention, these improvement also should be regarded as of the invention
Protection scope.
Claims (5)
1. a kind of harmonic speed changer with linear motion function, it is characterised in that: include:
Linear motion unit (1), the linear motion unit (1) include load shell (11), ball screw (12), ball screw
Nut (13), actuating mechanism (14) and guide post (15), the guide post (15) are fixed in load shell (11), ball screw nut
(13) it is plugged on guide post (15), and ball screw nut (13) is placed in load shell (11), ball screw (12) and ball
Feed screw nut (13) is threadedly coupled, and actuating mechanism (14) is fixedly connected with ball screw nut (13)；
Harmonic wave unit (2), the harmonic wave unit (2) include right-angled intersection bearing (21), generator (22), flexbile gear (24), lower casing
Cushion block (26), flexible bearing (27) and firm gear in body (25), flexbile gear, the firm gear is set in lower case (25), in firm gear
It is equipped with transmission teeth portion in the outside wall surface of wall surface and flexbile gear (24), passes through the transmission teeth portion phase between flexbile gear (24) and firm gear
It engaging, cushion block (26) and ball screw (12) are both secured on the inner ring of right-angled intersection bearing (21) in flexbile gear (24), flexbile gear,
Lower case (25) and load shell (11) are both secured on the outer ring of right-angled intersection bearing (21), and one end of generator (22) passes through
Flexible bearing (27) is rotatably connected in flexbile gear (24)；
Electric motor units (3), the electric motor units (3) include hollow encoder (31), cover board (32), upper housing (33) and stator
(35), the upper housing (33) is fixedly connected with lower case (25), and stator (35) is fixed in upper housing (33), generator (22)
One end stretch in stator (35) and form rotor portions, cover board (32) is fixed on upper housing (33), and hollow encoder (31) sets
In the outside of cover board (32), the end of generator (22) passes through cover board (32) and stretches in hollow encoder (31).
2. the harmonic speed changer with linear motion function as described in claim 1, it is characterised in that: the upper housing
(33) right support bearing (34) are equipped in, are equipped with left support bearing (36) in cover board (32), the generator (22) is supported on the right side
In spring bearing (34) and left support bearing (36).
3. the harmonic speed changer with linear motion function as described in claim 1, it is characterised in that: the generator
It (22) include integrally formed round plate (221) and shaft (222), the shaft (222) is set by flexible bearing (27)
In flexbile gear (24), shaft (222) is placed through in stator (35) and forms rotor portions, and the both ends of shaft (222) pass through
Right support bearing (34) and left support bearing (36), which correspond to, to be supported in upper housing (33) and cover board (32).
4. the harmonic speed changer with linear motion function as described in claim 1, it is characterised in that: the ball screw
It (12) include integrally formed fixed pan portion (121) and threaded shank (122), fixed pan portion (121) pass through screw and right-angled intersection
The inner ring of bearing (21) is fixedly connected, and threaded shank (122) is threadedly coupled with ball screw nut (13).
5. the harmonic speed changer with linear motion function as described in claim 1, it is characterised in that: the flexbile gear (24)
For cup configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910039157.8A CN109681602A (en) | 2019-01-16 | 2019-01-16 | A kind of harmonic speed changer with linear motion function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910039157.8A CN109681602A (en) | 2019-01-16 | 2019-01-16 | A kind of harmonic speed changer with linear motion function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109681602A true CN109681602A (en) | 2019-04-26 |
Family
ID=66193282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910039157.8A Pending CN109681602A (en) | 2019-01-16 | 2019-01-16 | A kind of harmonic speed changer with linear motion function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109681602A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111779809A (en) * | 2020-06-01 | 2020-10-16 | 北京精密机电控制设备研究所 | Two output planet roller lead screws |
| CN113236742A (en) * | 2021-06-10 | 2021-08-10 | 苏州悍猛传动科技有限公司 | Speed reducer |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5370011A (en) * | 1991-08-20 | 1994-12-06 | Harmonic Drive Antriebstechnik Gmbh | Positioning actuator |
| EP0802098A2 (en) * | 1996-04-15 | 1997-10-22 | General Motors Corporation | Variable screw-driven system |
| CN108401575B (en) * | 2009-09-10 | 2013-02-27 | 西安空间无线电技术研究所 | A kind of antenna direction regulating mechanism linear drive apparatus |
| CN104806669A (en) * | 2015-04-23 | 2015-07-29 | 吉林大学 | Vehicle electronic mechanical brake actuator |
| CN105443947A (en) * | 2016-01-11 | 2016-03-30 | 西华大学 | Composite telescopic two-stage supporting leg |
| CN105465242A (en) * | 2015-12-25 | 2016-04-06 | 吉林大学 | Novel electromechanical braking actuator with harmonic reducer |
| CN106300795A (en) * | 2016-11-04 | 2017-01-04 | 南京信息工程大学 | A kind of big retarding is than harmonic reduction all-in-one |
| CN106685116A (en) * | 2017-01-22 | 2017-05-17 | 北京理工大学 | Direct-drive motor device |
| CN106849521A (en) * | 2015-09-30 | 2017-06-13 | 西门子公司 | It is used in particular for the electric motor units of electricity or motor vehicle driven by mixed power |
| CN206628939U (en) * | 2017-04-10 | 2017-11-10 | 南京信息工程大学 | Flexbile gear output harmonic wave all-in-one |
| CN108150623A (en) * | 2016-12-05 | 2018-06-12 | 住友重机械工业株式会社 | deceleration device |
-
2019
- 2019-01-16 CN CN201910039157.8A patent/CN109681602A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5370011A (en) * | 1991-08-20 | 1994-12-06 | Harmonic Drive Antriebstechnik Gmbh | Positioning actuator |
| EP0802098A2 (en) * | 1996-04-15 | 1997-10-22 | General Motors Corporation | Variable screw-driven system |
| CN108401575B (en) * | 2009-09-10 | 2013-02-27 | 西安空间无线电技术研究所 | A kind of antenna direction regulating mechanism linear drive apparatus |
| CN104806669A (en) * | 2015-04-23 | 2015-07-29 | 吉林大学 | Vehicle electronic mechanical brake actuator |
| CN106849521A (en) * | 2015-09-30 | 2017-06-13 | 西门子公司 | It is used in particular for the electric motor units of electricity or motor vehicle driven by mixed power |
| CN105465242A (en) * | 2015-12-25 | 2016-04-06 | 吉林大学 | Novel electromechanical braking actuator with harmonic reducer |
| CN105443947A (en) * | 2016-01-11 | 2016-03-30 | 西华大学 | Composite telescopic two-stage supporting leg |
| CN106300795A (en) * | 2016-11-04 | 2017-01-04 | 南京信息工程大学 | A kind of big retarding is than harmonic reduction all-in-one |
| CN108150623A (en) * | 2016-12-05 | 2018-06-12 | 住友重机械工业株式会社 | deceleration device |
| CN106685116A (en) * | 2017-01-22 | 2017-05-17 | 北京理工大学 | Direct-drive motor device |
| CN206628939U (en) * | 2017-04-10 | 2017-11-10 | 南京信息工程大学 | Flexbile gear output harmonic wave all-in-one |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111779809A (en) * | 2020-06-01 | 2020-10-16 | 北京精密机电控制设备研究所 | Two output planet roller lead screws |
| CN111779809B (en) * | 2020-06-01 | 2021-11-16 | 北京精密机电控制设备研究所 | Two output planet roller lead screws |
| CN113236742A (en) * | 2021-06-10 | 2021-08-10 | 苏州悍猛传动科技有限公司 | Speed reducer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8022580B2 (en) | Plastics injection-molding machine with integrated, linear-rotary direct drive | |
| ATE433064T1 (en) | HYPOCYCLOIDIC ENGINE | |
| CN109681602A (en) | A kind of harmonic speed changer with linear motion function | |
| CN109551513A (en) | A kind of Multifunctional height integrated modular joint of robot | |
| CN108638118A (en) | Integrated robot joint driving device | |
| CN208241506U (en) | A kind of high thrust high precision ball lead screw motor | |
| EP2735501A1 (en) | Centrally-positioned power output mechanism of power-assisted bicycle | |
| CN1964160B (en) | An inner rotor motor structure | |
| WO2015029345A1 (en) | Thin gear motor and muscular strength assisting device using thin gear motor | |
| CN109723799A (en) | A kind of combined harmonic retarder | |
| CN103448898A (en) | Marine integrated electric steering engine | |
| CN209888213U (en) | Screw servo press with randomly controllable screw pitch | |
| CN209539948U (en) | A kind of novel all-in-one ball-screw linear transmission mechanism | |
| CN100588090C (en) | Electromagnetic harmonic wave drive action device | |
| JP2010223277A (en) | Linear actuator | |
| CN201779228U (en) | Novel mechanical transmission mechanism | |
| CN2773981Y (en) | Cylindrical cam-type electric motor | |
| CN110303484A (en) | Joint module and robot | |
| CN100555821C (en) | Cylindrical cam motor | |
| CN208409914U (en) | integrated robot joint driving device | |
| CN207868932U (en) | New-energy automobile gear-box push-rod electric machine | |
| JPS6174936A (en) | Prime mover device | |
| CN109849398A (en) | A kind of arbitrarily adjustable spiral servo press machine of screw pitch | |
| CN100472091C (en) | Crank pingear transmission | |
| CN216478714U (en) | Small high-precision high-rigidity dynamic balance speed reducing motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190426 |
|
| RJ01 | Rejection of invention patent application after publication |