CN114294399A - Harmonic drive, application and method - Google Patents
Harmonic drive, application and method Download PDFInfo
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- CN114294399A CN114294399A CN202210059459.3A CN202210059459A CN114294399A CN 114294399 A CN114294399 A CN 114294399A CN 202210059459 A CN202210059459 A CN 202210059459A CN 114294399 A CN114294399 A CN 114294399A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 54
- 238000007789 sealing Methods 0.000 claims abstract description 10
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 5
- 239000004519 grease Substances 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000002485 combustion reaction Methods 0.000 claims description 2
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- 229910000831 Steel Inorganic materials 0.000 description 13
- 239000010959 steel Substances 0.000 description 13
- 230000008901 benefit Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005422 blasting Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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Abstract
The invention discloses a harmonic transmission device, application and a method.A circular annular structure is formed on an outer gear ring of a flexible transmission part under the condition of not bearing external force; the flexible transmission part also comprises a back cover structure extending from the wall body where the outer gear ring is located in the radial direction; a rigid transmission member having an inner gear ring intermittently engaged with and/or meshed with the outer gear ring of the flexible transmission member; an input member for input having an external tooth portion and an inner cavity structure composed of at least radial and axial wall surfaces; the input component and the rigid transmission component are rigidly fixed; an output member having a configuration that forms a circumferential limit fit with the input member, and the output member is axially encapsulated in the rigid transmission member and the input member; the flexible transmission component bottom sealing structure is rigidly fixed with the output component. Simple structure, low cost and being beneficial to batch production. The operation is stable and more accurate adjustment precision can be generated. The phase adjustment device can be applied to phase adjustment of the cam.
Description
Technical Field
The present invention relates to harmonic drives, and more particularly to harmonic drives having flexible drive components and related applications and methods.
Background
Variable Valve Timing (VVT) systems require adjustment of the phase of engine cams to control exhaust emissions. At present, a camshaft phase adjuster is generally adopted, and the camshaft phase adjuster is generally a driver driven by cylindrical gears in a meshing manner.
The phase adjustment driver generally needs to be precisely designed by matching with the design of an electromagnetic valve body, has a complex structure and high process cost, and cannot achieve the expected precision due to the complexity of phase angle adjustment at present.
At present, the cylindrical gear driving is replaced by a harmonic speed reducer, but due to the design problem of the structure of the harmonic device, the design of the electromagnetic valve body is not independent, the control precision is easily influenced, the operation stability and the reliability cannot meet the application requirements, and the mass production is not facilitated.
Disclosure of Invention
The invention aims to provide a harmonic transmission device, application and a method which can be suitable for adjusting a dislocation rotation angle, and the harmonic transmission device, the application and the method have the advantages of greatly improved independence and stability, simple structure, low cost and benefit for batch production.
Meanwhile, the adjusting method provided by the invention is stable in operation and can generate more accurate adjusting precision.
Finally, the invention provides the use of a device which can be applied to camshaft adjusters, in particular to adjusting the phase of the engine cams in Variable Valve Timing (VVT) systems.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a harmonic drive, comprising:
the wave generator comprises a cam and a flexible bearing fixed outside the cam;
the flexible transmission part is arranged at the periphery of the wave generator and is provided with an outer gear ring according to the deformation of the wave generator, and the outer gear ring of the flexible transmission part is in a circular annular structure under the state of not being subjected to external force; the flexible transmission part also comprises a back cover structure extending from the wall body where the outer gear ring is located in the radial direction;
a rigid transmission member having an inner gear ring intermittently engaged with and/or meshed with the outer gear ring of the flexible transmission member;
an input member for input having an external tooth portion and an inner cavity structure composed of at least radial and axial wall surfaces; the input component and the rigid transmission component are rigidly fixed;
an output member having a configuration that forms a circumferential limit fit with the input member, and the output member is axially encapsulated in the rigid transmission member and the input member; the flexible transmission component bottom sealing structure is rigidly fixed with the output component.
The sealing cover is used for sealing the wave generator, the flexible transmission component, the rigid transmission component and the output component in the inner cavity structure of the input component at least from the axial direction, and the input end of the wave generator axially extends out of the center of the sealing cover and is connected with the wave generator driving device.
Furthermore, the tooth number of the inner gear ring of the rigid transmission component is different from the tooth number of the outer gear ring of the flexible transmission component by two tooth numbers.
Further, the cover is a bearing seat, and a support bearing is arranged between the bearing seat and the cam of the wave generator.
Further, grease is disposed within the inner cavity structure.
Further, the cam includes an elliptical cam structure to which the compliant bearing is secured and forms a uniform elliptical structure.
Further, the flexible transmission member outer gear ring presents an elliptical configuration in accordance with the cam in the operating condition.
Further, the external toothing of the input member is engaged with a chain or belt or gear input, driven by means of a traction mechanism or gear such as a belt or chain.
The use of the closed-type harmonic drive as a regulating drive for a camshaft adjuster or as a regulating drive for a device for regulating the compression ratio of an internal combustion engine.
A method for operating a wave generator, the periphery of which is provided with a flexible transmission part which is deformed according to the wave generator and is provided with an outer gear ring and a back cover, the outer gear ring of the flexible transmission part is in a circular annular structure under the state of not being subjected to external force;
a rigid transmission member having an internal gear ring is arranged to intermittently engage and/or mesh with the external gear ring of the flexible transmission member; the input component is provided with an external tooth part and an inner cavity structure formed by wall surfaces in at least radial and axial directions and is used for inputting, and the input component and the rigid transmission component are rigidly fixed;
axially encapsulating an output member in said rigid drive member and said input member; the flexible transmission component and the output component are rigidly fixed, and the output component is provided with a structure which forms circumferential limit fit with the input component;
when the circular ring-shaped outer gear ring of the flexible transmission part is supported into an oval shape by the wave generator, the tooth shape of the outer gear ring and the tooth shape of the output part are continuously engaged, meshed and disengaged according to the continuous change of the long axis and the short axis of the flexible gear, so that the output part rotates and outputs to keep synchronous rotation with the input part or generate a dislocation corner.
The working principle of the invention is as follows:
as the flexible bearing is arranged on the oval cam, the flexible bearing is forced to be also in an oval structure. The length of the long shaft of the wave generator is slightly larger than the diameter of the circular cap-type flexible gear. When the wave generator is installed in the inner hole of the flexible gear, the circular flexible gear is directly supported into an ellipse, so that the tooth form of the flexible gear in the major axis direction is completely meshed with the tooth form of the output flange, and the tooth form in the minor axis direction is completely separated from the tooth form of the output flange: and the tooth shapes are respectively in a meshing-in state or a meshing-out state at other positions of the flexible gear. Because the flexspline is rigidly connected to the output member in a fixed position, the output member rotates counterclockwise when the wave generator rotates clockwise. When the wave generator is in continuous operation state, the tooth form of the flexible gear in the long shaft and short shaft direction can be continuously changed, and simultaneously the tooth form of the cup-type flexible gear and the tooth form of the steel gear can be continuously engaged, meshed and disengaged according to the continuous change of the long shaft and the short shaft of the cap-type flexible gear, so that the output component can be continuously rotated.
When the belt wheel and the output component rotate synchronously, the wave generation driving motor needs to rotate synchronously with the belt wheel; when the belt wheel and the output part need to have a rotation angle, the rotation speed of the wave generation driving motor is different from that of the belt wheel, and the wave generator acts to enable the output part to rotate, so that the output part driven shaft and the belt wheel generate a dislocation rotation angle.
The invention has the following beneficial effects:
compared with the complex structure and the expensive cost of the current corner error adjusting device, the harmonic transmission device has the advantages of few elements, simple structure and low manufacturing and process cost, and is particularly suitable for mass production.
The invention adopts a closed flat structure to package the belt wheel, the flexible wheel, the wave generator, the steel wheel and the output flange into a whole, and lubricating grease can be arranged in the closed structure, thereby ensuring the service life and the stability of the harmonic transmission device.
In addition, the sealing cover with a closed structure can be arranged into a bearing seat form, the stability and the reliability of the wave generator cam are improved by arranging the supporting bearing, and the adjusting precision of the dislocation corner is ensured.
The invention is suitable for use in camshaft adjusters, particularly Variable Valve Timing (VVT) systems, for adjusting the phase of an engine cam.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a plan view of a harmonic drive of embodiment 1 of the present invention.
Fig. 2 is a schematic view of an assembly structure of a harmonic drive according to embodiment 1 of the present invention (view a _ a in fig. 1).
Fig. 3 is a diagram of the blasting of fig. 2.
Fig. 4 is a perspective view of the flexspline of the present invention.
Fig. 5 is a schematic view of an assembly structure of a harmonic drive device according to embodiment 2 of the present invention.
Fig. 6 is a diagram of the blasting of fig. 5.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1:
a harmonic drive according to an embodiment of the invention is shown in fig. 1-4, with the reference numbers corresponding to:
1. a flexspline or a flexible transmission member provided with an external tooth portion;
2. the output flange or the output part is provided with a circumferential limiting device matched with the belt wheel;
3. a pulley or sprocket having an external tooth drive;
4. a cover, or bearing cap;
5. a steel wheel or a rigid transmission component provided with an inner tooth part;
6. a cam;
7. a support bearing;
8. a compliant bearing;
9. an electric motor.
The harmonic drive device of the invention comprises a flexible wheel or a flexible ring body drive component 1 provided with an external tooth part 11, wherein a cup body structure with a back cover 11 is formed at one axial end of an annular body with an external tooth part 12 of the flexible wheel 1 (as shown in figure 3); the transmission part of the flexspline 1 with the external toothing 12 has an annular configuration which is circular in the unstressed state.
The structure of the wave generator consists of an internal elliptical cam 6 and an external flexible bearing 8. The flexible bearing 8 is mounted on the elliptical ring cylinder 61 of the cam 6. The flexible bearing 8 is radially positioned between the cam 2 and the flexible gear 1, and the flexible bearing 8 can balance the radial force on the wave generator to promote the flexible gear 1 to drive the steel gear or the rigid transmission part 5 with the internal tooth part to rotate.
A cam 6 of the wave generator is rigidly connected with a motor 7 or other power mechanism shafts through jackscrews to drive the wave generator to rotate, the elliptical wave generator is arranged in the flexible gear 1, and the wave generator rotates to force the tooth form of the flexible gear 1 and the tooth form of the steel gear 5 to be periodically meshed and separated, so that the staggered tooth difference speed reduction effect is realized.
The steel wheel or the rigid transmission part 5 provided with the internal teeth is a rigid annular transmission part with the internal teeth, and the inner annular wall is provided with the internal teeth matched with the external teeth 12 of the flexible wheel 1. The steel wheel 5 is rigidly fixed with the belt wheel 3 into a whole along the axial direction, the shaft end is sealed by a bearing cover or a sealing cover 4, and the sealing cover 4, the steel wheel 5 and the belt wheel 3 are rigidly fixed into a whole. In the invention, the difference between the tooth number of the inner gear ring of the steel gear 5 and the tooth number of the flexible gear 1 is preferably 2.
The output flange 2 is embedded in the ring body of the belt wheel 4 at the outermost periphery and is positioned at the periphery of the flexible wheel 1, and the back cover 11 of the flexible wheel 1 is fixed on the shaft end cover of the output flange 2, is in sliding fit with the belt wheel 4 and can freely rotate in the belt wheel 4. Shaft holes are formed in the centers of the shaft end covers of the flexible gear 1 and the output flange 2. The radially outer wall of the output flange 2 is in sliding fit with the inner ring of the pulley 4. Therefore, the motor 9 drives the cam 6 to rotate to force the flexible gear 1 to deform, and the output flange 2 rotates relative to the steel gear 5.
The cover 4 axially seals the elliptical ring cylinder 61 of the cam 6, the flexible wheel 1, the steel wheel 5, the flexible bearing 8 and the output flange 2 in the ring space of the belt wheel 3. The cam shaft of the cam 6 extends out of the central hole of the cover 4 and is rigidly connected to a motor 9 or other drive mechanism for driving the cam 6. In this embodiment, the cam 6 is axially limited by the cam clamp spring 62.
A support bearing 7 is provided between the cover 4 and the camshaft of the cam 6 to increase the stability and reliability of the cam 6 and wave generator. Specifically, the outer side of the shaft end of the support bearing 7 is axially limited in the sealing cover 4 through the support bearing snap spring 71.
The flexspline 1 is rigidly fixed to the end cap of the output flange 2 by a back cover 11. Preferably, the flexible gear 1 and the output flange 2 are rigidly connected together through a fixing bolt. Rigid connections using adhesive means are of course not excluded.
A lubricating substance, such as grease, is provided in the enclosed space between the cover 4 and the pulley 3, thereby making the overall transmission long-lived and smooth in movement.
The pulley or sprocket 3 is a ring with external teeth that can be driven by means of a traction mechanism or gear such as a belt or chain.
When the belt wheel 3 and the output flange 2 rotate synchronously, the motor 9 and the belt wheel 4 need to rotate synchronously; when the belt wheel 3 and the output flange 2 need to have a rotation angle, the rotation speed of the motor 9 is different from that of the belt wheel 3, at the moment, the motor 9 directly drives the wave generator to rotate the wave generator cam 6 so as to drive the output flange 2 to rotate, and therefore the relative dislocation rotation angle of the output shaft of the belt wheel 3 and the output flange 2 is adjusted.
Preferably, the rotation angle limit of the output flange 2 and the belt wheel 3 is 60 degrees.
Example 2:
as shown in fig. 1 and 4-6, the closed harmonic drive device implemented according to this embodiment is different from embodiment 2 in that no support bearing is provided at the cam 6, and a cover is omitted, the steel wheel 5 is directly and rigidly connected with the pulley 3 from the shaft end in a form of a cover structure (fixed by the bolt 4), and the elliptical ring cylinder 61 of the cam 6, the flexspline 1, the steel wheel 5, the flexible bearing 8 and the output flange 2 are enclosed in the annular space of the pulley 3.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. A harmonic drive, comprising:
the wave generator comprises a cam and a flexible bearing fixed outside the cam;
the flexible transmission part is arranged at the periphery of the wave generator and is provided with an outer gear ring according to the deformation of the wave generator, and the outer gear ring of the flexible transmission part is in a circular annular structure under the state of not being subjected to external force; the flexible transmission part also comprises a back cover structure extending from the wall body where the outer gear ring is located in the radial direction;
a rigid transmission member having an inner gear ring intermittently engaged with and/or meshed with the outer gear ring of the flexible transmission member;
an input member for input having an external tooth portion and an inner cavity structure composed of at least radial and axial wall surfaces; the input component and the rigid transmission component are rigidly fixed;
an output member having a configuration that forms a circumferential limit fit with the input member, and the output member is axially encapsulated in the rigid transmission member and the input member; the flexible transmission component bottom sealing structure is rigidly fixed with the output component.
2. The harmonic drive of claim 1 further comprising a cover axially enclosing at least the wave generator, the flexible drive member, the rigid drive member, and the output member in the interior configuration of the input member, the input end of the wave generator projecting axially from the center of the cover for connection to the wave generator drive.
3. The harmonic drive of claim 1 wherein the number of teeth in the inner gear ring of the rigid drive member differs from the number of teeth in the outer gear ring of the flexible drive member by two teeth.
4. The harmonic drive of claim 1 wherein the cover is a bearing housing and a support bearing is disposed between the bearing housing and the cam of the wave generator.
5. The harmonic drive as in claim 1, wherein grease is disposed in the inner cavity structure.
6. The harmonic drive of claim 1, wherein the cam comprises an elliptical cam structure, and the compliant bearing is secured to the elliptical cam structure and forms a uniform elliptical structure.
7. The harmonic drive of claim 1 wherein the flexible drive member outer ring gear presents an elliptical configuration conforming to the cam under operating conditions.
8. The harmonic drive of claim 1 wherein the external teeth of the input member engage with a chain or belt or gear input, driven by a traction mechanism such as a belt or chain or a gear.
9. The use of the closed-type harmonic drive as a regulating drive for a camshaft adjuster or as a regulating drive for a device for regulating the compression ratio of an internal combustion engine.
10. A method for operating a wave generator, the periphery of which is provided with a flexible transmission part which is deformed according to the wave generator and is provided with an outer gear ring and a back cover, the outer gear ring of the flexible transmission part is in a circular annular structure under the state of not being subjected to external force;
a rigid transmission member having an internal gear ring is arranged to intermittently engage and/or mesh with the external gear ring of the flexible transmission member; the input component is provided with an external tooth part and an inner cavity structure formed by wall surfaces in at least radial and axial directions and is used for inputting, and the input component and the rigid transmission component are rigidly fixed;
axially encapsulating an output member in said rigid drive member and said input member; the flexible transmission component and the output component are rigidly fixed, and the output component is provided with a structure which forms circumferential limit fit with the input component;
when the circular ring-shaped outer gear ring of the flexible transmission part is supported into an oval shape by the wave generator, the tooth shape of the outer gear ring and the tooth shape of the output part are continuously engaged, meshed and disengaged according to the continuous change of the long axis and the short axis of the flexible gear, so that the output part rotates and outputs to keep synchronous rotation with the input part or generate a dislocation corner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210059459.3A CN114294399A (en) | 2022-01-19 | 2022-01-19 | Harmonic drive, application and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210059459.3A CN114294399A (en) | 2022-01-19 | 2022-01-19 | Harmonic drive, application and method |
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| CN114294399A true CN114294399A (en) | 2022-04-08 |
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| CN202210059459.3A Pending CN114294399A (en) | 2022-01-19 | 2022-01-19 | Harmonic drive, application and method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11351341A (en) * | 1998-06-09 | 1999-12-24 | Harmonic Drive Syst Ind Co Ltd | Plug of wave generator for wave gear device |
| CN104595425A (en) * | 2014-12-18 | 2015-05-06 | 陕西渭河工模具有限公司 | Harmonic reducer with short barrel-shaped flexible wheel |
| CN204437194U (en) * | 2014-12-18 | 2015-07-01 | 陕西渭河工模具有限公司 | Short cylinder flexible gear harmonic reducer |
| CN105090372A (en) * | 2014-05-09 | 2015-11-25 | 良世机械科技(上海)有限公司 | Wave generator external novel harmonic gear transmission device |
| DE102016222835A1 (en) * | 2016-11-21 | 2018-05-24 | Schaeffler Technologies AG & Co. KG | Wave gear for a shaft adjustment device and shaft adjustment device with the wave gear |
| CN113309842A (en) * | 2021-05-24 | 2021-08-27 | 温州大学 | Cycloidal pin gear harmonic speed reducer |
-
2022
- 2022-01-19 CN CN202210059459.3A patent/CN114294399A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11351341A (en) * | 1998-06-09 | 1999-12-24 | Harmonic Drive Syst Ind Co Ltd | Plug of wave generator for wave gear device |
| CN105090372A (en) * | 2014-05-09 | 2015-11-25 | 良世机械科技(上海)有限公司 | Wave generator external novel harmonic gear transmission device |
| CN104595425A (en) * | 2014-12-18 | 2015-05-06 | 陕西渭河工模具有限公司 | Harmonic reducer with short barrel-shaped flexible wheel |
| CN204437194U (en) * | 2014-12-18 | 2015-07-01 | 陕西渭河工模具有限公司 | Short cylinder flexible gear harmonic reducer |
| DE102016222835A1 (en) * | 2016-11-21 | 2018-05-24 | Schaeffler Technologies AG & Co. KG | Wave gear for a shaft adjustment device and shaft adjustment device with the wave gear |
| CN113309842A (en) * | 2021-05-24 | 2021-08-27 | 温州大学 | Cycloidal pin gear harmonic speed reducer |
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