CN1592073A - End face harmonic motor - Google Patents
End face harmonic motor Download PDFInfo
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- CN1592073A CN1592073A CN 03156239 CN03156239A CN1592073A CN 1592073 A CN1592073 A CN 1592073A CN 03156239 CN03156239 CN 03156239 CN 03156239 A CN03156239 A CN 03156239A CN 1592073 A CN1592073 A CN 1592073A
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Abstract
This invention provides an end face harmonic motor including an end contrate rigid gear, an end contrate flexible gear, a shift amplifier composed of a functional extension material and an elastic hinge lever shift amplifier unit, the extension material is connected with the input end of the amplifying unit including a matrix, at least a lever with an elastic hinge pivot, the shift input of the lever is connected with the hinge.
Description
Technical field
The present invention relates to a kind of harmonic motor, particularly a kind of end face harmonic motor.
Background technology
As driving device, electromagnetic motor application at present is very extensive, and it is ripe that its technology also is tending towards substantially.But in the major applications occasion all is to combine with decelerator and obtain low speed output, so complex structure, volume are bigger.In servo system, after motor adopts gear drive, system dimension, weight are increased, and cause noise, increase inertia and lower efficiency.Simultaneously, because the restriction of gears engaged precision, when requiring rotating and steady fast reaction, gear rotates often influences systematic function.The various electromagnetic type slowspeed machines of being developed at present, ubiquity that volume is big, shortcomings such as power is less, complex structure, and under the identical condition of dimension volume, the power of slowspeed machine will be more much smaller than high-speed electric expreess locomotive.Satisfying under the same power requirement, the volume and weight of slowspeed machine is more much bigger than high-speed electric expreess locomotive, even also bigger than the high-speed electric expreess locomotive of band upper reducer.If still adopt the electromagnetic motor pattern, because its " dimensional effect ", be difficult in this respect and have breakthrough.
Harmonic drive has that volume is little, in light weight, precision is high, noise is low, inertia is little and the high outstanding advantage of transmission accuracy, but it is used mainly as deceleration device in application in practice.End face harmonic transmission device as shown in Figure 1, by the firm wheel 1 of band edge face tooth, compositions such as the flexbile gear 2 of band edge face tooth and wave producer 5.Wave producer 5 is a disk, and it is connected with the motor power shaft.Wave producer 5 is fixed by retainer 4 at same 3, two rollers of two rollers that radially are equipped with.Wave producer 5 compresses flexbile gear, and radially two rollers make flexbile gear and firm wheel be in engagement at the gear teeth of this position environs.By driven by motor wave producer 5 rotation, if fixing flexbile gear 2 has then just been taken turns 1 and can have been obtained low speed rotation and export.If fixing wheel 1 just, then flexbile gear 2 can obtain low speed rotation output.
Summary of the invention
The purpose of this invention is to provide a kind of end face harmonic motor, do not need to install the rotation output that decelerator just can directly obtain low speed, simple in structure, axial dimension is little, in light weight, inertia is little, response is fast, and the precision height, noise is low, efficient is high.
For achieving the above object, the present invention is by the following technical solutions: a kind of end face harmonic motor, it comprises that band edge face tooth is just taken turns, band edge face tooth flexbile gear, displacement amplifier, described displacement amplifier is made up of function telescopic material and elastic hinge lever, described function telescopic material is connected with the input of displacement amplifying mechanism, described displacement amplifying mechanism comprises matrix, at least one lever, the fulcrum of described lever is an elastic hinge, and the displacement input of lever is that elastic hinge connects.
Because the output displacement of function telescopic material is less, use its deficiency separately so that flexbile gear produces enough deflections, so having designed by function telescopic material and rigid hinge lever displacement amplifying mechanism, the present invention forms the bigger displacement amplifier of displacement output.
The displacement input of described lever, lever is the lever that forms behind the matrix upper cut, the displacement input of lever, and described fulcrum is the fulcrum that direct otch forms on matrix.
Output shaft among the present invention can be fixed with band edge face tooth flexbile gear, or just wheel is fixing with band edge face tooth.
Described tooth-formation of gear is involute or single arc toothed or double circular arc tooth shape or cycloidal tooth profile.
End face harmonic motor of the present invention, the function telescopic material of employing such as piezoelectric ceramic, Rare-Earth Magnetic are stretched material, marmem etc.
The flexbile gear gear teeth are identical with the modulus of just taking turns the gear teeth, and for the double wave transmission, the number of teeth differs 2n; For three ripple transmissions, the number of teeth differs 3n, and wherein n is a wave number.Described displacement amplifier is that kn organizes (wherein, along a pair of displacement generator on the diametric(al) is one group, n is a wave number, is integers such as 2,3, and k is an integer, when n=2, k=is the 2-200 integer, and when n=3, k is the 2-200 even number), such displacement amplifier evenly distributes along the flexbile gear circumferencial direction, drives deformation of flexible wheel and meshes with just taking turns.Control the deflection of each displacement amplifier according to the strain rule of flexible wheel of harmonic gear drive, by flexbile gear and the wheel gear teeth alternately engagement just, just can realize transmission output: if fixing just wheel, then flexbile gear low speed rotation at each discrete point place; If flexbile gear is fixed, then just taken turns low speed rotation.
Advantage of the present invention is:
End face harmonic motor of the present invention does not need to install the rotation output that decelerator just can directly obtain low speed, not only having overcome conventional motors combines with decelerator, cause shortcomings such as complex structure, Heavy Weight, volume be excessive, but also have simple in structure, in light weight, inertia is little, response is fast, precision is high, efficient is high, noise is low, can also realize characteristics such as intelligent control by controller, and does not have the magnetic field interference.Displacement amplifying mechanism provided by the invention has been avoided mechanical clearance and friction, and have simple in structure, volume is little, displacement loss is little, amplify the efficient height, response is fast, precision is high and be easy to characteristics such as processing.The utlity model has the novelty on the structural principle, is a kind of novel intelligent electronic product.
Description of drawings
Below in conjunction with drawings and embodiments the present invention is described in further detail.
Fig. 1 is an end face harmonic transmission mechanism sketch;
The structure chart of the displacement amplifier that Fig. 2 is made up of electrostriction functional material and elastic hinge lever;
Fig. 3 is an end face harmonic electric machine structure sketch;
In Fig. 1 to Fig. 3, each sequence number meaning is as follows: 1-end face harmonic transmission device band tooth is just taken turns, 2-end face harmonic transmission device band tooth flexbile gear, 3-roller, 4-retainer, 5-wave producer, 6-pretension bolt, 7-function telescopic material, 8-elastic hinge lever, 9-band edge face tooth are just taken turns, 10-band edge face tooth flexbile gear, 11-motor output shaft, 12-displacement amplifier, 13-frame, 14-displacement amplifying mechanism output.
Embodiment:
In Fig. 2, electrostriction material 7 is installed in the displacement amplifying mechanism 8, be connected with the displacement amplifying mechanism input, and two ends contact-making surface gluing, and carry out pretension with pretension bolt 6.Because draw a little less than electrostriction material 7 resistance to compressions, make it remain pressured state by pretension.Among the figure, 14 is output.
In the embodiment shown in fig. 3, band edge face tooth just wheel 9 is fixed together with frame 13, and band edge face tooth flexbile gear 10 links to each other with output shaft 11.Driver 12 has 8 groups, and each set drive 12 is fixed on frame 13 bottoms, and along circumferentially being evenly distributed, for reducing friction, output 14 is provided with elastic hinge, can be the elastic hinge that direct otch forms on matrix.In addition, also can be that shifter output terminal on the throne is equipped with spin, spin closely contacts with flexbile gear 10.
During work, same two groups of displacement amplifier 12 deflections and deformation rule radially is identical, controls mutually as one.Replace distortion according to certain rules by controlling 4 phase shift amplifiers like this, make the wheel 9 alternately engagements just of band edge face tooth flexbile gear 10 and band edge face tooth at each discrete point place.If fixed band end face tooth flexbile gear 10, then band edge face tooth wheel 9 rotations just, fixed band end face tooth is wheel 9 just, then band edge face tooth flexbile gear 10 rotations.
Claims (13)
1, a kind of end face harmonic motor, it comprises that band edge face tooth is just taken turns, band edge face tooth flexbile gear, displacement amplifier, it is characterized in that: described displacement amplifier is made up of function telescopic material and elastic hinge lever, described function telescopic material is connected with the input of displacement amplifying mechanism, described displacement amplifying mechanism comprises matrix, at least one lever, the fulcrum of described lever is an elastic hinge, and the displacement input of lever is that elastic hinge connects.
2, according to the described end face harmonic motor of claim 1, it is characterized in that: described flexbile gear wheel tooth module is with just wheel wheel tooth module is identical, and for the double wave transmission, the number of teeth differs 2n; For three ripple transmissions, the number of teeth differs 3n, and wherein n is a wave number.
3, according to the described end face harmonic motor of claim 1, it is characterized in that: described displacement amplifier number is the kn group, and n is a wave number, is 2,3 integers, and k is an integer, and during n=2, k is the 2-200 integer, and during n=3, k is the 2-200 even number.
4, according to the described end face harmonic motor of claim 1, it is characterized in that: the displacement output of described lever is elastic hinge or spin is housed.
5, according to the described end face harmonic motor of claim 1, it is characterized in that: the displacement input of described lever, lever is the lever that forms behind the matrix upper cut, the displacement input of lever, and described fulcrum is the fulcrum that direct otch forms on matrix.
6, according to claim 1 or 2 or 3 or 4 or 5 described end face harmonic motors, it is characterized in that: described band edge face tooth just wheel links to each other with output shaft, band edge face tooth flexbile gear and frame are fixed, and organize displacement generator more and be fixed on the frame bottom, be one group along a pair of displacement generator on the diametric(al).
7, according to claim 1 or 2 or 3 or 4 or 5 described end face harmonic motors, it is characterized in that: described band edge face tooth just wheel is fixed with frame, band edge face tooth flexbile gear links to each other with output shaft, and organize displacement generator more and be fixed on the frame bottom, be one group along a pair of displacement generator on the diametric(al).
8, according to claim 1 or 2 or 3 or 4 or 5 described end face harmonic motors, it is characterized in that: described tooth-formation of gear is involute or single arc toothed or double circular arc tooth shape or cycloidal tooth profile.
9, according to the described end face harmonic motor of claim 6, it is characterized in that: described tooth-formation of gear is involute or single arc toothed or double circular arc tooth shape or cycloidal tooth profile.
10, according to the described end face harmonic motor of claim 7, it is characterized in that: described tooth-formation of gear is involute or single arc toothed or double circular arc tooth shape or cycloidal tooth profile.
11, according to claim 1 or 2 or 3 or 4 or 5 described end face harmonic motors, it is characterized in that: described otch is a single or double.
12, according to the described end face harmonic motor of claim 6, it is characterized in that: described otch is a single or double.
13, according to the described end face harmonic motor of claim 7, it is characterized in that: described otch is a single or double.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN03156239A CN100596013C (en) | 2003-09-02 | 2003-09-02 | End face harmonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN03156239A CN100596013C (en) | 2003-09-02 | 2003-09-02 | End face harmonic motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1592073A true CN1592073A (en) | 2005-03-09 |
| CN100596013C CN100596013C (en) | 2010-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN03156239A Expired - Fee Related CN100596013C (en) | 2003-09-02 | 2003-09-02 | End face harmonic motor |
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| Country | Link |
|---|---|
| CN (1) | CN100596013C (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102292908A (en) * | 2008-12-17 | 2011-12-21 | 发现技术国际股份有限公司 | Piezoelectric motor with high torque |
| CN101889154B (en) * | 2007-12-05 | 2013-04-24 | Abb研究有限公司 | Harmonic motor |
| TWI551792B (en) * | 2015-01-29 | 2016-10-01 | Hiwin Tech Corp | A reduction gear with a motor |
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
-
2003
- 2003-09-02 CN CN03156239A patent/CN100596013C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101889154B (en) * | 2007-12-05 | 2013-04-24 | Abb研究有限公司 | Harmonic motor |
| CN102292908A (en) * | 2008-12-17 | 2011-12-21 | 发现技术国际股份有限公司 | Piezoelectric motor with high torque |
| TWI551792B (en) * | 2015-01-29 | 2016-10-01 | Hiwin Tech Corp | A reduction gear with a motor |
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100596013C (en) | 2010-03-24 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| C41 | Transfer of patent application or patent right or utility model | ||
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Effective date of registration: 20090206 Address after: 11 Fu Cheng Road, Beijing, Haidian District, China: 100037 Applicant after: Beijing Technology and Business University Address before: School of mechanical automation, Beijing Technology and Business University, 11 Fu Cheng Road, Beijing, Haidian District: 100036 Applicant before: Xin Hongbing |
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Owner name: BEIJING TECHNOLOGY AND BUSINESS UNIEERSITY Free format text: FORMER OWNER: XIN HONGBING Effective date: 20090206 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100324 Termination date: 20110902 |