CN1592074A - Harmonic motor - Google Patents
Harmonic motor Download PDFInfo
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- CN1592074A CN1592074A CN 03156240 CN03156240A CN1592074A CN 1592074 A CN1592074 A CN 1592074A CN 03156240 CN03156240 CN 03156240 CN 03156240 A CN03156240 A CN 03156240A CN 1592074 A CN1592074 A CN 1592074A
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Abstract
This invention provides a harmonic motor including a rigid gear, a flexible gear, a shift amplifier composed of a functional extension material and an elastic hinge lever shift amplifying unit, in which the material is connected with the input of the amplifying unit including a matrix, a lever with an elastic hinge pivot, the shift input end of the lever is connected with the elastic hinge.
Description
Technical field
The present invention relates to a kind of harmonic motor, particularly a kind of based on the harmonic drive principle, utilize the harmonic motor of the expansion performance of function telescopic material in conjunction with the design of lever displacement amplifying mechanism.
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.Volume is big, shortcomings such as power is less, complex structure but the present various electromagnetic type slowspeed machines of developing, ubiquity, 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.And 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, noise is low, in light weight, inertia is little and the transmission accuracy advantages of higher, it generally uses as deceleration device in application in practice.
Summary of the invention
The purpose of this invention is to provide a kind of harmonic motor, this motor can directly obtain slow-speed of revolution output, and simple in structure, in light weight, inertia is little, response is fast, precision is high, effectiveness is high, noise is low, the interference of no magnetic field.
For achieving the above object the present invention by the following technical solutions: a kind of harmonic motor, it comprises rigid gear, flexible 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, 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.
Generally very little because of the output displacement of function telescopic material, use its deficiency separately so that flexbile gear produces enough deflections.So the present invention's design is formed displacement amplifier by function telescopic material and elastic hinge lever.
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.
Described tooth-formation of gear is involute or single arc toothed or double circular arc tooth shape or cycloidal tooth profile.Described otch is a single or double.
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.Displacement amplifier is made up of kn that (wherein, be one group along a pair of displacement amplifier on the diametric(al), n is a wave number, is integers such as 2,3; K is an integer, and when n=2, k is the 2-200 integer, and when n=3, k is the even number of 2-200) such displacement amplifier evenly distributes along the flexbile gear circumferencial direction, drive deformation of flexible wheel and just wheel mesh.
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 the fixing low speed rotation of then just having taken turns of flexbile gear.
Advantage of the present invention:
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.The displacement amplifying mechanism that the utility model provides 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.This harmonic motor has the novelty on the structural principle, is a kind of novel intelligent electronic product.
Description of drawings
Below in conjunction with drawings and Examples the present invention is described in further detail.
Fig. 1 is the harmonic motor schematic diagram;
The structure chart that Fig. 2 is made up of the displacement amplifier of electrostriction functional material and elastic hinge displacement lever enlarger;
Fig. 3 is the harmonic motor structure chart.
Embodiment
Fig. 1 is the harmonic motor schematic diagram, and the flexbile gear internal fixation of harmonic motor has flexible device 4 of 8 groups of functions and displacement amplifying mechanism 3, and along circumferentially being evenly distributed.During work, flexible device 4 deflections of same two groups of functions radially and deformation rule are identical, control mutually as one.Replace distortion according to certain rules by controlling four phase shift amplifiers like this, make flexbile gear 2 and wheel 1 alternately engagement just at each discrete point place.If fixedly flexbile gear 2 has then just been taken turns 1 rotation; If fixing wheel 1 just, then flexbile gear 2 rotations.
In Fig. 2, lever enlarger input 20 is equipped with driving element 19, the both ends of the surface gluing that driving element 19 is connected with the lever enlarger, and carry out pre-stressed joint by pretension bolt 18.In order to guarantee the contact quality of input and output place mechanism and other member, be provided with an elastic hinge at lever input 20 places.Output 17 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.
Fig. 3 is the harmonic motor structure chart, and harmonic motor is made up of along circumferential equally distributed function telescopic material 9 and elastic hinge lever 10 firm wheel 7, flexbile gear 8 and eight groups.
Function telescopic material 9 is assembled together by pretension bolt 6 and elastic hinge lever 10, and the two ends contact-making surface scribbles binding material.Displacement amplifying mechanism 10 is fixed on the joint cover 16 by two fastening bolts 14, and joint cover 16 passes through bolted on connection with back shaft 5.Back shaft 5 by left shell 15 and just wheel 7 be fixed together, just taken turns 7 and right shell body 11 fixing together.Right shell body 11 is fixed on the frame 13, and flexbile gear 8 links to each other with output shaft 12.
The function telescopic material has piezoelectric ceramic, Rare-Earth Magnetic to stretch material, marmem etc.
During work, same two groups of displacement amplifier deflections and deformation rule radially is identical, controls mutually as one.Replace distortion according to certain rules by controlling four phase shift amplifiers like this, make flexbile gear 8 and wheel 7 alternately engagements just at each discrete point place.If 8 rotations of 7 flexbile gears of fixing wheel just are fixedly 8 wheel 7 rotations just of flexbile gear.
Claims (13)
1, a kind of harmonic motor, it comprises rigid gear, flexible 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, 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 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 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 integer of 2-200, and during n=3, k=is the even number of 2-200.
4, according to the described 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.
5, according to the described harmonic motor of claim 1, it is characterized in that: the displacement output of described lever is elastic hinge or spin is housed.
6, according to claim 1 or 2 or 3 or 4 or 5 described harmonic motors, it is characterized in that: described rigid gear links to each other with output shaft, and flexible gear and frame are fixed, and organize displacement generator more and be parallel to firm wheel and flexbile gear axis, and circumferentially uniform along back shaft.
7, according to claim 1 or 2 or 3 or 4 or 5 described harmonic motors, it is characterized in that: described rigid gear and frame are fixed, and flexible gear links to each other with output shaft, and organize displacement generator more and be parallel to firm wheel and flexbile gear axis, and circumferentially uniform along back shaft.
8, state harmonic motor according to claim 1 or 2 or 3 or 4 or 5, 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 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 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, state harmonic motor according to claim 1 or 2 or 3 or 4 or 5, it is characterized in that: described otch is a single or double.
12, according to the described harmonic motor of claim 6, it is characterized in that: described otch is a single or double.
13, according to the described 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 |
|---|---|---|---|
| CN 03156240 CN1592074A (en) | 2003-09-02 | 2003-09-02 | Harmonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03156240 CN1592074A (en) | 2003-09-02 | 2003-09-02 | Harmonic motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1592074A true CN1592074A (en) | 2005-03-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03156240 Pending CN1592074A (en) | 2003-09-02 | 2003-09-02 | Harmonic motor |
Country Status (1)
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| CN (1) | CN1592074A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100588090C (en) * | 2006-06-07 | 2010-02-03 | 中国科学院国家天文台 | Electromagnetic harmonic wave drive action device |
| 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 |
| CN106787935A (en) * | 2016-12-16 | 2017-05-31 | 南京航空航天大学 | A kind of inertia non-resonant biped piezoelectric straight line actuator and method of work |
| CN117823595A (en) * | 2024-01-29 | 2024-04-05 | 重庆大学 | Multilayer composite flexible gear type harmonic reducer and flexible industrial robot |
-
2003
- 2003-09-02 CN CN 03156240 patent/CN1592074A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100588090C (en) * | 2006-06-07 | 2010-02-03 | 中国科学院国家天文台 | Electromagnetic harmonic wave drive action device |
| 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 |
| CN106787935A (en) * | 2016-12-16 | 2017-05-31 | 南京航空航天大学 | A kind of inertia non-resonant biped piezoelectric straight line actuator and method of work |
| CN106787935B (en) * | 2016-12-16 | 2019-04-09 | 南京航空航天大学 | A kind of inertia non-resonant biped piezoelectric straight line actuator |
| CN117823595A (en) * | 2024-01-29 | 2024-04-05 | 重庆大学 | Multilayer composite flexible gear type harmonic reducer and flexible industrial robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |