CN208457142U - The harmonic drive mechanism of novel wave producer - Google Patents
The harmonic drive mechanism of novel wave producer Download PDFInfo
- Publication number
- CN208457142U CN208457142U CN201820656863.8U CN201820656863U CN208457142U CN 208457142 U CN208457142 U CN 208457142U CN 201820656863 U CN201820656863 U CN 201820656863U CN 208457142 U CN208457142 U CN 208457142U
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- input shaft
- wave
- external gear
- flexible external
- oscillating plate
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Abstract
The utility model relates to a kind of harmonic drive mechanisms of novel wave producer, including first and second bearing group, input shaft, left end cap, output shaft, key, bolt assembly and harmonic oscillator；Feature be further include rigid internal gear set and flexible external gear；Input shaft is mounted on left end cap by first bearing group, and the right part of input shaft and flexible external gear are respectively positioned in rigid internal gear set；Output shaft is mounted on rigid internal gear by second bearing group and puts on, and the left end of output shaft is connect by key with flexible external gear；Harmonic oscillator includes wave shell, oscillating plate, backing plate and the check valve in flexible external gear, and wave shell and flexibility external gear clearance fit simultaneously can be movable relatively；Check valve is mounted in the radial hole of input shaft；Oscillating plate and backing plate are located in wave shell inner cavity, and the radial hole group radially arranged is equipped on wave shell, and radial hole group engages wave shell inner cavity and outside connection, flexible external gear with rigid internal gear set.Without vulnerable part flexible bearing in the mechanism, whole service life can be improved.
Description
Technical field
The utility model relates to a kind of harmonic drive mechanisms of novel wave producer, currently, high-precision robot, medical treatment
The equipment such as instrument, 3D printer, dynamoelectric equipment and ultra-precision machine tool, detection device to the feeding resolution ratio of transmission system, again
Multiple positioning accuracy and movement smoothness requirement are high, therefore many times need the harmonic gear of large transmission ratio and high transmission accuracy
Transmission device.
Background technique
Since harmonic gear transmission device utility model over half a century, since the advantage of its own is used widely,
It includes harmonic oscillator, flexible bearing, rigid gear and flexible gear；Currently, most common harmonic oscillator, feature exist
There is major and minor axis in generator；There are some improved wave producers, is to utilize the portions such as eccentric shaft, eccentric wheel or idler wheel at work
Part supports flexible gear to be allowed to engage with rigid gear by flexible bearing；It is all to rely on no matter the wave producer of that form
Flexible bearing constantly does oval flexible deformation, is also all rigid contact between wave producer and flexible gear, therefore, flexible shaft
It holds and easily damages.
Suspension support possessed by ultrasonic activation surface and antifriction ability, by multinomial theoretical research and practical application institute
It confirms, and acquires practical application in more and more fields, studies have found that frictional resistance between contact surface drops in ultrasonic energy
Low 90% or more, in modern manufacturing industry, has many researchers both at home and abroad and begin to use ultrasonic bearing and supersonic motor,
But the report that ultrasonic activation technology is used for harmonic drive mechanism is still had no so far.
Summary of the invention
The purpose of the utility model is to provide a kind of harmonic drive mechanism of novel wave producer, without easy in the mechanism
Part flexible bearing is damaged, whole service life can be improved.
It in order to achieve the above object, the utility model is realized in this way, is a kind of novel wave producer
Harmonic drive mechanism, including first bearing group, input shaft, left end cap, second bearing group, output shaft, key, bolt
Component, unloading port and harmonic oscillator；Characterized by further comprising rigid internal gear set and flexible external gears, in the rigidity
The lower part of geared sleeve is equipped with unloading port；The left end cap covers the opening in rigid internal gear set and is fixed by fastener, institute
It states input shaft to be mounted on left end cap and can be rotated by first bearing group, the right part of input shaft and flexible external gear are respectively positioned on just
In property inner gear housing；The output shaft is mounted on rigid internal gear by second bearing group and puts on and can be rotated, a left side for output shaft
End is connect by key with flexible external gear；
The harmonic oscillator is vibrating hydraulic formula wave producer component, and the vibrating hydraulic formula wave producer component includes
Wave shell, oscillating plate, backing plate and check valve in flexible external gear, the wave shell and flexible external gear clearance fit simultaneously can phases
To movement；
It is equipped with center oilhole in the axle center of input shaft, is equipped with radial hole in the right end of input shaft, the check valve is installed on
In radial hole, the center oilhole is connected to one-way valve inlet；The backing plate is fixed on the right end of input shaft, and the oscillating plate is solid
It is scheduled on backing plate, the wave shell is fixedly connected on input shaft right end by bolt assembly, and oscillating plate and backing plate are located at wave shell inner cavity
In, oscillating plate and wave shell inner wall have gap；Centre bore and one-way valved outlet connection of the centre bore of oscillating plate by backing plate, vibration
The centre bore and wave shell inner cavity connection of plate, after energization, oscillating plate can generate high-frequency vibration in thickness direction, and diameter is equipped on wave shell
To the radial hole group of arrangement, the radial hole group nibbles wave shell inner cavity and outside connection, flexible external gear with rigid internal gear set
It closes.
In the technical scheme, the vibrating hydraulic formula wave producer component has two sets, is equipped with two in the right end of input shaft
Radial hole, the center oilhole are connected to the one-way valve inlet being installed in two radial holes respectively, vibrating hydraulic formula wave producer
Component and two radial holes are arranged in the right end of input shaft using the axis of input shaft as symmetry axis.
In the technical scheme, the oscillating plate can be piezoelectric material or magnetostriction materials.
The utility model compared with prior art, has the advantages that
1. when work, due to the high-frequency vibration of oscillating plate, high-intensitive lubrication can be generated between wave shell and flexible external gear
Oil film, has suspension support and antifriction ability, and wave shell and flexible external gear improve movement transmitting essence during exercise almost without friction
Degree increases the service life of wave shell and flexible external gear.
2. the mechanism eliminates the flexible bearing easily damaged in conventional harmonic transmission mechanism, service life is increased.
Detailed description of the invention
Fig. 1 is the structure principle chart of the utility model；
Fig. 2 is the A-A section amplification figure of Fig. 1.
Specific embodiment
Specific embodiment of the present utility model is described further with reference to the accompanying drawing.It should be noted that
The explanation of these embodiments is used to help to understand the utility model, but does not constitute the restriction to the utility model.This
Outside, as long as technical characteristic involved in the various embodiments of the present invention described below does not constitute punching each other
It is prominent to be combined with each other.
In the utility model description, the orientation or positional relationship of the instructions such as term " left side " and " right side " is based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description the utility model rather than require the utility model must be with specific side
Position construction and operation, therefore should not be understood as limiting the present invention.
It as shown in Figures 1 and 2, is a kind of harmonic drive mechanism of novel wave producer, including first bearing group 1, defeated
Enter axis 2, left end cap 3, rigid internal gear set 4, flexible external gear 5, second bearing group 10, output shaft 11, key 12, bolt assembly 13
And harmonic oscillator, unloading port 14 is equipped in the lower part of rigid internal gear set 4；Wherein, the left end cap 3 covers in rigidity
The opening of geared sleeve 4 is simultaneously fixed by fastener, and the input shaft 2 is mounted on left end cap 3 by first bearing group 1 and can
Rotation, the right part of input shaft 2 and flexible external gear 5 are respectively positioned in rigid internal gear set 4；The output shaft 11 passes through second bearing
Group 10 is mounted on rigid internal gear set 4 and can be rotated, and the left end of output shaft 11 is connect by key 12 with flexible external gear 5, this
The rotation of sample flexibility external gear 5 can drive output shaft 11 to rotate；
The harmonic oscillator is vibrating hydraulic formula wave producer component, and the vibrating hydraulic formula wave producer component includes
Wave shell 6, oscillating plate 7, backing plate 8 and check valve 9 in flexible external gear 5, the wave shell 6 are matched with 5 gap of flexible external gear
Merging can relatively rotate；
It is equipped with center oilhole 21 in the axle center of input shaft 2, is equipped with radial hole 22, the check valve 9 in the right end of input shaft 2
It is installed in radial hole 22, the center oilhole 21 is connected to check valve 9；The backing plate 8 is fixed on the right end of input shaft 2, institute
Oscillating plate 7 is stated to be fixed on backing plate 8, the wave shell 6 is fixedly connected on 2 right end of input shaft by bolt assembly 13, oscillating plate 7 and
Backing plate 8 is located in 6 inner cavity of wave shell, and oscillating plate 7 and 6 inner wall of wave shell have gap；The centre bore of oscillating plate 7 passes through the center of backing plate 8
Hole and check valve 9 export connection, and the centre bore and 6 inner cavity connection of wave shell of oscillating plate 7, after energization, oscillating plate 7 can be in thickness direction
High-frequency vibration is generated, the radial hole group 61 radially arranged is equipped on wave shell 6, the radial hole group 61 is by 6 inner cavity of wave shell and outside
Face connection, flexible external gear 5 are engaged with rigid internal gear set 4.
In the present embodiment, the vibrating hydraulic formula wave producer component has two sets, that is, includes two wave shells 6, two oscillating plates
7, two backing plates 8 and two check valves 9, the two waves shell 6 with flexible 5 clearance fit of external gear and can be movable relatively, in input shaft 2
Right end be equipped with two radial holes 22, two check valves 9 are mounted in two radial holes 22 and are connected to center oilhole 21, two oscillating plates 7,
Two backing plates 8, two radial holes 22 and two check valves 9 are arranged on the right end of input shaft 2 using the axis of input shaft 2 as symmetry axis.
In the present embodiment, the oscillating plate 7 can be piezoelectric material or magnetostriction materials.
The course of work: 2 high speed rotation of input shaft drives the two vibrating hydraulic formula waves for being connected thereto and tightening together to occur
Device assembly (arranging along the axisymmetrical of axis 2) rotates together, and two vibrating hydraulic formula wave producer component rotations drive and are mounted on
Flexible external gear 5 outside it moves, and forces the external tooth of the flexible external gear 5 successively interior tooth engagement with rigid internal gear set 4, by
It is more than the number of teeth of flexible external gear 5 in the number of teeth of rigid internal gear 4, generates side set movement, the flexible therefore low speed rotation of external gear 5
Turn, the output shaft 11 being connected thereto together is also driven to rotate, at the same time, hydraulic oil enters by 2 centre bore 21 of input shaft
Check valve 9, then by the through-hole on backing plate 8 and oscillating plate 7, between 6 inner wall of oscillating plate 7 and wave shell and the diameter of wave shell 6
Into hole group 61, oscillating plate 7 generates radial high-frequency vibration after being powered, and generates high pressure liquid pressure oil under the high frequency effect of oscillating plate 7,
Enter between wave shell 6 and flexible external gear 5 by the radial hole group 61 of wave shell 6, and form height between wave shell 6 and flexible external gear 5
Intensity lubricating oil film greatly reduces friction of motion between wave shell 6 and flexible external gear 5；
Due to piezoelectricity relevant to the utility model, ultrasonic vibration technology, various control technologies and wiring, hydraulic, confession
The technologies such as oil, pipeline, sealing and pressure maintaining are highly developed, and the key content of non-the utility model, therefore in the utility model
It is not described in detail in relative theory figure and explanatory note, not the utility model people slips, and illustrates hereby.
The embodiments of the present invention is explained in detail in conjunction with attached drawing above, but the utility model is not limited to institute
The embodiment of description.For the ordinary skill in the art, the principles of the present invention and objective are not being departed from
In the case of to these embodiments carry out it is a variety of variation, modification, replacement and deformation still fall in the protection scope of the utility model
It is interior.
Claims (3)
1. a kind of harmonic drive mechanism of novel wave producer, including first bearing group (1), input shaft (2), left end cap (3),
Two bearing groups (10), output shaft (11), key (12), bolt assembly (13) and harmonic oscillator；Characterized by further comprising rigidity
Inner gear housing (4) and flexible external gear (5) are equipped with unloading port (14) in the lower part of the rigid internal gear set (4)；The left end
Lid (3) covers the opening in rigid internal gear set (4) and is fixed by fastener, and the input shaft (2) passes through first bearing group
(1) it is mounted on left end cap (3) and can be rotated, the right part of input shaft (2) and flexible external gear (5) are respectively positioned on rigid internal gear set
(4) in；The output shaft (11) is mounted on rigid internal gear set (4) and can be rotated, output shaft by second bearing group (10)
(11) left end is connect by key (12) with flexible external gear (5)；
The harmonic oscillator is vibrating hydraulic formula wave producer component, and the vibrating hydraulic formula wave producer component includes being located at
Wave shell (6), oscillating plate (7), backing plate (8) and check valve (9) in flexible external gear (5), the wave shell (6) and flexible external gear
(5) it clearance fit and can be movable relatively；
Center oilhole (21) are equipped in the axle center of input shaft (2), are equipped with radial hole (22) in the right end of input shaft (2), the list
It is installed in radial hole (22) to valve (9), the center oilhole (21) is connected to check valve (9) entrance；The backing plate (8) is fixed
Right end in input shaft (2), the oscillating plate (7) are fixed on backing plate (8), and the wave shell (6) is solid by bolt assembly (13)
Surely it is connected to input shaft (2) right end, oscillating plate (7) and backing plate (8) are located in wave shell (6) inner cavity, oscillating plate (7) and wave shell (6)
Inner wall has gap；The centre bore of oscillating plate (7) exports connection, oscillating plate (7) by the centre bore of backing plate (8) and check valve (9)
Centre bore and wave shell (6) inner cavity connection, after energization, oscillating plate (7) can thickness direction generate high-frequency vibration, in wave shell (6)
It is equipped with the radial hole group (61) radially arranged, the radial hole group (61) is by wave shell (6) inner cavity and outside connection, flexible external tooth
Wheel (5) is engaged with rigid internal gear set (4).
2. the harmonic drive mechanism of novel wave producer according to claim 1, it is characterised in that the vibrating hydraulic formula
Wave producer component has two sets, and the radial hole (22) of input shaft (2) right end also has two, they are with the axis of input shaft (2)
The right end of input shaft (2) is arranged in for symmetry axis, two check valves (9) are located in two radial holes (22).
3. the harmonic drive mechanism of novel wave producer according to claim 1, it is characterised in that the oscillating plate (7) can
To be piezoelectric material or magnetostriction materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820656863.8U CN208457142U (en) | 2018-05-04 | 2018-05-04 | The harmonic drive mechanism of novel wave producer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820656863.8U CN208457142U (en) | 2018-05-04 | 2018-05-04 | The harmonic drive mechanism of novel wave producer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208457142U true CN208457142U (en) | 2019-02-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820656863.8U Expired - Fee Related CN208457142U (en) | 2018-05-04 | 2018-05-04 | The harmonic drive mechanism of novel wave producer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208457142U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111120619A (en) * | 2019-11-25 | 2020-05-08 | 航天科工智能机器人有限责任公司 | Harmonic gear drive wave generator and harmonic gear drive |
| CN111306282A (en) * | 2020-01-17 | 2020-06-19 | 盐城工学院 | Piezoelectric driving type liquid viscosity-permanent magnet composite transmission device |
-
2018
- 2018-05-04 CN CN201820656863.8U patent/CN208457142U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111120619A (en) * | 2019-11-25 | 2020-05-08 | 航天科工智能机器人有限责任公司 | Harmonic gear drive wave generator and harmonic gear drive |
| CN111306282A (en) * | 2020-01-17 | 2020-06-19 | 盐城工学院 | Piezoelectric driving type liquid viscosity-permanent magnet composite transmission device |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190201 |
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| CF01 | Termination of patent right due to non-payment of annual fee |