CN215928264U - Hollow type double-output harmonic speed reduction device - Google Patents
Hollow type double-output harmonic speed reduction device Download PDFInfo
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- CN215928264U CN215928264U CN202121410628.0U CN202121410628U CN215928264U CN 215928264 U CN215928264 U CN 215928264U CN 202121410628 U CN202121410628 U CN 202121410628U CN 215928264 U CN215928264 U CN 215928264U
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Abstract
The utility model discloses a hollow double-output harmonic speed reducer which comprises a shell, a first gear assembly, a second gear assembly, a double-shaft motor, a telescopic assembly and an output shaft arranged in the shell, wherein the first gear assembly is arranged on the output shaft and used for transmitting power to the output shaft, the second gear assembly is meshed with the first gear assembly and arranged below the first gear assembly and used for transmitting the power to the first gear assembly, the double-shaft motor is used for transmitting the power to the second gear assembly, and the telescopic assembly is used for detecting that the second gear assembly is separated from the first gear assembly after being damaged. According to the utility model, the second gear assembly drives the first gear assembly to realize transmission of the output shaft, and a hollow double-path output is formed between the first right-angle gear and the second right-angle gear, so that the power of the speed reducer is strong, and the problem that an aircraft cannot be controlled after one path is damaged is avoided; the utility model has the advantages of simple structure, stable performance and longer service life.
Description
Technical Field
The utility model relates to the technical field of speed reducers, in particular to a hollow double-output harmonic speed reducer.
Background
The reduction gear is used for actuating mechanism of attitude adjustment when aircraft such as unmanned aerial vehicle flies, and it arranges the afterbody at the aircraft. When the aircraft flies, the attitude of the aircraft, such as an azimuth angle, a pitch angle and a roll angle, is adjusted by controlling the deflection angle of the tail rudder piece. The rudder sheet is connected with an output shaft of the speed reducer, the servo motor drives the speed reducer to control the swing angle of the rudder sheet, and the purpose of controlling the attitude of the aircraft is achieved.
In the prior design, the speed reducer adopts single-path power output to realize the rotation of an output shaft, but the inside of the speed reducer is easy to damage a secondary gear due to larger torque, so that an aircraft cannot be controlled.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems and provide a hollow type double-output harmonic speed reducer.
The utility model realizes the purpose through the following technical scheme:
a hollow double-output harmonic speed reducer comprises a shell, a first gear assembly, a second gear assembly, a double-shaft motor, a telescopic assembly and an output shaft arranged in the shell;
the first gear assembly is arranged on the output shaft and used for transmitting power to the output shaft;
the second gear assembly is meshed with the first gear assembly, is arranged below the first gear assembly and is used for transmitting power to the first gear assembly;
the double-shaft motor is used for transmitting power to the second gear assembly;
the telescopic assembly is used for detecting that the second gear assembly is separated from the first gear assembly after being damaged.
Preferably, the first gear assembly comprises a first right-angle gear and a second right-angle gear, and the first right-angle gear and the second right-angle gear are symmetrically arranged on the output shaft.
Preferably, the second gear assembly includes a third right-angle gear and a fourth right-angle gear, the third right-angle gear and the fourth right-angle gear are respectively connected to two ends of the dual-shaft motor, the third right-angle gear is engaged with the first right-angle gear, and the fourth right-angle gear is engaged with the second right-angle gear.
Preferably, telescopic assemblies are respectively connected to two sides of the third right-angle gear and the fourth right-angle gear, and are used for separating the third right-angle gear from the first right-angle gear and separating the fourth right-angle gear from the second right-angle gear.
Preferably, the telescopic assembly comprises a telescopic cylinder, a sleeve, a bearing and a rotating rod, the telescopic cylinder is arranged on one side of the shell, the sleeve is arranged at one end of a telescopic shaft of the telescopic cylinder, the sleeve is connected with one end of the rotating rod through the bearing, and the other end of the rotating rod is connected with a central shaft of the third right-angle gear and/or a central shaft of the fourth right-angle gear.
Preferably, the third right-angle gear and the fourth right-angle gear are respectively connected with two ends of the double-shaft motor through sliding cylinders.
Preferably, the inner wall of the sliding cylinder is provided with first sliding assemblies at intervals, the rotating shaft of the double-shaft motor is provided with second sliding assemblies at intervals, and the first sliding assemblies and the second sliding assemblies are matched with each other and used for driving the sliding cylinder to synchronously rotate and axially move by the rotating shaft of the double-shaft motor.
Preferably, the first sliding assembly comprises first sliding blocks arranged on a rotating shaft of the double-shaft motor at intervals and first sliding grooves arranged on the inner wall of the sliding cylinder at intervals, and the first sliding blocks and the first sliding grooves are matched with each other;
preferably, the second sliding assembly comprises a second sliding groove arranged between adjacent first sliding blocks on a rotating shaft of the double-shaft motor and a second sliding block arranged between adjacent first sliding grooves on the inner wall of the sliding cylinder, and the second sliding block and the second sliding groove are matched with each other.
In the utility model, preferably, the first sliding block, the first sliding groove, the second sliding block and the second sliding groove are all one of a triangle, a square, a rectangle or a polygon.
Preferably, the third right-angle gear and the fourth right-angle gear are respectively provided with a force sensor for detecting force changes of the third right-angle gear and the fourth right-angle gear and transmitting signals to the controller, and the controller controls the third right-angle gear and/or the fourth right-angle gear to be separated from the first right-angle gear and/or the second right-angle gear.
The utility model has the beneficial effects that:
compared with the prior art, the transmission of the output shaft is realized by driving the first gear assembly through the second gear assembly, and a hollow double-path output is formed between the first right-angle gear and the second right-angle gear, so that the power of the speed reducer is strong, and the problem that an aircraft cannot be controlled after one path is damaged is avoided; the utility model has the advantages of simple structure, stable performance and longer service life.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the utility model and together with the description serve to explain the utility model without limiting the utility model. In the drawings:
FIG. 1 is a schematic diagram of a hollow dual-output harmonic speed reducer according to the present invention;
FIG. 2 is a schematic structural view of the retraction assembly of the present invention;
FIG. 3 is a schematic cross-sectional structure diagram of the sliding drum and the rotating shaft of the dual-shaft motor according to the present invention;
FIG. 4 is a schematic cross-sectional structure view of a rotating shaft of a two-shaft motor according to the present invention;
FIG. 5 is a schematic cross-sectional view of the slide cartridge of the present invention.
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 utility model and are not intended to limit the utility model.
As shown in fig. 1, an embodiment of the present invention provides a hollow dual-output harmonic speed reducer, including a housing 1, a first gear assembly, a second gear assembly, a dual-axis motor 7, a telescopic assembly, and an output shaft 2 disposed in the housing 1;
the first gear assembly is arranged on the output shaft 2 and used for transmitting power to the output shaft 2;
the second gear assembly is meshed with the first gear assembly, is arranged below the first gear assembly and is used for transmitting power to the first gear assembly;
the double-shaft motor 7 is used for transmitting power to the second gear assembly;
the telescopic assembly is used for detecting that the second gear assembly is separated from the first gear assembly after being damaged.
As shown in fig. 1, the first gear assembly includes a first right-angle gear 3 and a second right-angle gear 4, and the first right-angle gear 3 and the second right-angle gear 4 are symmetrically disposed on the output shaft 2.
As shown in fig. 1, the second gear assembly includes a third right-angle gear 5 and a fourth right-angle gear 6, the third right-angle gear 5 and the fourth right-angle gear 6 are respectively connected with both ends of a two-shaft motor 7, and the third right-angle gear 5 is engaged with the first right-angle gear 3, and the fourth right-angle gear 6 is engaged with the second right-angle gear 4.
As shown in fig. 1, telescopic assemblies are respectively connected to both sides of the third right-angle gear 5 and the fourth right-angle gear 6 for separating the third right-angle gear 5 from the first right-angle gear 3 and separating the fourth right-angle gear 6 from the second right-angle gear 4.
As shown in fig. 1 and 2, the telescopic assembly includes a telescopic cylinder 11, a sleeve 15, a bearing 16 and a rotating rod 13, the telescopic cylinder 11 is disposed at one side of the housing 1, the sleeve 15 is disposed at one end of a telescopic shaft 12 of the telescopic cylinder 11, the sleeve 15 is connected with one end of the rotating rod 13 through the bearing 16, and the other end of the rotating rod 13 is connected with a central shaft of the third right-angle gear 5 and/or a central shaft of the fourth right-angle gear 6.
As shown in fig. 1 and 3, a third right-angle gear 5 and a fourth right-angle gear 6 are respectively connected to both ends of a biaxial motor 7 through a slide cylinder 8.
As shown in fig. 1, fig. 3, fig. 4 and fig. 5, the inner wall of the sliding cylinder 8 is provided with first sliding assemblies at intervals, the rotating shaft 9 of the dual-shaft motor 7 is provided with second sliding assemblies at intervals, and the first sliding assemblies and the second sliding assemblies are matched with each other for the rotating shaft 9 of the dual-shaft motor 7 to drive the sliding cylinder 8 to synchronously rotate and axially move.
As shown in fig. 3-5, the first sliding assembly includes first sliding blocks 17 disposed at intervals on the rotating shaft 9 of the dual-shaft motor 7 and first sliding slots 19 disposed at intervals on the inner wall of the sliding barrel 8, and the first sliding blocks 17 and the first sliding slots 19 are mutually matched;
as shown in fig. 3 to 5, the second sliding assembly includes a second sliding slot 18 disposed between adjacent first sliding blocks 17 on the rotating shaft 9 of the dual-shaft motor 7 and a second sliding block 20 disposed between adjacent first sliding slots 19 on the inner wall of the sliding barrel 8, the second sliding block 20 and the second sliding slot 18 are mutually matched, and the first sliding block 17, the first sliding slot 19, the second sliding block 20 and the second sliding slot 18 are correspondingly one of a triangle, a square, a rectangle or a polygon.
As shown in fig. 1-3, the third right-angle gear 5 and the fourth right-angle gear 6 are respectively installed at two ends of the dual-shaft motor 7, since they are respectively connected by the sliding cylinders 8, and the first sliding assembly and the second sliding assembly are provided, left and right movement can be realized, the third right-angle gear 5 and the fourth right-angle gear 6 are driven to rotate by the torque of the first sliding assembly and the second sliding assembly during rotation, one end of the telescopic shaft 12 of the telescopic cylinder 11 is provided with the sleeve 15, the sleeve 15 is connected with one end of the rotating rod 13 by the bearing 16, the other end of the rotating rod 13 is connected with the central shaft of the third right-angle gear 5 and/or the central shaft of the fourth right-angle gear 6, the rotating rod 13 is provided for not only the supporting function of the third right-angle gear 5 and/or the fourth right-angle gear 6, but also can rotate by the bearing 16, when one of the gears is damaged, the telescopic cylinder 11 can drive the third right-angle gear 5 and/or the fourth right-angle gear 6 to move left and right.
As shown in fig. 1, the third right-angle gear 5 and the fourth right-angle gear 6 are respectively provided with a force sensor 10 for detecting a force variation of the third right-angle gear 5 and the fourth right-angle gear 6 and transmitting a signal to the controller 10, and the controller 10 controls the third right-angle gear 5 and/or the fourth right-angle gear 6 to be separated from the first right-angle gear 3 and/or the second right-angle gear 4.
The working principle of the utility model is as follows:
as shown in fig. 1-3, the present invention symmetrically arranges a first right-angle gear 3 and a second right-angle gear 4 on an output shaft 2, a third right-angle gear 5 and a fourth right-angle gear 6 are respectively connected with two ends of a double-shaft motor 7, and the third right-angle gear 5 is engaged with the first right-angle gear 3, and the fourth right-angle gear 6 is engaged with the second right-angle gear 4. When one of the first right-angle gear 3, the second right-angle gear 4, the third right-angle gear 5 and the fourth right-angle gear 6 is damaged, a signal is transmitted to the controller 10 through the force sensor 14, the controller controls the telescopic cylinder, and the telescopic cylinder drives the third right-angle gear and/or the fourth right-angle gear to be separated from the first right-angle gear and/or the second right-angle gear through the telescopic shaft.
In conclusion, the hollow type double-output harmonic speed reducer is designed, the second gear assembly drives the first gear assembly to realize transmission of an output shaft, hollow type double-path output is formed between the first right-angle gear and the second right-angle gear, so that the power of the speed reducer is strong, and the problem that an aircraft cannot be controlled after one path is damaged is avoided; the utility model has the advantages of simple structure, stable performance and longer service life.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, the terms describing the positional relationships in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A hollow double-output harmonic speed reducer is characterized by comprising a shell, a first gear assembly, a second gear assembly, a double-shaft motor, a telescopic assembly and an output shaft arranged in the shell;
the first gear assembly is arranged on the output shaft and used for transmitting power to the output shaft;
the second gear assembly is meshed with the first gear assembly, is arranged below the first gear assembly and is used for transmitting power to the first gear assembly;
the double-shaft motor is used for transmitting power to the second gear assembly;
the telescopic assembly is used for detecting that the second gear assembly is separated from the first gear assembly after being damaged.
2. The hollow dual output harmonic speed reduction of claim 1, wherein the first gear assembly comprises a first right angle gear and a second right angle gear, the first right angle gear and the second right angle gear being symmetrically disposed on the output shaft.
3. The hollow dual-output harmonic speed reducer according to claim 1 or 2, wherein the second gear assembly comprises a third right-angle gear and a fourth right-angle gear, the third right-angle gear and the fourth right-angle gear are respectively connected with two ends of the dual-shaft motor, the third right-angle gear is meshed with the first right-angle gear, and the fourth right-angle gear is meshed with the second right-angle gear.
4. The hollow dual-output harmonic reducer of claim 3, wherein a telescopic assembly is connected to each side of the third right-angle gear and the fourth right-angle gear for separating the third right-angle gear from the first right-angle gear and separating the fourth right-angle gear from the second right-angle gear.
5. The hollow type dual-output harmonic speed reducer according to claim 4, wherein the telescopic assembly comprises a telescopic cylinder, a sleeve, a bearing and a rotating rod, the telescopic cylinder is disposed on one side of the housing, the sleeve is disposed at one end of a telescopic shaft of the telescopic cylinder, the sleeve is connected with one end of the rotating rod through the bearing, and the other end of the rotating rod is connected with a central shaft of the third right-angle gear and/or a central shaft of the fourth right-angle gear.
6. The hollow type dual-output harmonic speed reducer according to claim 5, wherein the third right-angle gear and the fourth right-angle gear are respectively connected with two ends of the dual-shaft motor through sliding cylinders.
7. The hollow type dual-output harmonic speed reducer according to claim 6, wherein the inner wall of the sliding cylinder is provided with first sliding components at intervals, the rotating shaft of the dual-shaft motor is provided with second sliding components at intervals, and the first sliding components and the second sliding components are matched with each other to drive the sliding cylinder to synchronously rotate and move in the axial direction through the rotating shaft of the dual-shaft motor.
8. The hollow dual-output harmonic speed reduction of claim 7,
the first sliding assembly comprises first sliding blocks arranged on a rotating shaft of the double-shaft motor at intervals and first sliding grooves arranged on the inner wall of the sliding cylinder at intervals, and the first sliding blocks and the first sliding grooves are matched with each other;
the second sliding assembly comprises a second sliding groove formed between adjacent first sliding blocks in a rotating shaft of the double-shaft motor and a second sliding block arranged between adjacent first sliding grooves in the inner wall of the sliding cylinder, and the second sliding block and the second sliding groove are matched with each other.
9. The hollow dual-output harmonic speed reducer of claim 7 wherein the first slider, the first runner, the second slider, and the second runner are each one of triangular, square, rectangular, or polygonal.
10. The hollow dual-output harmonic reducer of claim 8, wherein the third right-angle gear and the fourth right-angle gear are respectively provided with a force sensor for detecting the force variation of the third right-angle gear and the fourth right-angle gear and transmitting a signal to the controller, and the controller controls the third right-angle gear and/or the fourth right-angle gear to disengage from the first right-angle gear and/or the second right-angle gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121410628.0U CN215928264U (en) | 2021-06-23 | 2021-06-23 | Hollow type double-output harmonic speed reduction device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121410628.0U CN215928264U (en) | 2021-06-23 | 2021-06-23 | Hollow type double-output harmonic speed reduction device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215928264U true CN215928264U (en) | 2022-03-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121410628.0U Active CN215928264U (en) | 2021-06-23 | 2021-06-23 | Hollow type double-output harmonic speed reduction device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215928264U (en) |
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2021
- 2021-06-23 CN CN202121410628.0U patent/CN215928264U/en active Active
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