CN108413006B - Harmonic driver of vibration wave generator - Google Patents

Abstract

The invention relates to a harmonic driver of a vibration wave generator, which is characterized by comprising a first bearing group, an input shaft, a left end cover, an outer shell, a rigid internal gear sleeve, a flexible external gear, a vibration plate, a base plate, a second bearing group, a wave generator, a one-way valve, an output shaft, a key, a bolt assembly and an oil discharge port, wherein the first bearing group is arranged on the outer shell; the input shaft is arranged on the left end cover through a first bearing group and can rotate, the one-way valve is arranged in a radial hole of the input shaft, the vibrating plate and the backing plate are positioned in an inner cavity of the wave generator, and a gap is reserved between the vibrating plate and the inner wall of the wave generator; after the power is switched on, the vibrating plate can generate high-frequency vibration in the thickness direction, a radial small hole group is arranged on the wave generator, and the inner cavity of the wave generator is communicated with the outside through the radial small hole group; the left end of the flexible external gear is fixedly connected with the right end face of the left end cover, the flexible external gear is positioned outside the wave generator and in clearance fit with the wave generator, the rigid internal gear sleeve is arranged in the outer shell through the second bearing group and can rotate, and the rigid internal gear sleeve is positioned on the outer side of the flexible external gear and is meshed with the flexible external gear; the left part of the output shaft is connected with the rigid internal gear sleeve through a key. The device does not have a flexible bearing of a quick-wear part, and the service life of the whole device can be prolonged.

Description

A Harmonic Drive for a Vibration Wave Generator

technical field

The present invention relates to a new wave generator harmonic transmission mechanism. At present, high-precision robots, medical equipment, 3D printers, electromechanical equipment, and ultra-precision machine tools, detection devices, etc. The requirements for positioning accuracy and motion stability are extremely high, so a harmonic drive of a vibration wave generator with a large transmission ratio and high transmission accuracy is often required.

Background technique

Since the invention of the harmonic gear drive more than half a century ago, it has been widely used due to its own advantages, including harmonic generators, flexible bearings, rigid gears and flexible gears; at present, the most commonly used harmonic generators are characterized by wave The generator has long and short shafts; some improved wave generators use eccentric shafts, eccentric wheels or rollers and other components to support flexible gears through flexible bearings to mesh with rigid gears; regardless of the type of wave generator , all rely on the flexible bearing to continuously do elliptical elastic deformation, and the wave generator and the flexible gear are also in rigid contact, so the flexible bearing is very easy to damage.

The suspension support and anti-friction capabilities of the ultrasonic vibration surface have been confirmed by a number of theoretical studies and practical applications, and have been applied in more and more fields. Some studies have found that ultrasonic waves can reduce the frictional resistance between contact surfaces More than 90%, in the modern manufacturing industry, many researchers at home and abroad have begun to use ultrasonic bearings and ultrasonic motors, but there are still no reports of using ultrasonic vibration technology for harmonic transmission mechanisms.

Contents of the invention

The purpose of the present invention is to provide a new type of harmonic drive device for wave generators, which does not have flexible bearings as wearing parts, and can improve the overall service life.

In order to achieve the above object, the present invention is achieved in that it is a harmonic drive of a vibration wave generator, comprising a first bearing group, an input shaft, a left end cover, an outer shell, a rigid internal gear sleeve, a flexible external gear, Vibration plate, backing plate, second bearing group, wave generator, check valve, output shaft, key, bolt assembly, oil discharge port;

The left end cover is covered at the left opening of the outer shell and fixed by fasteners. The input shaft is mounted on the left end cover through the first bearing group and is rotatable. An axial oil hole is arranged at the axis of the input shaft. An axial oil hole is provided at the axis of the input shaft, and a radial hole is provided at the right end of the input shaft. The check valve is installed in the radial hole, and the axial oil hole communicates with the inlet of the check valve. The vibrating plate is fixed on the backing plate, and the wave generator is fixedly connected to the right end of the input shaft through a bolt assembly. The vibrating plate and the backing plate are located in the inner cavity of the wave generator, and there is a gap between the vibrating plate and the inner wall of the wave generator. There are through holes in the center of the vibrating plate and the backing plate that communicate with the outlet of the one-way valve. After electrification, the vibrating plate can generate high-frequency vibrations in the thickness direction, and the wave generator is provided with radial small hole groups. The radial small hole group communicates the inner cavity of the wave generator with the outside;

The left end of the flexible external gear is fixedly connected with the right end face of the left end cover. The flexible external gear is located outside the wave generator and fits with clearance. The rigid internal gear sleeve is installed in the housing through the second bearing group and is rotatable. The rigid internal gear The sleeves are located on the outside of the flexible external gear and mesh with each other;

The left part of the output shaft is connected with the rigid internal gear sleeve through a key.

The oil discharge port is arranged on the outer casing.

In this technical solution, the vibrating plate, the backing plate, the wave generator and the one-way valve have two sets, the radial holes have two, and the vibrating plate, the backing plate, the wave generator and the two radial holes are all It is arranged on the right end of the input shaft with the axis of the input shaft as a symmetrical axis, and the two one-way valves are respectively located in their respective radial holes, and the axial center oil holes communicate with the two one-way valves respectively.

In this technical solution, the vibrating plate may be a piezoelectric material or a magnetostrictive material.

Compared with the prior art, the present invention has the following advantages:

1. When working, due to the high-frequency vibration of the vibrating plate, a high-strength lubricating oil film can be generated between the wave generator and the flexible gear, and there is almost no friction between the wave generator and the flexible gear during movement, which improves the accuracy of motion transmission and increases The service life of the wave generator and flexible spline;

2. The mechanism removes the easily damaged flexible bearing in the traditional harmonic drive mechanism, which increases the service life.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic structural view of the input shaft and parts on the shaft;

Fig. 3 is a left side view of Fig. 2 .

Detailed ways

The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be noted here that the descriptions of these embodiments are used to help understand the present invention, but are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

In the description of the present invention, the orientations or positional relationships indicated by the terms "left" and "right" are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and do not require that the present invention must be based on a specific orientation. construction and operation, therefore, should not be construed as limiting the invention.

As shown in Figures 1 to 3, it is a harmonic drive for a vibration wave generator, including a first bearing group 1, an input shaft 2, a left end cover 3, an outer shell 4, a rigid inner gear sleeve 5, a flexible outer Gear 6, vibration plate 7, backing plate 8, second bearing group 9, wave generator 10, check valve 11, output shaft 12, key 13, bolt assembly 14, oil discharge port 15;

The left end cover 3 covers the left opening of the outer shell 4 and is fixed by fasteners. The input shaft 2 is mounted on the left end cover 3 through the first bearing group 1 and is rotatable. There is an axial oil hole 21, and a radial hole 22 is arranged at the right end of the input shaft 2, and the check valve 11 is installed in the radial hole 22, and the axial oil hole 21 communicates with the entrance of the check valve 11, and the The backing plate 8 is fixed on the right end of the input shaft 2, the vibrating plate 7 is fixed on the backing plate 8, the wave generator 10 is fixedly connected to the right end of the input shaft 2 through the bolt assembly 14, the vibrating plate 7 and the backing plate 8 are located at In the inner cavity of the wave generator 10, there is a gap between the vibrating plate 7 and the inner wall of the wave generator 10; there is a through hole in the center of the vibrating plate 7 and the backing plate 8, which communicates with the outlet of the one-way valve 11. After electrification, The vibrating plate 7 can generate high-frequency vibration in the thickness direction, and the wave generator 10 is provided with a small radial hole group 101, and the small radial through hole group 101 makes the inner cavity of the wave generator 10 communicate with the outside;

The left end of the flexible external gear 6 is fixedly connected to the right end surface of the left end cover 3, the flexible external gear 6 is located outside the wave generator 10 and is in clearance fit, and the rigid internal gear sleeve 5 is installed on the outer shell 4 through the second bearing group 9 Inner and rotatable, the rigid inner gear sleeve 5 is located outside the flexible outer gear 6 and meshes with each other;

The left part of the output shaft 12 is connected with the rigid internal gear sleeve 5 through a key 13;

The oil discharge port 15 is arranged on the outer casing 4 .

In this embodiment, the vibrating plate 7, the backing plate 8, the wave generator 10 and the one-way valve 11 have two sets, the radial holes 22 have two sets, the vibrating plate 7, the backing plate 8, the wave generator The device 10 and the two radial holes 22 are arranged on the right end of the input shaft 2 with the axis of the input shaft 2 as a symmetrical axis, and the two one-way valves 11 are respectively located in the two radial holes 22, and the axial oil holes 21 are respectively It communicates with check valve 11.

In this embodiment, the vibrating plate 7 may be piezoelectric material or magnetostrictive material.

Working process: the input shaft 2 rotates at a high speed, driving the vibration plate 7, backing plate 8, wave generator 10, check valve 11 and other components (all arranged symmetrically along the axis of the shaft 2) that are fastened together to rotate together. A wave generator 10 rotates to drive the flexible external gear 6 installed outside it to move, and forces the external teeth of the flexible external gear 6 to mesh with the internal teeth of the rigid internal gear sleeve 5 in turn, because the flexible external gear 6 and the rigid internal gear sleeve 5 There is a difference in the number of teeth, which can produce wrong tooth movement, so the rigid inner gear sleeve 5 rotates at a low speed, which also drives the output shaft 12 connected with it to rotate. At the same time, the hydraulic oil enters the check valve 11 through the center hole of the input shaft 2, and then Through the through holes on the backing plate 8 and the vibrating plate 7, it enters between the vibrating plate 7 and the inner wall of the wave generator 10 and the radial hole group of the wave generator 10. After the vibrating plate 7 is energized, it generates high-frequency vibrations in the thickness direction. The high-pressure hydraulic oil produced under the high-frequency action of the vibrating plate 7 enters between the wave generator 10 and the inner hole of the flexible external gear 6 through the radial hole group of the wave generator 10, and passes between the wave generator 10 and the flexible external gear 6 A high-strength lubricating oil film is formed, which greatly reduces the sliding friction between the wave generator 10 and the flexible external gear 6 .

Since the technologies related to the present invention, such as piezoelectricity, ultrasonic vibration technology, various control technologies and wiring, hydraulic pressure, oil supply, pipeline, sealing and pressure retention, are very mature, and are not the key content of the present invention, so in the present invention The relevant schematic diagrams and text descriptions are not described in detail, and it is not an omission by the inventor, so it is hereby explained.

The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and deformations to these implementations without departing from the principle and spirit of the present invention still fall within the protection scope of the present invention.

Claims (3)

1. A harmonic drive of a vibration wave generator, characterized in that it includes a first bearing group (1), an input shaft (2), a left end cover (3), an outer shell (4), a rigid inner gear sleeve (5 ), flexible external gear (6), vibration plate (7), backing plate (8), second bearing group (9), wave generator (10), check valve (11), output shaft (12), key (13), bolt assembly (14), oil discharge port (15); The left end cover (3) covers the left opening of the outer casing (4) and is fixed by fasteners, and the input shaft (2) is installed on the left end cover (3) through the first bearing group (1) and can be rotation, an axial oil hole (21) is provided at the axis of the input shaft (2), a radial hole (22) is provided at the right end of the input shaft (2), and the check valve (11) is installed in the radial In the hole (22), the axial oil hole (21) communicates with the inlet of the one-way valve (11), the backing plate (8) is fixed on the right end of the input shaft (2), and the vibrating plate (7) is fixed on On the base plate (8), the wave generator (10) is fixedly connected to the right end of the input shaft (2) through the bolt assembly (14), and the vibration plate (7) and the base plate (8) are located on the wave generator (10) In the inner cavity, there is a gap between the vibrating plate (7) and the inner wall of the wave generator (10); in the center of the vibrating plate (7) and the backing plate (8), there is a connection with the outlet of the one-way valve (11). Through holes, after electrification, the vibrating plate (7) can generate high-frequency vibration in the thickness direction, and the radial small hole group (101) is provided on the wave generator (10), and the radial small hole group (101) makes The inner cavity of the wave generator (10) communicates with the outside; The left end of the flexible external gear (6) is fixedly connected to the right end face of the left end cover (3), the flexible external gear (6) is located outside the wave generator (10) and has clearance fit, and the rigid internal gear sleeve (5) passes through The second bearing group (9) is installed in the outer casing (4) and can rotate, and the rigid inner gear sleeve (5) is located outside the flexible outer gear (6) and meshes with each other; The left part of the output shaft (12) is connected with the rigid inner gear sleeve (5) through a key (13); The oil discharge port (15) is arranged on the outer casing (4). 2. The harmonic drive of a vibration wave generator according to claim 1, characterized in that the vibration plate (7), backing plate (8), wave generator (10) and check valve (11 ) have two sets, the radial hole (22) has two, the vibrating plate (7), the backing plate (8), the wave generator (10) and the two radial holes (22) are all connected to the input shaft ( The axis of 2) is symmetrical and arranged on the right end of the input shaft (2), and the two one-way valves (11) are respectively located in the two radial holes (22). 3. The harmonic drive of a vibration wave generator according to claim 1 or 2, characterized in that the vibration plate (7) is made of a piezoelectric material or a magnetostrictive material.

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