CN101087096A - Electromagnetic harmonic wave drive action device - Google Patents
Electromagnetic harmonic wave drive action device Download PDFInfo
- Publication number
- CN101087096A CN101087096A CN 200610012132 CN200610012132A CN101087096A CN 101087096 A CN101087096 A CN 101087096A CN 200610012132 CN200610012132 CN 200610012132 CN 200610012132 A CN200610012132 A CN 200610012132A CN 101087096 A CN101087096 A CN 101087096A
- Authority
- CN
- China
- Prior art keywords
- flexbile gear
- steel wheel
- harmonic wave
- flexible
- end cap
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Retarders (AREA)
Abstract
The electromagnetism harmonic wave drive device relates to harmonic wave drive technique, it includes screw pair, bearing, seat and end cap; it also includes stator, flexible iron core, flexible wheel and steel wheel harmonic wave gear pair; flexible wheel is connected with screw pair; it uses magnetic field constructed by the stator and flexible iron core as drive, uneven function of rotated magnetic field makes flexible wheel and flexible wheel in steel wheel harmonic wave gear pair change with shape of cam, so period mesh is generated between flexible wheel tooth and steel wheel tooth to make flexible wheel rotate to drive screw pair rotate. The invention integrates motor, harmonic wave reducer and screw drive function, because without rotor and mechanical cam, it posseses characters that moment of inertia of system is little, starting current is little, response speed is fast, velocity ratio is big, precision is high, output form is direct line drive.
Description
Technical field
The present invention relates to harmonic wave Driving technique field, is a kind of electromagnetic harmonic wave drive action device.
Background technology
Common acting device is hydraulic actuator, atmospheric pressure actuating cylinder or screw machine acting device etc., and they need be driven by motor or motor pressure pump group or motor pulsometer group etc., make complex structure, bulky, and running precision is not high.
Summary of the invention
The objective of the invention is to disclose a kind of electromagnetic harmonic wave drive action device,, do power, externally acting with rotating magnetic field without the rotor and the mechanical cam of high speed rotating.
Another purpose of the present invention is to disclose a kind of electromagnetic harmonic wave drive action device, and it has the advantages that volume is little, simple in structure, system's moment of inertia is little, starting current is little, response speed is fast, speed ratio is big, precision is high.
For achieving the above object, technical solution of the present invention provides a kind of electromagnetic harmonic wave drive action device, comprises screw pair, bearing, mounting and end cap; It also comprises stator module, flexible core assembly, flexbile gear and steel wheel harmonic gear pair; Flexbile gear and screw pair are affixed; Its rotating magnetic field of utilizing stator module and flexible core assembly to constitute is done power, inhomogeneous effect by rotating magnetic field, flexbile gear in flexbile gear and the steel wheel harmonic gear pair is changed according to the shape of cam, make the periodicity engagement that produces harmonic wave between flexbile gear tooth and the steel wheel tooth, and flexbile gear is rotated, the rotation of drive screw pair, externally acting.
Described electromagnetic harmonic wave drive action device, its described mounting are the cylindrical shell of hollow, and ring-type stator module outside circle is fixed in mounting inwall middle part, and ring-type steel wheel outside circle is affixed with mounting inwall right-hand member, on the inboard circle tooth is arranged; Flexbile gear is a handleless cup shape body, and right output port is along there being the right angle flange, and flange outside circle has tooth, and left end passes in the hole by the ring-type stator module, and the left end top center has through hole; The flexbile gear tooth is arranged in the steel wheel endoporus, and is suitable with the steel wheel tooth, and on a plane, but be the split engagement;
Screw pair is made up of nut and screw mandrel, and the outer line of line and screw mandrel is dynamically connected in the nut, and nut external diameter and flexbile gear left end top center through hole internal diameter are suitable, and nut is fixed in the central through hole of flexbile gear, and the screw mandrel two ends stretch out in the mounting both ends of the surface;
In the handleless cup shape body cavity volume of flexbile gear, be provided with flexible core assembly, the external diameter of flexible core assembly is less than the internal diameter of flexbile gear, comprise flexible iron core and T shape slide block, the flexible iron core side Zhou Yuan of ring-type goes up fluted, be evenly distributed with T shape slide block in the groove, flexible iron core endoporus is fixed on the periphery circle of nut, and its position and stator module are suitable;
Respectively there is an end cap at the two ends, the left and right sides of mounting, and the end cap center is porose, and this hole internal diameter is greater than the screw mandrel external diameter, and two end cap is passed the screw mandrel two ends with centre bore and is placed on the screw mandrel, and two end cap outer and mounting two ends are affixed;
Respectively be connected with a bearing on the periphery circle of nut two ends, two bearings periphery circle is affixed with two end cap respectively;
Wherein, stator module, flexible core assembly, flexbile gear and steel wheel harmonic gear pair, screw pair, bearing and end cap are coaxial state.
Described electromagnetic harmonic wave drive action device, its described external acting, output form is a linear drives.
Described electromagnetic harmonic wave drive action device, its described linear drives is to do forward and reverse reciprocating linear to move.
Described electromagnetic harmonic wave drive action device, the number of teeth of its described flexbile gear and steel wheel satisfies following relation:
z
g-z
b＝KU
In the formula, z
gBe the steel wheel number of teeth, z
bBe the flexbile gear number of teeth, K is an integer, and U is the distortion wave number; The number of teeth difference of steel wheel and flexbile gear should equal to be out of shape the integral multiple of wave number, the pitch diameter d of flexbile gear
bPitch diameter d less than steel wheel
g
Described electromagnetic harmonic wave drive action device, its described K=1, U=2, the number of teeth difference of steel wheel and flexbile gear is 2.
The wave producer of common Harmonic Gears is a mechanical cam, the present invention is used for making flexbile gear to change according to the shape of cam by the inhomogeneous of rotating magnetic field, realize the periodicity engagement of harmonic wave, and by few tooth difference transmission principle of flexbile gear and steel wheel, realize that big speed change exports.Embedded screw pair on flexbile gear, thus realize linear reciprocation output, become a kind of acting device of new compact conformation.
Advantage of the present invention is:
1, the power supply applicability is wide, can be alternating current, also can be direct current; Can be single-phase, also can be three-phase.
2, system's linear running precision height, linear precision even can reach 0.01mm.
3, backlash is little, if adopt ball rotation transmission, whole system can reach no backlash substantially.
4, compact conformation, good looking appearance.
Description of drawings
Fig. 1 is an electromagnetic harmonic wave drive action device texture edge schematic diagram of the present invention;
Fig. 2 is an electromagnetic harmonic wave drive action device structure front schematic view of the present invention.
Embodiment
See illustrated in figures 1 and 2ly, electromagnetic harmonic wave drive action device of the present invention is made up of stator module 1, steel wheel 2, flexbile gear 3, flexible core assembly 4, nut 5, screw mandrel 6, bearing 7, mounting 8 and end cap 9 etc.
Screw pair is made up of nut 5 and screw mandrel 6, and line and screw mandrel 6 outer lines are dynamically connected in the nut 5, and nut 5 external diameters and flexbile gear 3 left end top center through hole internal diameters are suitable, and nut 5 is fixed in the central through hole of flexbile gear 3, and screw mandrel 6 two ends stretch out in the both ends of the surface of mounting 8.
In the handleless cup shape body cavity volume of flexbile gear 3, be provided with flexible core assembly 4, the external diameter of flexible core assembly 4 is less than the internal diameter of flexbile gear 3, comprise flexible iron core 42 and T shape slide block 41, the flexible iron core 42 side Zhou Yuan of ring-type go up fluted, be evenly distributed with T shape slide block 41 in the groove, flexible iron core 42 endoporus are fixed on the periphery circle of nut 5, and its position and stator module 1 are suitable.
Respectively there is an end cap 9 at the two ends, the left and right sides of mounting 8, and end cap 9 centers are porose, and this hole internal diameter is greater than screw mandrel 6 external diameters, and two end cap 9 is passed screw mandrel 6 two ends with centre bore and is placed on the screw mandrel 6, and two end cap 9 outers and mounting 8 two ends are affixed.
Respectively be connected with a bearing 7 on the nut 5 two ends periphery circles, two bearings 7 peripheries circle is affixed with two end cap 9 respectively.
Wherein, stator module 1, flexible core assembly 4, flexbile gear and steel wheel harmonic gear pair, screw pair, bearing 7 and end cap 9 are coaxial state.
The mode that produces rotating magnetic field has two kinds: the one, polyphase windings is controlled the rotating magnetic field that conducting produces pulse successively; The 2nd, polyphase windings is fed alternating current obtain a Sinusoidal Electromagnetic Field of rotation continuously.The former advantage is that rotating speed is controlled easily, but needs to be equipped with the special-purpose pulse power; The latter's advantage is simple in structure, does not need power source special, but rotating speed is difficult to control.
The operating mechanism of electromagnetic harmonic wave drive action device of the present invention:
Adopted the secondary and cover worm drive pair of a cover flexbile gear and steel wheel harmonic gear in apparatus of the present invention, wherein steel wheel is fixed, and the nut of flexbile gear and screw pair fuses.The number of teeth of flexbile gear and steel wheel satisfies following relation:
z
g-z
b＝KU
In the formula, z
gBe the steel wheel number of teeth, z
bBe the flexbile gear number of teeth, K is an integer, and U is the distortion wave number.The number of teeth difference of steel wheel and flexbile gear should equal to be out of shape the integral multiple of wave number, gets K=1 usually, U=2, and at this moment the number of teeth difference of steel wheel and flexbile gear is 2.The pitch diameter d of flexbile gear
bBe slightly less than the pitch diameter d of steel wheel
g
When 12 energisings of the stator winding in the stator module 1, in device, set up the electromagnetic field of rotation, the rotation of electromagnetic field just is equivalent to wave producer.Under electromagnetic field effect, flexbile gear 3 will produce radial deformation, the approximate oval in shape in distortion back, thus mesh with steel wheel.In transverse place flexbile gear 3 and steel wheel 2 engagements; At the ellipse short shaft place, flexbile gear 3 is thrown off with steel wheel 2; Transition state between remainder then is in engagement and throws off also can be called and engaging-inly does well with nibbling.
Fixing when steel wheel 2, during the rotation of magnetic field, flexbile gear 3 is engagement successively with the tooth of steel wheel 2, nibbles out, disengagement and engaging-in recurrent state.Because the number of teeth of flexbile gear 3 is less than the number of teeth of steel wheel 2, so when magnetic field rotates a circle, the angle i that flexbile gear 3 relative steel wheels 2 turn over
AbFor:
That is to say the speed reducing ratio i of flexbile gear 3 and steel wheel 2
GbFor:
Because flexbile gear 3 is connected together with nut 5, so when flexbile gear 3 rotates, will drive nut 5 and rotate together, nut 5 drives leading screw 6 and does reciprocating linear motion.If the screw pair gearratio is i
s, the speed reducing ratio i of so whole driving-chain is:
i＝i
gb·i
s
Electromagnetic harmonic wave drive action device of the present invention organically melts drive motors, transmission device and spiral acting device in one, and its input can be that DC power supply drives, and also can be that AC power drives.Its output then can be the stepping straight reciprocating motion, also can be the continous way straight reciprocating motion.
Electromagnetic harmonic wave drive action device of the present invention can be applied to the occasion that general conventional start is used, and is particularly suitable for claimed structure compactness, in light weight, speed is low, precision is high various occasions.Feed mechanism as lathe; The corner drive system of antenna and feed automatic mechanism; The X-Y motion; Lifting plays locking mechanism etc.
Genealogical classification
Power supply:
1, AC power, single-phase or three-phase,
2, DC power supply.
Magnetic field rotation form:
1, stepping,
2, continous way.
The screw pair form:
1, ball spiral pair,
2, T type tooth screw pair,
3, lance tooth screw pair.
Lead screw straight-line speed can the realization scope be: 0.03mm/min～10mm/min,
Linear precision: 0.01mm.
Claims (6)
1, a kind of electromagnetic harmonic wave drive action device comprises screw pair, bearing, mounting and end cap; It is characterized in that, also comprise stator module, flexible core assembly, flexbile gear and steel wheel harmonic gear pair; Flexbile gear and screw pair are affixed; Its rotating magnetic field of utilizing stator module and flexible core assembly to constitute is done power, inhomogeneous effect by rotating magnetic field, flexbile gear in flexbile gear and the steel wheel harmonic gear pair is changed according to the shape of cam, make the periodicity engagement that produces harmonic wave between flexbile gear tooth and the steel wheel tooth, and flexbile gear is rotated, the rotation of drive screw pair, externally acting.
2, electromagnetic harmonic wave drive action device as claimed in claim 1 is characterized in that, described mounting is the cylindrical shell of hollow, and ring-type stator module outside circle is fixed in mounting inwall middle part, and ring-type steel wheel outside circle is affixed with mounting inwall right-hand member, on the inboard circle tooth is arranged; Flexbile gear is a handleless cup shape body, and right output port is along there being the right angle flange, and flange outside circle has tooth, and left end passes in the hole by the ring-type stator module, and the left end top center has through hole; The flexbile gear tooth is arranged in the steel wheel endoporus, and is suitable with the steel wheel tooth, and on a plane, but be the split engagement;
Screw pair is made up of nut and screw mandrel, and the outer line of line and screw mandrel is dynamically connected in the nut, and nut external diameter and flexbile gear left end top center through hole internal diameter are suitable, and nut is fixed in the central through hole of flexbile gear, and the screw mandrel two ends stretch out in the mounting both ends of the surface;
In the handleless cup shape body cavity volume of flexbile gear, be provided with flexible core assembly, the external diameter of flexible core assembly is less than the internal diameter of flexbile gear, comprise flexible iron core and T shape slide block, the flexible iron core side Zhou Yuan of ring-type goes up fluted, be evenly distributed with T shape slide block in the groove, flexible iron core endoporus is fixed on the periphery circle of nut, and its position and stator module are suitable;
Respectively there is an end cap at the two ends, the left and right sides of mounting, and the end cap center is porose, and this hole internal diameter is greater than the screw mandrel external diameter, and two end cap is passed the screw mandrel two ends with centre bore and is placed on the screw mandrel, and two end cap outer and mounting two ends are affixed;
Respectively be connected with a bearing on the periphery circle of nut two ends, two bearings periphery circle is affixed with two end cap respectively;
Wherein, stator module, flexible core assembly, flexbile gear and steel wheel harmonic gear pair, screw pair, bearing and end cap are coaxial state.
3, electromagnetic harmonic wave drive action device as claimed in claim 1 or 2 is characterized in that, described external acting, and output form is a linear drives.
4, electromagnetic harmonic wave drive action device as claimed in claim 1 or 2 is characterized in that, described linear drives is to do forward and reverse reciprocating linear to move.
5, electromagnetic harmonic wave drive action device as claimed in claim 1 or 2 is characterized in that, the number of teeth of described flexbile gear and steel wheel satisfies following relation:
z
g-z
b＝KU
In the formula, z
gBe the steel wheel number of teeth, z
bBe the flexbile gear number of teeth, K is an integer, and U is the distortion wave number; The number of teeth difference of steel wheel and flexbile gear should equal to be out of shape the integral multiple of wave number, the pitch diameter d of flexbile gear
bPitch diameter d less than steel wheel
g
6, electromagnetic harmonic wave drive action device as claimed in claim 5 is characterized in that, described K=1, and U=2, the number of teeth difference of steel wheel and flexbile gear is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610012132 CN100588090C (en) | 2006-06-07 | 2006-06-07 | Electromagnetic harmonic wave drive action device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610012132 CN100588090C (en) | 2006-06-07 | 2006-06-07 | Electromagnetic harmonic wave drive action device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101087096A true CN101087096A (en) | 2007-12-12 |
| CN100588090C CN100588090C (en) | 2010-02-03 |
Family
ID=38937912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200610012132 Active CN100588090C (en) | 2006-06-07 | 2006-06-07 | Electromagnetic harmonic wave drive action device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100588090C (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103715858A (en) * | 2013-12-31 | 2014-04-09 | 刘开超 | Linear reciprocating motor |
| CN104767319A (en) * | 2015-03-11 | 2015-07-08 | 燕山大学 | Electromagnetism harmonic wave oscillating tooth transmission device |
| WO2021056346A1 (en) * | 2019-09-26 | 2021-04-01 | 西门子（中国）有限公司 | Flexible gear component and transmission mechanism |
| CN112706188A (en) * | 2019-10-24 | 2021-04-27 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29702710U1 (en) * | 1997-01-31 | 1998-07-30 | Hirn, Marliese, 72147 Nehren | Reduction gear |
| DE10019577C2 (en) * | 2000-04-20 | 2002-03-28 | Oechsler Ag | Wave gear with clutch and drive core for such a wave gear |
| CN2525728Y (en) * | 2002-03-04 | 2002-12-11 | 辛洪兵 | Piezoelectric harmonic motor |
| CN1592074A (en) * | 2003-09-02 | 2005-03-09 | 辛洪兵 | Harmonic motor |
| CN2718323Y (en) * | 2004-02-09 | 2005-08-17 | 南京晨光集团有限责任公司 | Driving and transmitting integrated straight-line motion nachine electric actuator |
-
2006
- 2006-06-07 CN CN 200610012132 patent/CN100588090C/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103715858A (en) * | 2013-12-31 | 2014-04-09 | 刘开超 | Linear reciprocating motor |
| CN104767319A (en) * | 2015-03-11 | 2015-07-08 | 燕山大学 | Electromagnetism harmonic wave oscillating tooth transmission device |
| CN104767319B (en) * | 2015-03-11 | 2018-04-03 | 燕山大学 | A kind of electromagnetism harmonic wave active-tooth transmission |
| WO2021056346A1 (en) * | 2019-09-26 | 2021-04-01 | 西门子（中国）有限公司 | Flexible gear component and transmission mechanism |
| CN112706188A (en) * | 2019-10-24 | 2021-04-27 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
| CN112706188B (en) * | 2019-10-24 | 2023-09-19 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100588090C (en) | 2010-02-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101883935B (en) | Drive unit having at least one transmission stage | |
| US2857536A (en) | Variable reluctance machine | |
| Li et al. | A review of the volumetric torque density of rotary magnetic gear designs | |
| CN102497080A (en) | Moving magnet type linear rotation two-degree-of-freedom motor | |
| CN102226463A (en) | Novel speed reducer and speed reduction motor | |
| CN102438852A (en) | In-wheel motor | |
| CN100588090C (en) | Electromagnetic harmonic wave drive action device | |
| CN103448898A (en) | Marine integrated electric steering engine | |
| WO2017137011A1 (en) | Switched reluctance motor and application thereof | |
| JP2000288792A (en) | Press working machine | |
| CN203674931U (en) | Two freedom degree induction motor | |
| LU101225B1 (en) | Electromagnetic hybrid ringless planet gear changing system | |
| CN1581646A (en) | Brushless through-shaft speed-reducing hub motor | |
| CN209888213U (en) | Screw servo press with randomly controllable screw pitch | |
| CN109681602A (en) | A kind of harmonic speed changer with linear motion function | |
| CN106523600A (en) | Fixed shaft type birotor driving device | |
| CN101465577A (en) | Compact servo driving device | |
| CN103552462A (en) | Harmonic reducing motor drive hub device | |
| CN210093059U (en) | Encoder shift-out type hollow direct-drive motor | |
| CN110224547A (en) | A kind of adjustable speed motor | |
| JP3694251B2 (en) | Inductor-type rotating electrical machine with speed reduction mechanism | |
| JP2004046023A (en) | Method of driving rotating body by rotary electric machine | |
| CN204906095U (en) | Variable speed dynamo of adjustable gear | |
| CN220122721U (en) | Motor | |
| CN210405039U (en) | Stator winding tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |