CN108413006B

CN108413006B - Harmonic driver of vibration wave generator

Info

Publication number: CN108413006B
Application number: CN201810419301.6A
Authority: CN
Inventors: 陈学锋; 凃明霞
Original assignee: Shunde Polytechnic
Current assignee: Shunde Polytechnic
Priority date: 2018-05-04
Filing date: 2018-05-04
Publication date: 2023-04-18
Anticipated expiration: 2038-05-04
Also published as: CN108413006A

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

Harmonic driver of vibration wave generator

Technical Field

The invention relates to a harmonic drive mechanism of a novel wave generator, and at present, high-precision robots, medical instruments, 3D printers, electromechanical equipment, ultra-precision machine tools, detection devices and other equipment have extremely high requirements on the feeding resolution, the repeated positioning precision and the motion stability of a drive system, so that a harmonic driver of a vibration wave generator with a large drive ratio and high drive precision is often required.

Background

Harmonic gear drives were invented for more than half a century and have gained widespread use due to their own advantages, including harmonic generators, compliant bearings, rigid gears, and compliant gears; at present, the most commonly used harmonic generators are characterized in that the wave generator has a long and a short axis; there are some improved wave generators, in operation, use eccentric shaft, eccentric wheel or gyro wheel, etc., support the flexible gear to make it mesh with rigid gear through the flexible bearing; in any form of wave generator, the flexible bearing is used for continuously performing elliptic elastic deformation, and the wave generator is in rigid contact with the flexible gear, so that the flexible bearing is extremely easy to damage.

The suspension supporting and antifriction capability of the ultrasonic vibration surface is proved by a plurality of theoretical researches and practical applications, and the ultrasonic vibration surface is practically applied in more and more fields, and researches show that the ultrasonic can reduce the frictional resistance between contact surfaces by more than 90 percent.

Disclosure of Invention

The invention aims to provide a novel harmonic drive device of a wave generator, which does not have a vulnerable part flexible bearing and can prolong the service life of the whole device.

In order to achieve the aim, the invention is realized in such a way that the harmonic driver of the vibration wave generator comprises a first bearing group, an input shaft, a left end cover, an outer shell, a rigid inner gear sleeve, a flexible outer 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 unloading port;

the left end cover covers a left opening of the outer shell and is fixed through a fastener, the input shaft is mounted on the left end cover through a first bearing set and can rotate, an axial oil hole is formed in the axis of the input shaft, a radial hole is formed in the right end of the input shaft, the one-way valve is mounted in the radial hole, the axial oil hole is communicated with an inlet of the one-way valve, the vibration plate is fixed on the backing plate, the wave generator is fixedly connected to the right end of the input shaft through a bolt assembly, the vibration plate and the backing plate are located in an inner cavity of the wave generator, and a gap is formed between the vibration plate and the inner wall of the wave generator; through holes communicated with the outlets of the one-way valves are formed in the centers of the vibrating plate and the base plate, after the vibrating plate is electrified, the vibrating plate can generate high-frequency vibration in the thickness direction, and a radial small hole group is arranged on the wave generator and enables the inner cavity of the wave generator to be communicated 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 positioned outside the wave generator and is in clearance fit with the wave generator, the rigid internal gear sleeve is arranged in the outer shell through a 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 oil discharge port is arranged on the outer shell.

In the technical scheme, the vibrating plate, the base plate, the wave generator and the one-way valves are provided with two sets, the number of the radial holes is two, the vibrating plate, the base plate, the wave generator and the two radial holes are all arranged at the right end of the input shaft by taking the axis of the input shaft as a symmetry axis, the two one-way valves are respectively positioned in the respective radial holes, and the axis oil holes are respectively communicated with the two one-way valves.

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

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

1. when the flexible gear type vibration generator works, a high-strength lubricating oil film can be generated between the wave generator and the flexible gear due to the high-frequency vibration of the vibration plate, and the wave generator and the flexible gear almost have no friction during movement, so that the movement transmission precision is improved, and the service lives of the wave generator and the flexible gear are prolonged;

2. the mechanism removes the flexible bearing which is extremely easy to damage in the traditional harmonic drive mechanism, and the service life is prolonged.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the input shaft and some of its on-shaft components;

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

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

In the description of the present invention, the terms "left" and "right" etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 to 3, the harmonic driver of the vibration wave generator includes a first bearing set 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, a vibration plate 7, a backing plate 8, a second bearing set 9, a wave generator 10, a one-way valve 11, an output shaft 12, a key 13, a bolt assembly 14, and an oil discharge port 15;

the left end cover 3 is covered at a left opening of the outer shell 4 and fixed through a fastener, the input shaft 2 is mounted on the left end cover 3 through the first bearing group 1 and can rotate, an axial oil hole 21 is formed in the axis of the input shaft 2, a radial hole 22 is formed in the right end of the input shaft 2, the check valve 11 is mounted in the radial hole 22, the axial oil hole 21 is communicated with an inlet of the check valve 11, the backing plate 8 is fixed at the right end of the input shaft 2, the vibration 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 vibration plate 7 and the backing plate 8 are located in an inner cavity of the wave generator 10, and a gap is formed between the vibration plate 7 and the inner wall of the wave generator 10; through holes communicated with the outlets of the check valves 11 are formed in the centers of the vibration plate 7 and the backing plate 8, after the through holes are electrified, the vibration plate 7 can generate high-frequency vibration in the thickness direction, a radial small hole group 101 is arranged on the wave generator 10, and the radial small hole group 101 enables the inner cavity of the wave generator 10 to be communicated with the outside;

the left end of the flexible external gear 6 is fixedly connected with the right end face of the left end cover 3, the flexible external gear 6 is positioned outside the wave generator 10 and is in clearance fit with the wave generator, the rigid internal gear sleeve 5 is installed in the outer shell 4 through a second bearing group 9 and can rotate, and the rigid internal gear sleeve 5 is positioned outside the flexible external gear 6 and is meshed with the flexible external gear;

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 shell 4.

In this embodiment, there are two sets of the vibration plate 7, the backing plate 8, the wave generator 10 and the check valve 11, there are two radial holes 22, the vibration plate 7, the backing plate 8, the wave generator 10 and the two radial holes 22 are all arranged on the right end of the input shaft 2 by taking the axis of the input shaft 2 as a symmetry axis, the two check valves 11 are respectively located in the two radial holes 22, and the axis oil holes 21 are respectively communicated with the check valves 11.

In the present embodiment, the vibration plate 7 may be a piezoelectric material or a magnetostrictive material.

The working process is as follows: the input shaft 2 rotates at a high speed to drive the vibration plate 7, the backing plate 8, the wave generator 10 and the check valve 11 which are connected and fastened together to rotate together (all arranged symmetrically along the axis of the shaft 2), the two wave generators 10 rotate to drive the flexible external gear 6 arranged outside the two wave generators to move and force the external teeth of the flexible external gear 6 to be sequentially meshed with the internal teeth of the rigid internal gear sleeve 5, staggered teeth movement can be generated due to the difference of the number of teeth of the flexible external gear 6 and the rigid internal gear sleeve 5, the rigid internal gear sleeve 5 rotates at a low speed and drives the output shaft 12 connected with the rigid internal gear sleeve to rotate, meanwhile, hydraulic oil enters the check valve 11 through the central hole of the input shaft 2, then enters the space between the vibration plate 7 and the inner wall of the wave generator 10 and the radial hole group of the wave generator 10 through the through holes on the backing plate 8 and the vibration plate 7, high-frequency vibration in the thickness direction is generated after the vibration plate 7 is electrified, high-pressure hydraulic oil generated under the high-frequency action of the vibration plate 7 enters the wave generator 10 and the space between the wave generator 10 and the flexible external gear 6 through the radial hole of the wave generator 10, and forms a high-strength lubricating oil film between the flexible external gear 6, and the sliding of the wave generator 10 and the flexible external gear 6.

Since the piezoelectric and ultrasonic vibration technologies, various control technologies, and the wiring, hydraulic, oil supply, piping, sealing, and pressure maintaining technologies related to the present invention are very mature and are not the key points of the present invention, they are not described in detail in the related schematic diagrams and text descriptions of the present invention, and are not omitted by the present inventors.

The embodiments of the present invention are described in detail above with reference to the drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention.

Claims

1. A harmonic driver of a vibration wave generator is characterized by comprising 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), a vibration plate (7), a backing plate (8), a second bearing group (9), a wave generator (10), a one-way valve (11), an output shaft (12), a key (13), a bolt assembly (14) and an oil unloading port (15);

the left end cover (3) covers a left opening of the outer shell (4) and is fixed through a fastener, the input shaft (2) is mounted on the left end cover (3) through a first bearing set (1) and can rotate, an axial oil hole (21) is formed in the axis of the input shaft (2), a radial hole (22) is formed in the right end of the input shaft (2), the check valve (11) is mounted in the radial hole (22), the axial oil hole (21) is communicated with an inlet of the check valve (11), the backing plate (8) is fixed to the right end of the input shaft (2), the vibration plate (7) is fixed to the backing plate (8), the wave generator (10) is fixedly connected to the right end of the input shaft (2) through a bolt assembly (14), the vibration plate (7) and the backing plate (8) are located in an inner cavity of the wave generator (10), and a gap is formed between the vibration plate (7) and the inner wall of the wave generator (10); through holes communicated with the outlet of the one-way valve (11) are formed in the centers of the vibration plate (7) and the base plate (8), after the through holes are electrified, the vibration plate (7) can generate high-frequency vibration in the thickness direction, a radial small hole group (101) is arranged on the wave generator (10), and the radial small hole group (101) enables the inner cavity of the wave generator (10) to be communicated with the outside;

the left end of the flexible external gear (6) is fixedly connected with the right end face of the left end cover (3), the flexible external gear (6) is positioned outside the wave generator (10) and is in clearance fit with the wave generator, the rigid internal gear sleeve (5) is installed in the outer shell (4) through a second bearing set (9) and can rotate, and the rigid internal gear sleeve (5) is positioned outside the flexible external gear (6) and is meshed with the flexible external gear (6);

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 shell (4).

2. The harmonic drive of a vibration wave generator according to claim 1, characterized in that there are two sets of the vibration plate (7), the backing plate (8), the wave generator (10) and the check valve (11), there are two of the radial holes (22), the vibration plate (7), the backing plate (8), the wave generator (10) and the two radial holes (22) are all arranged at the right end of the input shaft (2) with the axis of the input shaft (2) as the axis of symmetry, and the two check valves (11) are respectively located at 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 a piezoelectric material or a magnetostrictive material.