CN110319173A - A kind of wave producer of harmonic speed reducer - Google Patents
A kind of wave producer of harmonic speed reducer Download PDFInfo
- Publication number
- CN110319173A CN110319173A CN201910571221.7A CN201910571221A CN110319173A CN 110319173 A CN110319173 A CN 110319173A CN 201910571221 A CN201910571221 A CN 201910571221A CN 110319173 A CN110319173 A CN 110319173A
- Authority
- CN
- China
- Prior art keywords
- langevin
- brush
- speed reducer
- type transducer
- wave producer
- 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.)
- Pending
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of wave producers of harmonic speed reducer, the wave producer is by multiple Langevin-type transducers according to certain regular work under the excitation of specific voltage signal, to make flexbile gear section become the adjustable ellipse of size and shape from circle, flexbile gear tooth and firm gear tooth near long axis both ends is at a fully engaged, and the flexbile gear tooth near short axle both ends is then completely disengaged with firm gear, the transition state that the tooth of other sections is in engagement and is detached from flexbile gear perimeter.When motor input shaft rotates, brush rotation is driven, the access of brush both ends forms the Langevin-type transducer of access with brush with frequency harmonic excitation signal, excitation；And the oscillator that do not power does not work, the gear teeth are in disengaged condition.The continuous rotation just as common harmonic speed reducer wave producer so that the deformation of flexbile gear be forced constantly to change changes the meshing state of flexbile gear and firm gear also constantly when Langevin-type transducer motivates in order, realizes adjustable rotary of the flexbile gear with respect to firm gear.
Description
Technical field
The present invention relates to a kind of wave producers of harmonic speed reducer, more particularly to one kind to be realized by Langevin-type transducer longitudinal vibration
The wave producer of flexbile gear ovalizing deflection belongs to harmonic drive field.
Background technique
Common harmonic speed reducer assembles flexible bearing by wave producer and mutually compresses again with flexbile gear inner wall, promotes flexbile gear
It deforms, realization flexbile gear tooth is engaged with firm gear tooth, but the outer ring of flexible bearing can occur with flexbile gear inner wall at work
It relatively rotates, to influence the transmission accuracy of entire retarder；And flexible bearing is vulnerable part, service life is by very big
Limitation.There is data to propose a kind of fluid pressure type wave producer, the generation ovalizing deflection of flexbile gear is made by hydraulic mode, no
Foot place, which is to exist in the way of hydraulic, reacts insensitive problem, and structure is complex.It does not also utilize at present
The example of piezo technology production wave producer.
Summary of the invention
Based on the above issues, the present invention designs a kind of wave producer using the collaborative work of multiple Langevin-type transducers, should
Wave producer structure and principle are simple, and eliminate flexible bearing, improve the response speed and harmonic wave transmission system of deformation of flexible wheel
Service life, transmission accuracy and transmission efficiency.
The present invention adopts the following technical solutions realizes above-mentioned technical purpose.
A kind of wave producer of harmonic speed reducer, including flexbile gear, flexbile gear are connected with n Langevin-type transducer drive end bearing bracket, Lan Jie
Literary oscillator is uniformly fixed on retainer, and retainer inner ring is coaxially disposed brush, and Langevin-type transducer line input is arranged in guarantor
It holds on frame inner ring, is powered when brush rotates with Langevin-type transducer wiring circuit contact, n is the positive integer more than or equal to 4.
In above scheme, the retainer inner ring is that round, outer ring is positive the side n shape, and each edge of retainer outer ring is corresponding
Equipped with mounting groove, mounting groove is for fixing Langevin-type transducer.
In above scheme, the Langevin-type transducer is 4N, and wherein N is positive integer.
In above scheme, the retainer inner ring is that round, outer ring is positive the side 4N shape, and each edge of retainer outer ring is corresponding
Equipped with mounting groove, mounting groove is for fixing Langevin-type transducer.
In above scheme, the brush both ends are arc, and the radius of curvature of arc is equal with retainer inner ring.
In above scheme, high frequency simple harmonic quantity power supply is accessed at the brush both ends.
In above scheme, the brush middle is equipped with input shaft mounting hole, so that brush and motor input shaft are connected.
In above scheme, the section of the Langevin-type transducer is rectangle or circle, and the configuration of Langevin-type transducer drive end bearing bracket becomes
Width bar.
In above scheme, the brush rotate when, both ends at least respectively with a Langevin-type transducer wiring circuit contact.
The invention has the benefit that
When common harmonic speed reducer work, in order to promote flexbile gear continuous modification that input shaft is needed to provide certain torque, and
Brush is employed herein, directly provides torque not against input shaft, so the Motor torque of input terminal is relatively low；And it should
Wave producer eliminates this vulnerable part of flexible bearing, passes brought by the opposite sliding for avoiding bearing outer ring and flexbile gear inner wall
Dynamic error, improves service life and transmission accuracy；Compared to the wave producer of general type, wave producer of the invention can be opened quickly
Stop, reduces energy loss.
Detailed description of the invention
Fig. 1 is assembling schematic diagram of the invention；
Fig. 2 is the schematic diagram of retainer in the present invention；
Fig. 3 is the schematic diagram of center brush of the present invention；
Fig. 4 is Langevin-type transducer route partial schematic diagram in the present invention.
In figure: 1- firm gear；2- flexbile gear；3- Langevin-type transducer；4- retainer；5- brush；6- inputs shaft mounting hole；7- is blue outstanding
Literary oscillator route.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing, example embodiment only for help more
The good understanding present invention, and do not constitute a limitation of the invention.Attached drawing is only to illustrate the present embodiment, is not proportionally to draw
System.
As shown in Figure 1, a kind of wave producer of harmonic speed reducer, including firm gear 1, flexbile gear 2, n Langevin-type transducer 3, guarantor
Frame 4 and brush 5 are held, brush 5, retainer 4, Langevin-type transducer 3, flexbile gear 2 and firm gear 1 are sequentially coaxially set outward by interior, such as Fig. 3
Shown, 5 both ends of brush are arc, and radius of curvature is equal with 4 inner ring of retainer, as shown in Fig. 2, 4 inner ring of retainer is round, outer
Circle is positive the side n shape (n is the positive integer more than or equal to 4), and each edge of 4 outer ring of retainer is correspondingly provided with mounting groove, and mounting groove is used
In fixed Langevin-type transducer 3, the position that the every one side in 4 outer ring of retainer is connected with Langevin-type transducer 3 is located at the section of Langevin-type transducer 3
On face, interference when retainer 4 is not vibrated by Langevin-type transducer 3,3 drive end bearing bracket of Langevin-type transducer and flexbile gear 2 are connected, such as Fig. 4 institute
Show, 7 input terminal of Langevin-type transducer route is arranged on 4 inner ring of retainer, and Langevin-type transducer route 7 is another to terminate at piezoelectric ceramics
On, high frequency simple harmonic quantity power supply is accessed at 5 both ends of brush, contacts energization with Langevin-type transducer route 7 when brush 5 rotates.5 middle of brush
Equipped with input shaft mounting hole 6, so that brush 5 and motor input shaft are connected.Flexbile gear 2 is with Lan Jiewen when Langevin-type transducer 3 vibrates
3 end portion vibration of oscillator, realize flexbile gear 2 and 1 gear teeth of firm gear engage and disengagement.
The good material of the electric conductivities such as graphite of brush 5 is made, and 4 material of retainer can add absolutely for nonmetallic or metal
Edge coating.The section of Langevin-type transducer 3 is rectangle or circle, and drive end bearing bracket configuration amplitude transformer is for increasing amplitude, in the present embodiment
The quantity of Langevin-type transducer 3 is preferably 4N (meanwhile the outer ring of retainer 4 is positive the side 4N shape, and N is positive integer), it is therefore an objective to be protected
The Langevin-type transducer 3 when the deformation of flexbile gear 2 forms oval at long axis and short axle is demonstrate,proved about short axle and long axial symmetry, in oscillator work
The elliptical shape of flexbile gear section is standard, not will lead to elliptical distortion, so that the wave producer can be continuously normal
Work.Langevin-type transducer 3 is the high-frequency vibration that oscillator is realized by the inverse piezoelectric effect of piezoelectric ceramics.
In above scheme, the Langevin-type transducer of introducing can improve transmission accuracy in low-voltage driving, lead in high drive
It crosses and changes flexbile gear tooth-shape structure with the compatibility of deformation of flexbile gear contact site, or even change the number of teeth, and then realize the effective of transmission ratio
Regulation.In addition, using the high frequency harmonic excitation of Langevin-type transducer, not only reduce or absorb low-frequency vibration that harmonic drive generates and
Its noise, and improve flexbile gear-firm gear contact conditions, improve the reliability of wave producer and harmonic speed reducer.
Embodiment one
As shown in figure 4, when motor input shaft goes to a certain position, 5 both ends of brush at least respectively with a Langevin-type transducer
Route 7 contact be powered, Langevin-type transducer 3 energization be activated (in Fig. 4 each 5 end of brush there are three Langevin-type transducer 3 by
Excitation), the tooth near Langevin-type transducer 3 being activated is in fully engaged state.With the rotation of input shaft, brush 5
It rotates with it, next Langevin-type transducer 3 of 5 direction of rotation of brush starts to be activated, the Langevin-type transducer 3 being activated is attached
Close flexbile gear tooth starts to engage with firm gear tooth；The Langevin-type transducer 3 that route 7 and brush 5 disengage is no longer influenced by excitation, to restore
To initial position, near flexbile gear tooth and firm gear tooth it is completely disengaged；Input shaft constantly rotates, and Langevin-type transducer 3 is in order
It is activated, continuous ovalizing deflection occurs for flexbile gear 2, it can be achieved that function same as common wave producer, it may be assumed that wave producer connects
Continuous rotation, forces the deformation of flexbile gear constantly to change, changes the meshing state of flexbile gear and firm gear also constantly, realizes that flexbile gear is relatively rigid
The adjustable rotary of wheel.
Embodiment two
What is different from the first embodiment is that when using the wave producer of harmonic speed reducer of the present invention, the arc at 5 both ends of brush
Partial arc length increases, thus 3 quantity of Langevin-type transducer that brush 5 can motivate simultaneously improve in maximum (formation it is ellipse
The Langevin-type transducer 3 of circle near its minor axis cannot be activated), that is, the tooth of flexbile gear and firm gear engagement when retarder work can be improved
Number, while the number of teeth engaged is more, since error equalizes, then driving error will be lower.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
Claims (9)
1. a kind of wave producer of harmonic speed reducer, which is characterized in that including flexbile gear (2), flexbile gear (2) and n Langevin-type transducer
(3) drive end bearing bracket is connected, and Langevin-type transducer (3) is uniformly fixed on retainer (4), and retainer (4) inner ring is coaxially disposed brush
(5), Langevin-type transducer route (7) input terminal is arranged on retainer (4) inner ring, brush (5) rotate when with Langevin-type transducer line
Road (7) contact is powered, and n is the positive integer more than or equal to 4.
2. the wave producer of harmonic speed reducer according to claim 1, which is characterized in that retainer (4) inner ring is
Round, outer ring is positive the side n shape, and each edge of retainer (4) outer ring is correspondingly provided with mounting groove, and mounting groove is for fixing Lan Jiewen vibration
Sub (3).
3. the wave producer of harmonic speed reducer according to claim 1, which is characterized in that the Langevin-type transducer (3) is
4N, wherein N is positive integer.
4. the wave producer of harmonic speed reducer according to claim 3, which is characterized in that retainer (4) inner ring is
Round, outer ring is positive the side 4N shape, and each edge of retainer (4) outer ring is correspondingly provided with mounting groove, and mounting groove is for fixing Lan Jiewen
Oscillator (3).
5. the wave producer of harmonic speed reducer according to claim 1, which is characterized in that brush (5) both ends are arc
The radius of curvature of shape, arc is equal with retainer (4) inner ring.
6. the wave producer of harmonic speed reducer according to claim 1, which is characterized in that brush (5) the both ends access
High frequency simple harmonic quantity power supply.
7. the wave producer of harmonic speed reducer according to claim 1, which is characterized in that brush (5) middle is set
There are input shaft mounting hole (6), so that brush (5) and motor input shaft are connected.
8. the wave producer of harmonic speed reducer according to claim 1, which is characterized in that the Langevin-type transducer (3)
Section is rectangle or circle, and Langevin-type transducer (3) drive end bearing bracket configures amplitude transformer.
9. the wave producer of harmonic speed reducer according to claim 1, which is characterized in that when the brush (5) rotates, two
End is at least contacted with a Langevin-type transducer route (7) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910571221.7A CN110319173A (en) | 2019-06-28 | 2019-06-28 | A kind of wave producer of harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910571221.7A CN110319173A (en) | 2019-06-28 | 2019-06-28 | A kind of wave producer of harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110319173A true CN110319173A (en) | 2019-10-11 |
Family
ID=68120555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910571221.7A Pending CN110319173A (en) | 2019-06-28 | 2019-06-28 | A kind of wave producer of harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110319173A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0590373A1 (en) * | 1992-09-29 | 1994-04-06 | Murata Manufacturing Co., Ltd. | Ultrasonic motor |
| CN2525728Y (en) * | 2002-03-04 | 2002-12-11 | 辛洪兵 | Piezoelectric harmonic motor |
| US20100288066A1 (en) * | 2009-05-15 | 2010-11-18 | Denso Wave Incorporated | Harmonic speed reducer for robots |
| CN108397536A (en) * | 2018-05-04 | 2018-08-14 | 顺德职业技术学院 | The harmonic drive mechanism of novel wave producer |
| CN108413006A (en) * | 2018-05-04 | 2018-08-17 | 顺德职业技术学院 | A kind of harmonic driving device of vibratory wave generator |
-
2019
- 2019-06-28 CN CN201910571221.7A patent/CN110319173A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0590373A1 (en) * | 1992-09-29 | 1994-04-06 | Murata Manufacturing Co., Ltd. | Ultrasonic motor |
| CN2525728Y (en) * | 2002-03-04 | 2002-12-11 | 辛洪兵 | Piezoelectric harmonic motor |
| US20100288066A1 (en) * | 2009-05-15 | 2010-11-18 | Denso Wave Incorporated | Harmonic speed reducer for robots |
| CN108397536A (en) * | 2018-05-04 | 2018-08-14 | 顺德职业技术学院 | The harmonic drive mechanism of novel wave producer |
| CN108413006A (en) * | 2018-05-04 | 2018-08-17 | 顺德职业技术学院 | A kind of harmonic driving device of vibratory wave generator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191011 |
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| RJ01 | Rejection of invention patent application after publication |