CN208311406U - Second level waves harmonic drive mechanism - Google Patents
Second level waves harmonic drive mechanism Download PDFInfo
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- CN208311406U CN208311406U CN201820657995.2U CN201820657995U CN208311406U CN 208311406 U CN208311406 U CN 208311406U CN 201820657995 U CN201820657995 U CN 201820657995U CN 208311406 U CN208311406 U CN 208311406U
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- wave producer
- internal gear
- oscillating plate
- hole
- gear
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Abstract
The utility model relates to a kind of second level waves harmonic drive mechanism, feature is to include first to 3rd bearing group, input and output shaft, left end cap, shell, first and second flexible external gear, rigid internal gear, first and second wave producer, the first oscillating plate, first and second check valve, first and second backing plate, the second oscillating plate, right end cap and unloading port；Input shaft is mounted on left end cap and be can be rotated by first bearing group, and output shaft is mounted on right end cap and be can be rotated by second bearing group；First backing plate and the first oscillating plate are located in the first wave producer inner cavity；Rigid internal gear is mounted in the inner hole of shell by 3rd bearing group, and the first flexible external gear is located at the left side of rigid internal gear inner hole and engages with the left inside gear of rigid internal gear left end；Second flexible external gear is located at the right of rigid internal gear inner hole and engages with the right internal gear of rigid internal gear right end, and the second oscillating plate and the second backing plate are located in the second wave producer inner cavity.It is with high feeding resolution ratio, repetitive positioning accuracy and movement smoothness, also with the trimming precision of superelevation, the advantages that structure is simple, reliable performance, long service life.
Description
Technical field
The utility model relates to a kind of second level waves harmonic drive mechanisms；Currently, high-precision robot, medical instrument,
The equipment such as 3D printer, dynamoelectric equipment and ultra-precision machine tool, detection device are high to the feeding resolution requirement of transmission system, because
This many times needs the harmonic gear transmission device of large transmission ratio and high transmission accuracy.
Background technique
Harmonic gear transmission device using extensively and type it is very much, primary structure include harmonic oscillator, flexible bearing, just
Property gear and flexible gear, it is then to utilize at work that feature, which is that generator has a major and minor axis, and some improved wave producers
The components such as eccentric shaft, eccentric wheel or idler wheel support flexible gear to be allowed to engage with rigid gear by flexible bearing；No matter that
The wave producer of kind form is all constantly to do oval flexible deformation by flexible bearing, between wave producer and flexible gear
It is all rigid contact, therefore, flexible bearing easily damages；In addition to this, it existing some level-one harmonic driving devices and improved
Second level harmonic speed reducer be not able to satisfy the requirement of some high-precisions equipment due to being limited to its own structure.
Suspension support possessed by ultrasonic activation surface and antifriction ability, by multinomial theoretical research and practical application institute
It confirms, and acquires practical application in more and more fields, studies have found that frictional resistance between contact surface drops in ultrasonic energy
Low 90% or more, in modern manufacturing industry, has many researchers both at home and abroad and begin to use ultrasonic bearing and supersonic motor,
But the report that ultrasonic activation technology is used for harmonic drive mechanism is still had no so far.
Summary of the invention
A kind of second level waves harmonic drive mechanism is provided the purpose of the utility model is to overcome the deficiencies in the prior art, it should
Mechanism uses double-stage driving not only without vulnerable part flexible bearing, has high feeding resolution ratio, resetting
Precision and movement smoothness, also with the trimming precision of superelevation, structure is simple, reliable performance, whole long service life.
It in order to achieve the above object, the utility model is realized in this way, is a kind of second level waves harmonic drive mechanism,
It is characterized by comprising first bearing group, input shaft, left end cap, shell, the first flexible external gears, rigid internal gear, first wave
Generator, the first oscillating plate, the first check valve, the first backing plate, the second wave producer, the second oscillating plate, second one-way valve, second
Backing plate, the second flexible external gear, second bearing group, output shaft, right end cap, unloading port and 3rd bearing group；Wherein
The first bearing group is mounted on left end cap, and the left end cap is mounted on the left end opening of shell, described defeated
Enter axis to be mounted on left end cap and can be rotated by first bearing group, the right part of input shaft is located in the inner cavity of shell；Described
Two bearing groups are mounted on right end cap, and the right end cap is mounted at the right-end openings of shell, and the output shaft passes through the second axis
It holds group to be mounted on right end cap and can be rotated, the left part of output shaft is located in the inner cavity of shell；The unloading port is mounted on shell
Lower part；The left end of described first flexible external gear is fixed with left end cap, and the 3rd bearing group is mounted in the inner cavity of shell；
First axis center oilhole is axially arranged in input shaft, is radially provided with the first radial oil in input shaft right end
Hole, the first axis center oilhole and the first radial direction oil hole connection, first check valve are mounted in the first radial direction oil hole,
First wave producer and the first backing plate are each attached to the right end of input shaft, and first oscillating plate is fixed on the first backing plate
On, first backing plate and the first oscillating plate are located in the first wave producer inner cavity, in the first backing plate and the first oscillating plate
The heart is equipped with the central through hole to communicate with one another, and the outlet and the central through hole connection of the first backing plate of first check valve are described
First oscillating plate and the first wave producer inner wall have gap, on the first wave producer be equipped with connection the first wave producer inner cavity with
The first external radial hole group；The rigid internal gear is mounted in the inner hole of shell by 3rd bearing group, rigid internal gear
For a tubular structure, two side of left and right of rigid internal gear inner hole is respectively equipped with left inside gear and right internal gear, and described first is flexible
External gear is located at the left side of rigid internal gear inner hole and engages with the left inside gear of rigid internal gear left end, the first wave producer position
In the first flexible external gear inner hole and clearance fit；
Described second flexible external gear is located at the right of rigid internal gear inner hole and the right internal tooth with rigid internal gear right end
Wheel engagement, second wave producer is located in the second flexible external gear inner hole and clearance fit, the second wave producer and second
Backing plate is each attached to the left end of output shaft, and second oscillating plate is fixed on the second backing plate, the second oscillating plate and the second backing plate
In the second wave producer inner cavity, the second oscillating plate and the second wave producer inner wall have gap, set on the second wave producer
There are connection the second wave producer inner cavity and the second external radial hole group；It is equipped at the center of the second oscillating plate and the second backing plate
The central through hole to communicate with one another is axially arranged with the second axial centre oilhole in the output shaft 17, sets in the left end of output shaft
There are the second radial direction oil hole, the second axial centre oilhole and the second radial direction oil hole connection, the second one-way valve is mounted on
In two radial direction oil holes, the outlet and the central through hole connection of the second backing plate of second one-way valve.
In the technical scheme, first wave producer, the first oscillating plate, the first check valve and the first backing plate have two
Set, the right end of input shaft is arranged in using the axis of input shaft as symmetry axis；Second wave producer, the second oscillating plate, second
Check valve and the second backing plate have two sets, and the left end of output shaft is arranged in using the axis of output shaft as symmetry axis.
In the technical scheme, first oscillating plate and the second oscillating plate are piezoelectric material or magnetostriction materials.
The advantage of the utility model compared with prior art are as follows: the mechanism not only without vulnerable part flexible bearing, but also
Using double-stage driving, there is high feeding resolution ratio, repetitive positioning accuracy and movement smoothness, the fine tuning essence also with superelevation
Degree, structure is simple, reliable performance, whole long service life.
Detailed description of the invention
Fig. 1 is the structure principle chart of the utility model embodiment one；
Fig. 2 is the A-A direction view of the first wave producer and input shaft matching part in Fig. 1；
Fig. 3 is the B-B direction view of the second wave producer and output shaft matching part in Fig. 1；
Fig. 4 is the structure principle chart of the utility model embodiment two.
Specific embodiment
Specific embodiment of the present utility model is described further with reference to the accompanying drawing.It should be noted that
The explanation of these embodiments is used to help to understand the utility model, but does not constitute the restriction to the utility model.This
Outside, as long as technical characteristic involved in the various embodiments of the present invention described below does not constitute punching each other
It is prominent to be combined with each other.
In the utility model description, the orientation or positional relationship of the instructions such as term " longitudinal direction ", " transverse direction ", "upper" and "lower"
To be based on the orientation or positional relationship shown in the drawings, being merely for convenience of description the utility model rather than requiring the utility model
It must be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
Term " first " and " second " are used for description purposes only in the description of the present invention, and should not be understood as referring to
Show or imply relative importance.
Embodiment one
As shown in Figure 1 to Figure 3, be a kind of second level waves harmonic drive mechanism, including first bearing group 1, input shaft 2,
The flexible external gear 5 of left end cap 3, shell 4, first, rigid internal gear 6, the first wave producer 7, the first oscillating plate 8, first are unidirectional
Valve 9, the first backing plate 10, the second wave producer 11, the second oscillating plate 12, second one-way valve 13, the second backing plate 14, second are flexible outer
Gear 15, second bearing group 16, output shaft 17, right end cap 18, unloading port 19 and 3rd bearing group 20；Wherein
The first bearing group 1 is mounted on left end cap 3, and the left end cap 3 is mounted on the left end opening of shell 4, institute
It states input shaft 2 and is mounted in left end cap 3 and can be rotated by first bearing group 1, the right part of input shaft 2 is located at the inner cavity of shell 4
In；The second bearing group 16 is mounted on right end cap 18, and the right end cap 18 is mounted on the right opening of shell 4, described defeated
Shaft 17 is mounted on right end cap 18 by second bearing group 16 and can be rotated, and the left part of output shaft 17 is located in the inner cavity of shell 4；
The unloading port 19 is mounted on the lower part of shell 4；The first flexible external gear 5, rigid internal gear 6, the first wave producer 7,
First oscillating plate 8, the first check valve 9, the first backing plate 10, the second wave producer 11, the second oscillating plate 12, second one-way valve 13,
Second backing plate 14 and the second flexible external gear 15 are all located in the cavity of shell 4, the left end and a left side of the described first flexible external gear 5
End cap 3 is fixed, and the 3rd bearing group 20 is mounted in the inner cavity of shell 4；
First axis center oilhole 22 is axially arranged in input shaft 2, is radially provided with the first radial direction in 2 right end of input shaft
Oilhole 23,23 connection of the first axis center oilhole 22 and the first radial direction oil hole, first check valve 9 are mounted on the first diameter
Into oilhole 23, first wave producer 7 and the first backing plate 10 are each attached to the right end of input shaft 2, first oscillating plate 8
It being fixed on the first backing plate 10, first backing plate 10 and the first oscillating plate 8 are located in 7 inner cavity of the first wave producer, and described
One oscillating plate 8 and 7 inner wall of the first wave producer have gap, and 7 inner cavity of the first wave producer of connection is equipped on the first wave producer 7
With the first external radial hole group 71；The center to communicate with one another is equipped at the center of the first backing plate 10 and the first oscillating plate 8 to lead to
Hole, the outlet and the central through hole connection of the first backing plate 10 of first check valve 9, the rigid internal gear 6 pass through third axis
It holds group 20 to be mounted in the inner cavity of shell 4, rigid internal gear 6 is a tubular structure, two side of left and right point of 6 inner hole of rigid internal gear
Not She You left inside gear and right internal gear, the first flexible external gear 5 is located at the left side of 6 inner hole of rigid internal gear, in rigidity
The left inside gear of 6 left end of gear is engaged with the first flexible external gear 5, and the first wave producer 7 is located at the first 5 inner hole of flexible external gear
In and clearance fit；
Described second flexible external gear 15 is located at the right of 6 inner hole of rigid internal gear, the right internal tooth of 6 right end of rigid internal gear
Wheel is engaged with the second flexible external gear 15, and second wave producer 11 is located in the second 15 inner hole of flexible external gear and gap is matched
It closes, the second wave producer 11 and the second backing plate 14 are each attached to the left end of output shaft 17, and second oscillating plate 12 is fixed on the
On two backing plates 14, the second oscillating plate 12 and the second backing plate 14 are located in 11 inner cavity of the second wave producer, the second oscillating plate 12 and
Two wave producers, 11 inner wall has gap, and 11 inner cavity of the second wave producer of connection and external the are equipped on the second wave producer 11
Two radial hole groups 111；It is equipped with the central through hole to communicate with one another at the center of the second oscillating plate 12 and the second backing plate 14, described
Output shaft 17 is axially arranged with the second axial centre oilhole 171, is equipped with the second radial direction oil hole 172, institute in the left end of output shaft 17
172 connection of the second axial centre oilhole 171 and the second radial direction oil hole is stated, the second one-way valve 13 is mounted on the second radial direction oil hole
In 172, the outlet and the central through hole connection of the second backing plate 14 of second one-way valve 13.
In the present embodiment, first wave producer 7, the first oscillating plate 8, the first check valve 9 and the first backing plate 10 be all
There are two sets, the right end of input shaft 2 is arranged in using the axis of input shaft 2 as symmetry axis；Second wave producer 11, second vibrates
Plate 12, second one-way valve 13 and the second backing plate 14 have two sets, are arranged in output shaft 17 by symmetry axis of the axis of output shaft 17
Left end.
In the present embodiment, first oscillating plate 8 and the second oscillating plate 12 are piezoelectric material or magnetostriction materials.
The course of work is as follows:
When work, 2 high speed rotation of input shaft, drive the first wave producer 7, the first oscillating plate 8, the first check valve 9 and
First backing plate 10 rotates (note that components above shares two sets, arrange along the axisymmetrical of input shaft 2) together, first wave hair
The raw rotation of device 7 drive the be mounted on outside it first flexible external gear 5 to move and force the external tooth of the first flexible external gear 5 successively with
The interior tooth engagement of the left end of rigid internal gear set 6, due to the internal tooth of the first flexible external gear 5 and the left end of rigid internal gear set 6
There are teeth number differences, generate side set movement, rigid internal gear set 6 therefore low speed rotation, at the same time, hydraulic oil passes through input shaft 2
First axis center oilhole 22 enter the first check valve 9, then it is logical by the center on the first backing plate 10 and the first oscillating plate 8
Hole, between 7 inner wall of the first oscillating plate 8 and the first wave producer and in the first radial hole group 71 of the first wave producer 7,
First oscillating plate 8 generates thickness direction high-frequency vibration after being powered, the high pressure generated under the high-frequency vibration effect of the first oscillating plate 8
Hydraulic oil enters in the first wave producer 7 and the first flexible external gear 5 by the first radial hole group 71 of the first wave producer 7
Kong Jian, and high-intensitive lubricating oil film is formed between the first wave producer 7 and the first flexible external gear 5, greatly reduce first wave hair
Friction of motion between raw device 7 and the first flexible external gear 5.
It drives the second flexible external gear 15 of right end to move when rigid internal gear 6 rotation of set, and the second wave is therefore driven to send out
Raw device 11 rotates；At the same time, hydraulic oil enters second one-way valve 13 by the second axial centre oilhole 171 of output shaft 17,
Again by the central through hole on the second backing plate 14 and the second oscillating plate 12, into the second oscillating plate 12 and the second wave producer 11
Between wall and in the second radial hole group 111 of the second wave producer 11, it is high that the second oscillating plate 12 generates thickness direction after being powered
Frequency vibration, the high pressure liquid pressure oil that generates under the high-frequency vibration effect of the second oscillating plate 12, by the of the second wave producer 11
Two radial hole groups 111 enter between the second wave producer 11 and the second 15 inner hole of flexible external gear, and the second wave producer 11 with
High-intensitive lubricating oil film is formed between second flexible external gear 15, greatly reduces the second wave producer 11 and the second flexible external gear 15
Between friction of motion.
Embodiment two
As shown in figure 4, it is a kind of second level waves harmonic drive mechanism, structure is basically the same as the first embodiment, embodiment
Two are only that with the difference of embodiment one: the second flexible external gear 15 is fixed on right end cap 18 in example 1, and in reality
It applies in example two, the second flexible external gear 15 is not fixed then.
Due to piezoelectricity relevant to the utility model, ultrasonic vibration technology, various control technologies and wiring, hydraulic, confession
The technologies such as oil, pipeline, sealing and pressure maintaining are highly developed, and the key content of non-the utility model, therefore in the utility model
It is not also described in detail in relative theory figure and explanatory note, not the utility model people slips, and illustrates hereby.
The embodiments of the present invention is explained in detail in conjunction with attached drawing above, but the utility model is not limited to institute
The embodiment of description.For the ordinary skill in the art, the principles of the present invention and objective are not being departed from
In the case of to these embodiments carry out it is a variety of variation, modification, replacement and deformation still fall in the protection scope of the utility model
It is interior.
Claims (3)
1. a kind of second level waves harmonic drive mechanism, it is characterised in that including first bearing group (1), input shaft (2), left end cap
(3), shell (4), the first flexible external gear (5), rigid internal gear (6), the first wave producer (7), the first oscillating plate (8), the
One check valve (9), the first backing plate (10), the second wave producer (11), the second oscillating plate (12), second one-way valve (13), second
Backing plate (14), the second flexible external gear (15), second bearing group (16), output shaft (17), right end cap (18), unloading port (19) and
3rd bearing group (20)；Wherein
The first bearing group (1) is mounted on left end cap (3), and the left end cap (3) is mounted on the left end opening of shell (4)
Place, the input shaft (2) are mounted on left end cap (3) and can be rotated, the right part position of input shaft (2) by first bearing group (1)
In the inner cavity of shell (4)；The second bearing group (16) is mounted on right end cap (18), and the right end cap (18) is mounted on shell
At the right-end openings of body (4), the output shaft (17) is mounted on right end cap (18) and be can be rotated by second bearing group (16),
The left part of output shaft (17) is located in the inner cavity of shell (4)；The unloading port (19) is mounted on the lower part of shell (4)；Described
The left end and left end cap (3) of one flexible external gear (5) are fixed, and the 3rd bearing group (20) is mounted in the inner cavity of shell (4)；
First axis center oilhole (22) are axially arranged in input shaft (2), are radially provided with the first diameter in input shaft (2) right end
To oilhole (23), the first axis center oilhole (22) and the first radial direction oil hole (23) connection, the first check valve (9) peace
In the first radial direction oil hole (23), first wave producer (7) and the first backing plate (10) are each attached to the right side of input shaft (2)
End, first oscillating plate (8) are fixed on the first backing plate (10), and first backing plate (10) and the first oscillating plate (8) are located at
In first wave producer (7) inner cavity, the center to communicate with one another is equipped at the center of the first backing plate (10) and the first oscillating plate (8)
Through-hole, the central through hole connection of the outlet of first check valve (9) and the first backing plate (10), first oscillating plate (8) with
First wave producer (7) inner wall has gap, equipped with the first wave producer of connection (7) inner cavity and outside on the first wave producer (7)
The first radial hole group (71) in portion；The rigid internal gear (6) is mounted on the inner hole of shell (4) by 3rd bearing group (20)
In, rigid internal gear (6) is a tubular structure, and two side of left and right of rigid internal gear (6) inner hole is respectively equipped with left inside gear and the right side
Internal gear, the first flexible external gear (5) be located at the left side of rigid internal gear (6) inner hole and with rigid internal gear (6) left end
The engagement of left inside gear, the first wave producer (7) is located in first flexible external gear (5) inner hole and clearance fit；
The second flexible external gear (15) be located at the right of rigid internal gear (6) inner hole and with rigid internal gear (6) right end
Right internal gear engagement, second wave producer (11) is located in second flexible external gear (15) inner hole and clearance fit, and second
Wave producer (11) and the second backing plate (14) are each attached to the left end of output shaft (17), and second oscillating plate (12) is fixed on
On two backing plates (14), the second oscillating plate (12) and the second backing plate (14) are located in the second wave producer (11) inner cavity, the second vibration
Plate (12) and the second wave producer (11) inner wall have gap, and the second wave producer of connection is equipped on the second wave producer (11)
(11) inner cavity and the second external radial hole group (111)；It is equipped at the center of the second oscillating plate (12) and the second backing plate (14)
The central through hole to communicate with one another is axially arranged with the second axial centre oilhole (171) in the output shaft (17), in output shaft
(17) left end is equipped with the second radial direction oil hole (172), the second axial centre oilhole (171) and the second radial direction oil hole (172)
Connection, the second one-way valve (13) are mounted in the second radial direction oil hole (172), the outlet of second one-way valve (13) and the second pad
The central through hole connection of plate (14).
2. second level waves harmonic drive mechanism according to claim 1, it is characterised in that first wave producer (7),
One oscillating plate (8), the first check valve (9) and the first backing plate (10) have two sets, arrange by symmetry axis of the axis of input shaft (2)
Right end in input shaft (2)；Second wave producer (11), the second oscillating plate (12), second one-way valve (13) and the second pad
Plate (14) has two sets, and the left end of output shaft (17) is arranged in using the axis of output shaft (17) as symmetry axis.
3. second level waves harmonic drive mechanism according to claim 1 or claim 2, it is characterised in that first oscillating plate (8) and
Second oscillating plate (12) is piezoelectric material or magnetostriction materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820657995.2U CN208311406U (en) | 2018-05-04 | 2018-05-04 | Second level waves harmonic drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820657995.2U CN208311406U (en) | 2018-05-04 | 2018-05-04 | Second level waves harmonic drive mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208311406U true CN208311406U (en) | 2019-01-01 |
Family
ID=64711873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820657995.2U Withdrawn - After Issue CN208311406U (en) | 2018-05-04 | 2018-05-04 | Second level waves harmonic drive mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208311406U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108458085A (en) * | 2018-05-04 | 2018-08-28 | 顺德职业技术学院 | Two level waves harmonic drive mechanism |
-
2018
- 2018-05-04 CN CN201820657995.2U patent/CN208311406U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108458085A (en) * | 2018-05-04 | 2018-08-28 | 顺德职业技术学院 | Two level waves harmonic drive mechanism |
| CN108458085B (en) * | 2018-05-04 | 2023-04-18 | 顺德职业技术学院 | Second-order wave type harmonic transmission mechanism |
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Granted publication date: 20190101 Effective date of abandoning: 20230418 |
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