Secondary wave type harmonic drive mechanism

Abstract

The invention relates to a secondary wave type harmonic drive mechanism which is characterized by comprising first to third beraing packs, input and output shafts, a left end cove, a shell, first andsecond flexible outer gears, a rigid inner gear, first and second wave generators, a first vibrating plate, first and second one-way valves, first and second base plates, a second vibrating plate, a right end cover and an oil unloading port, wherein the input shaft is mounted on the left end cover through the first bearing pack and can rotate and the output shaft is mounted on the right end coverthrough the second bearing pack and can rotate; the first base plate and the first vibrating plate are located in an inner cavity of the first wave generator; the rigid inner gear is mounted in an inner hole of the shell through the third bearing pack, and the first flexible outer gear is located on the left side of an inner hole of the flexible inner gear and is engaged to the left inner gear atthe left end of the rigid inner gear; the second flexible outer gear is located on the right side of an inner hole of the rigid inner gear and is engaged to the right inner gear at the right end of the rigid inner gear, and the second vibrating plate and the second base plate are located in the second wave generator. The secondary wave type harmonic drive mechanism is extremely high in feeding resolution, repeated positioning precision and moving stability, and also has the advantages of being ultrahigh in fine adjusting precision, simple in structure, reliable in performance, long in integralservice life and the like.

Description

technical field [0001] The present invention relates to a two-stage wave harmonic transmission mechanism; at present, high-precision robots, medical equipment, 3D printers, electromechanical equipment, ultra-precision machine tools, detection devices and other equipment have extremely high requirements on the feed resolution of the transmission system. Therefore, a harmonic gear transmission with a large transmission ratio and high transmission precision is often required. Background technique [0002] Harmonic gear transmissions are widely used and have many types. The main structure includes harmonic generators, flexible bearings, rigid gears and flexible gears. The characteristic is that the generator has long and short shafts, and some improved wave generators use Components such as eccentric shaft, eccentric wheel or roller support the flexible gear through the flexible bearing to mesh with the rigid gear; no matter what kind of wave generator, it relies on the flexible...

AI Technical Summary

Problems solved by technology

[0002] Harmonic gear transmissions are widely used and have many types. The main structure includes harmonic generators, flexible bearings, rigid gears and flexible gears. The characteristic is that the generator has long and short shafts, and some improved wave generators use Components such as eccentric shaft, eccentric wheel or roller support the flexible gear through the flexible bearing to mesh with the rigid gear; no matter what kind of wave generator, it relies on the flexible bearing to continuously do elliptical elastic deformation. The wave generator and the flexible gear Therefore, the flexible bearing is easily damaged; in addition, some existing first-level harmonic drives and improved second-level harmonic reducers cannot meet the requirements due to their own structure. Requirements for the use of some high-precision equipment

[0003] 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

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