Locking mechanism based on harmonic reducer

Abstract

A locking mechanism based on a harmonic reducer comprises an ultrasonic motor, the harmonic reducer, a shell, a driving lock hook, a driven lock hook, a mounting plate, a reducer input shaft, a flat key, an output gear, a driving gear I and a driving gear II, the harmonic reducer comprises a wave generator, a rigid gear and a flexible gear, when the wave generator rotates, the rigid gear is fixed, and when the wave generator rotates, the flexible gear is fixed; the flexible gear is used as an output end to transmit torque; the flexible gear is connected with the output gear and is used for driving the output gear to rotate, so that the driving gear I and the driving gear II synchronously rotate in opposite directions, the driving lock hook is jointly driven to move in the vertical direction, and the driven lock hook is locked or unlocked in the moving process; self-locking is achieved through the ultrasonic motor, the weight of a transmission part is reduced through the harmonic reducer, the reliability of the locking mechanism can be effectively improved, the lightweight requirement is met, and the ultrasonic self-locking mechanism has the advantages of being simple in structure, high in reliability, light in weight and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to a locking mechanism based on harmonic reducer especially relates to a high reliable space locking mechanism that realizes self -lock by ultrasonic motor, adopts harmonic reducer to reduce the weight of transmission component, and gear rack completes locking function. BACKGROUND

[0002] China has completed multiple spacecraft and space station rendezvous and docking in the earth orbit, and completed the rendezvous and docking of the ascent vehicle and the orbital vehicle in the lunar orbit, and the high reliable rigid connection of the two spacecrafts needs to be completed by the locking mechanism after the docking.

[0003] At present, the existing locking mechanism is complex in realizing the self -lock function, heavy in weight and insufficient in reliability, and the long -term rigid connection of the two spacecrafts in orbit has risks. UTILITY MODEL CONTENT

[0004] To solve the above -mentioned problem, the utility model provides a locking mechanism based on harmonic reducer, drives harmonic reducer through ultrasonic motor, and combines gear rack to complete locking function, and the technical scheme is as follows:

[0005] A locking mechanism based on harmonic reducer, the locking mechanism includes ultrasonic motor, harmonic reducer, shell, active lock hook, passive lock hook, mounting plate, reducer input shaft, key, output gear, drive gear I, drive gear II, wherein:

[0006] The harmonic reducer includes wave generator, rigid wheel, flexible wheel, the rigid wheel is fixed when the wave generator rotates, and the flexible wheel transmits torque as an output end;

[0007] The flexible wheel is connected with the output gear and is used to drive the output gear to rotate, so that the drive gear I and the drive gear II rotate synchronously in opposite directions, and the drive gear I and the drive gear II jointly drive the active lock hook to move in the vertical direction, and the locking or unlocking of the passive lock hook is completed in the moving process;

[0008] The ultrasonic motor and the mounting plate are fixedly connected through screws, the mounting plate and the rigid wheel are fixedly connected through screws, the shell and the rigid wheel are fixedly connected, and the active lock hook passes through the shell and cooperates with the passive lock hook to complete the locking or unlocking function;

[0009] The key is used for the connection of the reducer output shaft and the wave generator and is used for transmitting torque;

[0010] The drive gear I and the drive gear II are distributed on the two sides of the active lock hook rack, and are used to ensure that the locking mechanism is balanced in stress;

[0011] The wave generator is assembled with the rigid wheel after being assembled with the flexible wheel, rotation of the wave generator generates a propelling wave to the flexible wheel, and the outer teeth of the flexible wheel are engaged with the inner teeth of the rigid wheel.

[0012] The output shaft of the ultrasonic motor drives the wave generator to rotate through the input shaft of the speed reducer and the flat key, and the driving torque is increased by the rigid wheel and the flexible wheel to reduce the rotation speed.

[0013] The ultrasonic motor converts electric energy into mechanical energy by using the inverse voltage effect of piezoelectric material, drives the rotor to move through friction, and has the characteristics of friction self-locking when power is off.

[0014] Compared with the prior art, the utility model has the beneficial effects as follows:

[0015] The utility model realizes self-locking by the ultrasonic motor, reduces the weight of the transmission component by using the harmonic speed reducer, can effectively improve the reliability of the locking mechanism and meet the light weight requirement, and has the advantages of simple structure, high reliability, light weight and the like. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0017] Figure 1 A sectional view of the locking mechanism based on the harmonic speed reducer is provided for the utility model.

[0018] Figure 2 A shaft side view of the locking mechanism based on the harmonic speed reducer is provided for the utility model.

[0019] Figure 3 Another shaft side view of the locking mechanism based on the harmonic speed reducer is provided for the utility model.

[0020] Figure 4 The harmonic speed reducer structure schematic view is provided for the utility model.

[0021] Reference signs:

[0022] 1 ultrasonic motor; 2 harmonic reducer; 3 housing; 4 active lock hook; 5 passive lock hook; 6 wave generator; 7 rigid gear; 8 flexible gear; 9 reducer input shaft; 10 output gear; 11 driving gear I; 12 driving gear II; 13 flat key; 14 mounting plate. DETAILED DESCRIPTION

[0023] The utility model will be further explained in connection with the drawings.

[0024] A locking mechanism based on a harmonic reducer, the locking mechanism comprises an ultrasonic motor 1, a harmonic reducer 2, a housing 3, an active lock hook 4, a passive lock hook 5, a mounting plate 14, a reducer input shaft 9, a flat key 13, an output gear 10, a driving gear I 11, a driving gear II 12, as shown in the figure, wherein: Figure 1

[0025] The harmonic reducer 2 comprises a wave generator 6, a rigid gear 7 and a flexible gear 8, as shown in the figure, when the wave generator 6 rotates, the rigid gear 7 is fixed, and the flexible gear 8 transmits torque as an output end; Figure 4

[0026] The flexible gear 8 is connected with the output gear 10, used to drive the output gear 10 to rotate, so that the driving gear I 11 and the driving gear II 12 rotate synchronously in opposite directions, and the active lock hook 4 is driven by the driving gear I 11 and the driving gear II 12 to move in the vertical direction, and the locking or unlocking of the passive lock hook 5 is completed during the movement;

[0027] The ultrasonic motor 1 is fixedly connected with the mounting plate 14 by screws, the mounting plate 14 is fixedly connected with the rigid gear 7 by screws, the housing 3 is fixedly connected with the rigid gear 7, and the active lock hook 4 passes through the housing 3 to cooperate with the passive lock hook 5 to complete the locking or unlocking function, as shown in the figure; Figure 2

[0028] The flat key 13 is used for the connection of the reducer input shaft 9 and the wave generator 6, and is used for transmitting torque;

[0029] The driving gear I 11 and the driving gear II 12 are distributed on both sides of the rack of the active lock hook 4, used to ensure that the locking mechanism is balanced, as shown in the figure; Figure 3

[0030] The wave generator 6 is assembled into the flexible gear 8, and then assembled with the rigid gear 7, the rotation of the wave generator 6 generates a propelling wave form to the flexible gear 8, and the outer teeth of the flexible gear 8 are in mesh with the inner teeth of the rigid gear 7;

[0031] ​​​​The output shaft of the ultrasonic motor 1 drives the wave generator 6 to rotate through the reducer input shaft 9 and the flat key 13, and the driving torque increases through the rigid wheel 7 and the flexible wheel 8 to reduce the rotating speed.

[0032] The ultrasonic motor converts electric energy into mechanical energy by using the inverse voltage effect of piezoelectric material, drives the rotor to move through friction, has the characteristics of friction self-locking when power is off, and can meet the use requirements of the locking mechanism after the initial locking torque is amplified through the reducer.

[0033] In the embodiment, the rated output torque of the ultrasonic motor is 0.7 N.m, the locked-rotor torque is 1.0 N.m, the reduction ratio of the harmonic reducer is 200, the transmission efficiency is 90%, the rated output torque of the driving part is 126 N.m, and the power-off self-locking torque can reach 200 N.m.

[0034] Although the utility model has been disclosed as above with preferred embodiments, it is not intended to limit the utility model, and any person skilled in the art can make possible changes and modifications to the technical scheme of the utility model by using the disclosed methods and technical contents without departing from the spirit and scope of the utility model. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the utility model without departing from the technical scheme of the utility model shall fall within the protection scope of the utility model. The contents not described in detail in the utility model specification are the known technology of the person skilled in the art.

Claims

1. A harmonic reducer based locking mechanism, characterized in that, The locking mechanism comprises an ultrasonic motor, a harmonic reducer, a shell, a driving hook, a passive hook, a mounting plate, a reducer input shaft, a flat key, an output gear, a driving gear I, and a driving gear II. The harmonic reducer comprises a wave generator, a rigid wheel, and a flexible wheel. The flexible wheel is connected with the output gear to drive the output gear to rotate, so that the driving gear I and the driving gear II rotate in opposite directions synchronously, and the driving gear I and the driving gear II drive the driving hook to move in the vertical direction, and the locking or unlocking of the passive hook is completed during the movement.

2. The locking mechanism of claim 1, wherein, The ultrasonic motor is fixedly connected with the mounting plate by screws, the mounting plate is fixedly connected with the rigid wheel by screws, the shell is fixedly connected with the rigid wheel, and the driving hook passes through the shell to cooperate with the passive hook to complete the locking or unlocking function.

3. The locking mechanism of claim 1, wherein, The flat key is used for connecting the reducer input shaft and the wave generator to transmit torque.

4. The locking mechanism of claim 1, wherein, The driving gear I and the driving gear II are distributed on both sides of the driving hook rack to ensure that the locking mechanism is balanced in force.

5. The locking mechanism of claim 1, wherein, The wave generator is assembled into the flexible wheel, and then assembled with the rigid wheel.

6. The locking mechanism of claim 1, wherein, The rotation of the wave generator generates a propulsion wave to the flexible wheel.

7. The locking mechanism of claim 1 or 2, wherein, The output shaft of the ultrasonic motor drives the wave generator to rotate through the reducer input shaft and the flat key, and the driving torque is transmitted through the rigid wheel and the flexible wheel to reduce the rotation speed and increase the torque.

8. The locking mechanism of claim 1, wherein, The working surface of the passive hook is a curved surface matched with the driving hook.

9. The locking mechanism of claim 1 or 5, wherein, The wave generator is a driving or input unit of transmission, which is in an elliptical structure and is assembled with a thin ball flexible bearing. The flexible wheel is a flexible gear with external teeth, which is used for outputting large torque. The rigid wheel is a rigid gear with an inner tooth ring, and the number of teeth is 2 more than that of the flexible wheel.

Images