90 results about "Harmonic drive" patented technology

A harmonic drive joint module and a robot. The harmonic drive joint module comprises a joint housing, a harmonic drive, a power assembly, a torque sensor (13) and an electric drive assembly. Integrating all of the harmonic drive, the power assembly, the torque sensor (13) and the electric drive assembly with the joint housing can effectively reduce the size and weight of the harmonic drive joint module. When the harmonic drive is affected by an external force, the torque of a flexspline (6) changes, and the torque sensor (13) can feed back torque information of the harmonic drive joint module in real time. Thus, on the basis of a measurement result of the torque sensor (13), a worker can control the harmonic drive joint module to respond to different torque. Providing the electric drive assembly can ensure that the harmonic drive joint module promptly responds to different torque information, ensuring the normal use of the harmonic drive joint module and allowing a robot to promptly and adaptively adjust its behaviors.

The harmonic transmission flexible gear comprises a cylinder and a flange fixedly arranged at one end of the cylinder, an outer gear ring is arranged on the side, away from the flange, of the side wall of the cylinder, the outer gear ring is matched with an inner gear ring of a rigid gear, and the side, close to the outer gear ring, of the inner wall of the cylinder abuts against a wave generator. According to the flexible gear, the tooth grooves are formed between every two adjacent outer teeth of the outer gear ring, the strip-shaped protrusions protrude out of the center positions of the tooth grooves, the strip-shaped protrusions are adopted to increase the thickness of the portion between every two outer teeth, and therefore the service life of the flexible gear is prolonged. The extension direction of the strip-shaped protrusions is consistent with the extension direction of the tooth grooves, oil storage grooves are formed between the strip-shaped protrusions and the outer teeth on the two sides of the strip-shaped protrusions, lubricating grease or oil is stored, continuous lubrication is provided for tooth meshing, friction and abrasion are reduced, and the tooth root fracture risk is reduced.

An actuator according to the present invention comprises a motor and a speed reducer for controlling the rotation of the motor. The speed reducer includes: a harmonic drive including a wave generator; a plurality of spur gears connected to a cam plate of the wave generator; and an input gear which extends in the axial direction so as to pass through the central portion of the cam plate and which is gear-coupled to the plurality of spur gears, wherein the wave generator includes: a circular central part; three protruding parts formed on the outer peripheral surface of the central part; and a ball bearing disposed to encompass the cam plate, and elastically deformed by means of the three protruding parts. The actuator according to the present invention prevents a dedoidal state, remarkably increases a gear tooth engagement rate, greatly improves performance factors of the speed reducer such as rated torque and peak torque and, simultaneously, maximizes a reduction ratio.

The invention belongs to the technical field of piezoelectric motors, and relates to a non-contact rotary piezoelectric motor based on liquid coupling single harmonic drive, which comprises a base and a stator fixing mechanism, an eccentric adjusting mechanism capable of positioning in the horizontal direction is arranged at the top of the base, a cylindrical rotor is arranged at the positioning end of the eccentric adjusting mechanism through a rotor rotating mechanism, and coupling liquid is contained in a cavity of the rotor; a stator of a beam-shaped structure is clamped at the top of the stator fixing mechanism, the stator comprises a beam-shaped stator and piezoelectric patches, the beam-shaped stator is vertically arranged, the cross section of the beam-shaped stator is rectangular, the piezoelectric patches are arranged on the two sides of the beam-shaped stator in pairs, and the bottom end of the beam-shaped stator is immersed in the coupling liquid. According to the non-contact piezoelectric motor, driving force is transmitted between the stator and the rotor through the liquid medium, direct contact is avoided, the problems of friction abrasion, friction heat generation and the like existing in a contact piezoelectric motor can be effectively solved, and the non-contact piezoelectric motor has the advantages of being long in service life, capable of running for a long time, high in energy efficiency and the like.

This invention discloses a modeling method, equipment, and medium for a lumped parameter model of a harmonic reducer. The method includes the following steps: analyzing the interaction between the flexible wheel and the outer ring of the thin-walled bearing to obtain their interaction model; establishing a lumped parameter model of the entire harmonic reducer; analyzing the rotation law of the outer ring of the thin-walled bearing and its influence on the fault impact time interval; establishing a mathematical model of the excitation when the thin-walled bearing has an impact-type fault, as the input to the lumped parameter model; and establishing and solving the motion differential equations. This invention can accurately simulate the characteristic frequencies of the thin-walled bearing in a harmonic reducer during a fault, explains the formation of the vibration response frequency distribution during harmonic transmission, and fills the research gap of lacking an effective mechanism model for the coupled vibration of multiple components in a harmonic reducer.

A rotor assembly deployment mechanism configured to deploy a rotor assembly of a vertical take-off and landing aircraft from a horizontal, forward thrust, position to a vertical, hover, position. The rotor assembly deployment mechanism is configured to deploy an electric motor and propeller together. The deployment mechanism uses redundant rotary actuators which are coupled together to provide redundant drive capability to the harmonic drives using internal cross-linking.

The present invention is entitled "Electric Brake." In some examples, the present invention provides a brake assembly including an actuator assembly configured to cause translation of a piston to compress a disc stack. The actuator assembly is configured to generate a first torque about a motor axis using a motor and a second torque from the first torque using a harmonic drive. The actuator assembly can include a gear set configured to cause a linear actuator to translate the piston using the second torque. In some examples, the actuator is configured to translate the piston along a compression axis that is different from the motor axis.

The invention provides a harmonic reducer and a robot, and relates to the field of harmonic transmission, the harmonic reducer comprises a cross bearing, a rigid gear, a flexible gear, a cross slide block and a wave generator; the cross bearing comprises a bearing inner ring and a bearing outer ring, and a first groove is formed in the end face of the bearing inner ring; the flexible gear is a cup-shaped flexible gear, and a second groove is formed in the cup bottom; the cross-shaped sliding block comprises a connecting disc, a first convex block and a second convex block, the first convex block is located on the first end face of the connecting disc, the second convex block is located on the second end face of the connecting disc, an included angle is formed between the length direction of the first convex block and the length direction of the second convex block, the first convex block is clamped with the first groove, and the second convex block is clamped with the second groove; the cross section of the first protruding block and the cross section of the second protruding block are trapezoid, the sides, connected with the connecting disc, of the first protruding block and the second protruding block are trapezoid upper bottoms, the first groove is matched with the first protruding block in shape, and the second groove is matched with the second protruding block in shape. The problems that installation is tedious and concentricity is difficult to adjust due to the fact that the flexible gear and the crossed bearing inner ring are connected through screws are solved.

A rotary actuator includes a motor powering a harmonic drive during normal operation. The rotary actuator includes a brake that can selectively hold the position of the harmonic drive even in the event of main power loss to the rotary actuator. The rotary actuator includes a clutch arrangement that allows freewheeling of the harmonic drive in only a first rotational direction in the event of power loss to the rotary actuator. The clutch arrangement also enables movement in the second rotational direction without transferring to the motor when the counter-load on the harmonic actuator exceeds a predetermined amount of force.

The electromechanical integrated parallel composite flexible disc type axial harmonic reducer consists of a moving part composed of a composite flexible disc (18, 35, 80, 120) that integrates a flexible thrust bearing low-speed moving ring raceway and a planar spur gear on both sides and has an integrated variable stiffness connecting part, and two rolling wave generators (12, 21, 41, 54, 78, 82, 119, 126) of the same structural size but with axial concavity and convexity perpendicular to each other in the circumferential direction, which are fixed on the motor rotor (8, 48, 87, 132). The stationary part is composed of two rigid end caps (3, 42, 63, 103) that are fixed to the planar spur bevel gear (16, 19, 39, 53, 79, 81, 118, 124) and the motor stator (5, 50, 65, 105). Due to the circumferential orthogonal axial symmetrical deformation of the shared composite flexible disk (18, 35, 80, 120), half of the motor input torque is generated by two axial harmonic drive components with the same structural parameters (12, 17, 18, 16 and 21, 20, 18, 19; 41, 49, 35, 39 and 54, 52, 35, 53; 69, 76, 78, 80, 79 and 86, 85, 82, 80, 81; 113, 114, 119, 120, 118 and 128, 127). The components 126, 120, and 124 are connected in parallel for synchronous amplification. After being superimposed by the integrated variable stiffness connector on the outer or inner circle of the composite flexible disk (18, 35, 80, 120), the output is sent to the rotating shell (15, 75, 117) or the spindle (31, 32). The total deformation of the flexible components is reduced due to the shared composite flexible disk (18, 35, 80, 120) and the integrated variable stiffness connector. The elastic deformation force cancels each other out in the moving parts and will not be transmitted to the support bearing, thus reducing frictional power consumption.

The application discloses a kind of open-winding high-speed motor low harmonic drive topological structures and control methods, this topological structure is based on the structure of open-winding motor, by increasing small-power high switching frequency harmonic compensation converter, high-frequency small voltage vector is realized on the voltage vector of main converter output, to realize the equivalent increase of the switching frequency of main converter, thus can effectively reduce the harmonic content of system current.The application is based on the motor structure of open-winding, by the voltage vector distribution of different power, different switching frequency main converter and harmonic compensation converter, realizes only increasing a small-power high-frequency converter, the effect of equivalent increase of the switching frequency of main converter is realized.Effectively reduce system current harmonic, optimize torque fluctuation and increase system efficiency.

The present application relates to the technical field of mechanical arm, specifically to a torque mechanical arm convenient to maintain, comprising a mechanical arm body, a joint assembly, a speed reduction transmission assembly, a driving motor and a joint seat, the joint assembly is connected and disassembled quickly through the driving of a transmission ring, a clamping ear plate and a rudder, which is convenient for equipment maintenance and replacement; the speed reduction transmission assembly adopts harmonic drive technology, effectively reduces mechanical loss, and ensures the stability and high precision of torque transmission; the driving motor and the speed reduction transmission assembly work cooperatively to provide efficient power output, meeting the torque demand of different load requirements. The present application has simple structure, powerful function, and is widely applicable to high-load and high-precision automatic production lines, and has high reliability and easy maintainability.

The utility model relates to a card mounting machine phase adjusting device which comprises a machine frame, a feeder and a long shaft in transmission connection with the feeder, a synchronous belt wheel set is arranged on the machine frame, the synchronous belt wheel set is in transmission connection with a feeder head transmission wheel, the other end, opposite to the feeder, of the long shaft is in linkage with the feeder head transmission wheel, and the feeder head transmission wheel is in transmission connection with the long shaft. A phase adjusting assembly is arranged between the synchronous belt wheel set and the feeder head transmission wheel in a transmission connection mode and comprises a harmonic transmission speed reducer and a driving part, and the harmonic transmission speed reducer comprises an input wheel, an input end phase wheel, an output wheel and an output end phase wheel. The input end phase wheel is in transmission connection with the output end phase wheel, the input end phase wheel is in transmission connection with the synchronous belt wheel set through a belt, the output end phase wheel is in transmission connection with the feeder head transmission wheel, and the driving part is in transmission connection with the output end phase wheel. The technical scheme provided by the utility model has the technical effects of simple structure and convenience in adjustment.

The invention discloses a spherical tooth harmonic transmission mechanism which is characterized in that a disc I and a disc II are respectively supported on a hollow shaft on the corresponding side of a driving cam, the disc I is supported in a bearing outer ring, and the disc II is fixed with the bearing outer ring; one of the disc I and the disc II is provided with n radial chutes, and the other one is provided with a harmonic channel; a steel ball tooth is arranged in each radial sliding groove, the harmonic channel makes contact with all the steel ball teeth, and the contour face of the driving cam makes contact with all the steel ball teeth. A flexible gear in a traditional harmonic transmission mechanism is replaced by the spherical teeth, accurate movement of the spherical teeth and the first disc or the second disc is achieved, the situation that the flexible gear continuously bears large alternating stress and elastic deformation in the transmission process is effectively avoided, the fatigue abrasion problem of the flexible gear is solved, and the service life of the spherical tooth harmonic transmission mechanism is prolonged; moreover, the reduction ratio can be flexibly adjusted by setting the number of steel ball teeth and the number of waves of a harmonic channel; the device is simple in structure and high in bearing capacity.

A harmonic drive is disclosed that includes a flexible ring element, which can be deformed in a locally radial manner in the circumferential direction by a wave generator with a non-round outer peripheral surface and which includes an outer toothing, and a rigid ring element with an inner toothing. The outer toothing of the flexible ring element at least partly meshes with the inner toothing of the rigid ring element in order to transmit a torque at at least one tooth engagement region, wherein the wave generator has a non-round first inner ring which protrudes at least partly into the flexible ring element and is rotationally fixed to a shaft. The harmonic drive additionally comprises a first bearing element, comprising a second inner ring and at least one first outer ring, said second inner ring being secured to the rigid ring element. Each outer ring is secured to the flexible ring element. Additionally, a drive cover is provided which is secured to a substantially radially extending section of the flexible ring element, and the drive cover is equipped with at least one opening on which a diaphragm is arranged in order to equalize gas pressure and / or temperature differences between the interior of the harmonic drive and the surroundings of the harmonic drive.

The present application relates to the technical field of harmonic drive component assembly, and particularly discloses a harmonic drive component compliant assembly and detection integrated machine and a detection method, which comprises a rack, a bottom plate, a conveying module, a transfer and pressing assembly module, a flexible gear fixing module, a steel gear clamping module, a fine adjustment module, a lubricating module and a detection module arranged on the rack. The transfer and pressing assembly module realizes three-dimensional movement, 90-degree turning and pressing of the workpiece; the flexible gear fixing module adaptively adsorbs and fixes the flexible gear; the steel gear clamping module realizes self-centering clamping and space posture adjustment of the steel gear; and the detection module synchronously detects parallelism and coaxiality. The present application realizes full-process automation of the harmonic drive component from conveying, lubricating, pressing assembly to detection, solves the problems of large assembly alignment deviation, easy tooth clashing and pressing assembly inclination, and improves assembly precision and efficiency.

A rotor assembly deployment mechanism configured to deploy a rotor assembly of a vertical take-off and landing aircraft from a horizontal, forward thrust, position to a vertical, hover, position. The rotor assembly deployment mechanism is configured to deploy an electric motor and propeller together. The deployment mechanism uses redundant rotary actuators which are coupled together to provide redundant drive capability to the harmonic drives using internal cross-linking.

To provide a method of manufacturing a flexible external gear that can realize a wave gear device less likely to lower reliability, a flexible external gear, a wave gear device, and a joint device for a robot.SOLUTION: A method of manufacturing a flexible external gear 3 for a wave gear device including a rigid internal gear, the flexible external gear 3, and a wave generator, includes a stress generation step and a shot-peening step. The wave gear device deforms the flexible external gear with rotation of a cam, makes a part of external teeth 31 engage with a part of internal teeth, and rotates the flexible external gear 3 relatively to the rigid internal gear in accordance with a difference in tooth number with respect to the rigid internal gear. In the stress generation step, the flexible external gear 3 is elastically deformed to generate a stress on the flexible external gear 3. In the shot-peening step, shot-peening is applied to at least a part of a surface of the flexible external gear 3 on which the stress is generated.SELECTED DRAWING: Figure 8

The invention belongs to the technical field of rotating platforms, and particularly relates to a hollow rotating platform based on harmonic drive. The hollow rotating platform comprises a driving mechanism, a rear end cover, a wire passing sleeve, a front end cover, a first oil seal, a second oil seal and a harmonic speed reducing mechanism, the harmonic speed reducing mechanism is arranged in the sealing cavity and sleeves the wire passing sleeve, the input end of the harmonic speed reducing mechanism is in transmission connection with the rotating end, and the output end of the harmonic speed reducing mechanism is in transmission connection with the front end cover; and the front end cover is driven to rotate around the axis of the wire sleeve. Compared with the prior art, on the premise that the friction damping borne by the second oil seal is not changed, the first oil seal is located between the wire passing sleeve and the front end cover, and after speed reduction is conducted through the harmonic speed reduction mechanism, the rotating speed of the front end cover is reduced, so that the friction damping of the first oil seal is reduced, and the torque of the driving mechanism can be amplified by dozens of times after speed reduction is conducted through the harmonic speed reduction mechanism; therefore, the operation efficiency of the hollow rotating platform can be further improved, and the energy consumption of the driving mechanism is reduced.

A method and system for anomaly detection from time series input data. A Gaussian mixture model (GMM) uses sample data to learn distribution parameters in an offline learning stage. The data for offline learning and for subsequent online anomaly detection phases is time series data of a plurality of parameters collected, such as machine operations of a robot performing a repeated set of operations. The method includes aligning the data with a known good reference data file and taking a difference from the reference data file prior to providing the data to the GMM. In the online anomaly detection stage, the GMM calculates the probability that each time series data point conforms to the distribution, and performs logarithmic summation calculation on each data file to determine the likelihood that the file contains abnormal data. The file logarithm likelihood is compared to previous values and an alert is issued when there is a statistical difference from historical data.

The utility model provides a hollow shaft harmonic drive chain test frock relates to drive chain test frock technical field, include: test subassembly, it includes detection platform, input motor and drive chain collector, drive chain connecting flange, it sets up in detection platform, be used for installing hollow shaft harmonic reducer, and centering mechanism, it sets up in drive chain connecting flank, centering mechanism includes at least three centering clamp block, with the same number of slider of centering clamp block, gear ring and drive a the sliding screw rod of slider. The utility model has the advantages of: through the cooperation of centering mechanism design including at least three centering clamp block, slider, gear ring and screw rod, can realize the quick, accurate centering operation of hollow shaft harmonic reducer, make the mouth diameter for loading hollow shaft harmonic reducer can be adjusted, improve the applicability of frock, the setting of expansion shaft enhances the installation stability of reducer, prevents the loosening or deviation in the test process.

The invention relates to a method for detecting ratcheting in a harmonic drive, wherein signals from at least one torque sensor mounted on a flexspline of the drive are evaluated using wavelet analysis to draw conclusions about the condition of the drive. The invention also relates to a computing unit prepared and configured to carry out the method according to the invention, as well as to a manipulator comprising the computing unit.

A parallel high-efficiency composite flexspline-based internal-meshing harmonic transmission in a motor rotor. A moving component of the parallel high-efficiency composite flexspline-based internal-meshing harmonic transmission consists of a thin-walled composite flexspline and rolling wave generators; outer raceways of inner rings of flexible bearings and inner bevel gear rings are integrated at two ends of the thin-walled composite flexspline, and an inner gear ring is integrated in the middle thereof; the rolling wave generators are respectively and fixedly connected to two ends of a hollow inner rotor of a motor, the structural dimensions of the rolling wave generators being the same, but a semi-minor axis at one end being coplanar with a semi-major axis at the other end; a motor outer stator, to which two cap-shaped rigid gears are fixed, functions as a stationary component; by means of antisymmetric deformations of the two ends of the composite flexspline, half of an input torque of the motor is amplified in the same proportion by two back-to-back parallel internal-meshing harmonic transmission assemblies having same structural parameters, and, after superposition on a constant-circular middle section of the composite flexspline, the torque is output by means of a variable-stiffness coupling formed by the inner-wall gear ring of the composite flexspline and a hollow splined shaft. Three waveform calculation formulas for the composite flexspline are provided, and a curvature inflection point value is introduced to determine the meshing mode between the composite flexspline and the bevel teeth of the rigid gears; the wall thickness of the composite flexspline is effectively reduced, and the middle section does not require a circularity-maintaining constraint, such that the elastic deformation energy and friction power consumption can be reduced, thus achieving high transmission efficiency.

This utility model discloses a high bending moment cup-shaped harmonic reducer, relating to the field of reducer technology. It includes a housing and a transmission reduction structure. The housing comprises an upper housing and a lower housing, with the lower housing mounted on the open side of the upper housing. The transmission reduction structure includes a small bevel gear, an output shaft, a large bevel gear, and harmonic transmission components. The small bevel gear is rotatably mounted inside the upper housing, and the output shaft is rotatably mounted inside both the upper and lower housings. This high bending moment cup-shaped harmonic reducer, through the perpendicular arrangement of the small bevel gear and the output shaft axis, combined with the transmission action of the small and large bevel gears, enables the harmonic reducer to possess characteristics such as high bending moment load capacity, compact transmission structure, high speed ratio, large output torque, light weight, low noise, and high stability. Furthermore, the compact internal structure of this reducer helps reduce its size and production costs, while also making it suitable for use in confined spaces, effectively enhancing the practicality and applicability of the device.

A speed reducer according to the present invention comprises: a harmonic drive including a wave generator; a plurality of spur gears connected to a cam plate of the wave generator; and an input gear that extends in an axial direction, passes through a central portion of the cam plate, and is geared with the plurality of spur gears. The wave generator comprises: a circular central portion and three protrusions formed on the outer circumferential surface of the central portion; and a ball bearing arranged to surround the cam plate and elastically deformed by the three protrusions. The speed reducer according to the present invention includes both a planetary gear structure and a three-point driving harmonic drive, and thus prevents a dead idle state and significantly increases a tooth engagement rate, and makes it possible to greatly improve reducer performance factors, such as rated torque, peak torque, and the like, while maximizing the reduction ratio.

This invention belongs to the field of precision drive and positioning technology, specifically relating to a bidirectional drive linear piezoelectric motor. It includes a motor base, a preload mechanism, a linear guide rail, a linear slider, and a pair of piezoelectric mechanisms. Each piezoelectric mechanism includes a motor stator, a piezoelectric plate, and motor drive feet. The piezoelectric plate is fixed to the inner side of the side frame of the motor stator, and one end of the motor drive foot is fixed to the outer side of the corresponding side frame of the motor stator. This results in a pair of motor drive feet on the piezoelectric mechanisms being horizontally arranged and symmetrical about the y-axis of the motor base. The pair of motor drive feet and the linear slider are in inclined contact. When a sinusoidal excitation voltage of 90–360V is applied to the piezoelectric plate, it causes the corresponding side of the motor stator to vibrate periodically. Therefore, the linear piezoelectric motor of this invention uses single harmonic drive and can operate in a resonant state. It not only achieves bidirectional linear movement, but also the driving action of the linear piezoelectric motor is "push-disengage," thus eliminating sliding friction and improving the working efficiency of the piezoelectric motor.

The invention relates to a drive unit (15, 1) for a vehicle that can be driven simultaneously by drive energy provided by human muscle force and by a motor. The drive unit comprises: a support structure (18); an input drive shaft for transmitting drive energy generated by human muscle force; an output driven shaft (35) for outputting drive energy to the traveling device; a first electric drive unit (1) for driving the harmonic drive mechanism (19A); and a second electric drive unit (1) having variable harmonic transmissions (19B, 19). The invention also relates to a vehicle having such a drive unit (15, 1).

The invention relates to a roller harmonic drive (8), comprising: a wave generator (6) having a rolling bearing (7); a flexspline (4) having external teeth (9); and a rigid wheel (1); wherein a cylindrical pocket (2) facing the external teeth (9) of the flexspline (4) is formed in the rigid gear (1), in particular at least in part, and rollers (3) are arranged in the pocket, and wherein twice the difference between the long axis (A) of the wave generator (6) and the inner diameter (I) of the flexspline (4) divided by the ratio of the pitch diameter (T) of the rollers to the number of rollers is less than 0.8.

A means of transport, in particular a pedelec, which can be driven by means of drive energy produced electromotively and by human muscular power, comprising a drive unit in which an electric drive motor and a harmonic drive transmission are nested one inside the other, thereby saving space.

This application provides a lightweight flexible wheel and a harmonic reducer, relating to the field of harmonic drive technology. The lightweight flexible wheel includes a cylinder and gear teeth. The circumferential surface of the cylinder includes a non-toothed region and a toothed region distributed along the axial direction, with gear teeth formed in the toothed region. A subtractive material section is formed in the non-toothed region, which includes a honeycomb topology structure. Through the design of the honeycomb topology structure, non-load-bearing redundant material in the non-toothed region is eliminated, reducing the overall mass of the flexible wheel and greatly increasing the heat dissipation surface area of ​​the flexible wheel, forming an effective heat dissipation channel. The heat generated by the harmonic reducer containing the lightweight flexible wheel during operation can be quickly dissipated into the surrounding environment or lubricating medium. The honeycomb topology structure has a continuous support network and can uniformly distribute stress when under load, maintaining structural integrity while reducing the weight of the flexible wheel and ensuring the overall stiffness of the flexible wheel. This solves the problem in the prior art of how to reduce the mass of the flexible wheel and improve its heat dissipation performance while ensuring its performance.