Harmonic Drive Gear System Tensile Actuator Deformation
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Solution Overview
Problem
Existing tension shaft transmissions face complexities and costs due to complex deformation mechanisms, structural inefficiencies, and high costs associated with magnetic or electromechanical actuators, which affect stability and load-bearing capacity.
Innovation Solution
A tension shaft transmission with integrated means for detecting and controlling deformation, using actuators that generate tensile force to correct undesired deformations, allowing for targeted adjustment of component shapes and positions, thereby enhancing stability and load-bearing capacity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Shape
If magnetic forces with flux-carrying lamellae are used to deform the flexspline, then the flexspline can be elastically deformed into an elliptical shape, but the device complexity and manufacturing cost increase due to additional components
Solution Approach 1:
The invention extracts and eliminates the flux-carrying lamellae and ribs from the system. Instead of using magnetic forces applied from outside, the patent uses direct tensile actuators that attach to the flexspline at two points and pull it into an elliptical shape, removing the need for complex magnetic deformation mechanisms
Solution Approach 2:
The invention introduces tensile actuators as intermediary components that directly couple the drive mechanism to the flexspline. These actuators replace the complex magnetic field-mediated deformation approach with direct mechanical tension, simplifying the overall system architecture
2Shape
If electromagnets and flux-carrying lamellae are arranged outside the flexspline, then the flexspline can be deformed magnetically, but the transmission becomes relatively structural in both radial and axial directions
Solution Approach 1:
The invention merges the deformation function directly into the flexspline by attaching actuators to it. This integration eliminates the need for separate magnetic deformation systems arranged outside the flexspline, reducing both radial and axial structural volume while maintaining deformation capability
Solution Approach 2:
Instead of deforming the flexspline from the outside using magnetic fields, the invention applies deformation forces directly to the flexspline through tensile actuators. This inverted approach of direct attachment versus external field application significantly reduces the structural volume required
3Shape
If magnetic liquid is used inside the flexspline for deformation, then the flexspline can be deformed by magnetic attraction, but the realization becomes complicated and expensive
Solution Approach 1:
The invention replaces the expensive and complex magnetic liquid system with simple tensile actuators. These actuators provide the same deformation function through direct mechanical tension, eliminating the need for specialized magnetic materials and complex internal fluid systems
Solution Approach 2:
The invention substitutes the magnetic field-based deformation system with a direct mechanical actuation system. By using tensile actuators that physically pull the flexspline into shape, the patent replaces complex magnetic interactions with simple mechanical tension, greatly easing manufacturing
4Shape
If additional components like flux-guiding lamellae are attached to the flexspline, then magnetic deformation can be achieved, but the elastic deformability of the flexspline is impeded
Solution Approach 1:
The invention extracts and removes the flux-guiding lamellae and ribs that were attached to the flexspline. By eliminating these additional components, the flexspline retains its full elastic deformability while still achieving the required elliptical shape through direct actuator attachment
Solution Approach 2:
Instead of adding components throughout the flexspline structure, the invention applies deformation forces at only two local points on the flexspline using tensile actuators. This localized approach maintains the overall elastic deformability of the flexspline while achieving the desired shape control
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach improves the running properties and torque capacity of the transmission, reduces noise, and achieves a more compact and cost-effective design by directly acting on components with tensile force-generating actuators, eliminating the need for additional structural elements.
Implementation Method 1
the flexspline of the stress shaft transmission can be elastically deformed in such a way that the flexspline only meshes with the outer ring of the stress shaft transmission
Implementation Method 2
the electromagnets exert attractive forces on the flux-carrying element in this area
Implementation Method 3
repulsion forces are generated in relation to the flux-guiding lamellae arranged in the area of the minor axis of the ellipse
Data Source
Figure 1~2
Figure 3~4
Figure 5~6
AI summary
The invention relates to a gear system, in particular a harmonic drive (1), comprising at least two components (2, 3) that are posistively coupled, preferably by means of peripheral teeth (4), or frictionally-coupled, preferably by means of friction surfaces, for transmitting a rotational displacement and/or for converting a rotational displacement into a translatory displacement with an optional rotational displacement. Said gear system also comprises a deformation unit (5), which is used to elastically deform at least one of the components (2, 3) in such a way that the components (2, 3) only interact with one another in at least two areas (19, 20; 22) and by means of which the components (2, 3) are displaced in relation to one another. According to the invention, the deformation unit (5) has actuators (14, 15) that generate a tractive force and are applied to the component(s) (2) between the aforementioned areas (19, 20; 22). The invention also relates to a method for operating a gear system of this type.