Duplex wave drive

FIELD: machine building.

SUBSTANCE: invention is designed to be used in the capacity of drives of automation for products of aircraft and rocket engineering. Duplex wave drive contains casing (1) with through cylindrical inner cavity (2) and cover (3), the first and the second electric motors (4, 21), the first and the second wave train of gears (5, 18). Double-wheel rigid gear (12) is located at two bearings (11). The first crown (13) of wheel (12) is fixed to ring gear (14) of flexible gear (6) of the first wave train of gears, and the second crown (15) - with ring gear (16) of flexible gear (17) of the second wave gear (18), which is connected by gear clutch (19) with output shaft (20). On inner surface of rigid wheel (12) between its crowns it is implemented clamp (28). At output shaft (20) it is implemented directed into the side of the first electric motor projection (29). Coat (3) and bushing (33) are rigidly connected to casing. wave generator (24) of the second wave gear is installed on rest (30) located on projection (29) which is common rest and for output shaft (20). The second rest (32) of output shaft is located in bushing (33) and is fixed in axial direction as relative to output shaft as relative to bushing. External surfaces of cover, bearings of rigid wheel and bushing are implemented with diametres equal to diametre of surface of through inner cavity.

EFFECT: invention provides design simplification and increasing of manufacturability.

1 dwg

 

The invention relates to machine tools and can be used as actuators of the products of aviation and rocketry.

Known duplicate wave actuator, comprising a housing installed in it wave transmission with a fixed flexible wheel, two electric motor and mounted stationary relative to the rigid wheel output shaft [1]. On the shafts of motors mounted pinion associated with the wave generator through a gear wheel. The disadvantage of this drive are substantial radial dimensions, which is called a parallel installation of elektrodvigatelei.

This lack duplicated wave actuator, comprising a housing with a through the internal cavity and cover, installed the first electric motor is rigidly connected with the cover, the first wave gear, flexible impeller which is connected by gear-type coupling with the cover, and the wave generator is connected with the shaft of the first motor, and placed on two bearings mounted in end-to-end internal cavity, dvuhventsovye hard wheel with internal toothing, the first crown was put into engagement with the gear ring flexible wheel first wave gear, and the second crown with a flexible wheel of the second wave gear, which is connected toothed coupling with two weekends in the scrap, and the second motor is fixed in the cavity of the output shaft and associated with the wave generator of the second wave gear selected as the prototype [2].

The disadvantage of this duplicated wave drive are the complexity of the design, and low adaptability, caused by the presence of a significant number of the clamping surfaces of different diameter for the bearings of the output shaft and bearings rigid wheel and the clamping surface for the cover - and the need for rigid fixation as an output shaft, and dokvantovogo hard wheels. In addition, the final stage of Assembly duplicate output actuator - coupling of the cover with the chassis is performed blindly, because the input of the teeth of the flexible wheel that is installed in the lid, in the teeth dokvantovogo flexible wheel, it is difficult to check visually, because the control is only available through the crack between the lid and the body, decreasing to zero in the Assembly process. In this case, maybe the biting teeth of the flexible and rigid wheels, the occurrence of burrs, subsequent separation which can cause jamming of the actuator or the deterioration of its characteristics.

The technical result achieved by using the claimed invention is to simplify the construction and increase manufacturability.

This result is achieved due to the fact that the known wave actuator, comprising a housing with a through the internal cavity and cover, installed the first electric motor is rigidly connected with the cover, the first wave gear, flexible impeller which is connected by gear-type coupling with the cover, and the wave generator is connected with the shaft of the first motor, and placed on two bearings mounted in end-to-end internal cavity, dvuhventsovye hard wheel with internal toothing, the first crown was put into engagement with the gear ring flexible wheel first wave gear, and the second crown with a ring gear of the flexible wheels of the second wave gear, which is connected by gear-type coupling with two output shaft, and fixed in the cavity of the output shaft of the second motor, the shaft of which is connected with the wave generator of the second wave gear, according to the invention the surface through the inner cavity is cylindrical, the outer surface of the cap is cylindrical, bearings dokvantovogo hard wheels fixed in the axial direction with respect to it, on the inner surface dokvantovogo hard wheel between his crowns made a collar with an inner diameter less than or equal to the minimum internal transverse dimension of the deformed flexible wheels on the output shaft of the implementation is facing in the direction of the first electric motor coaxially surface through the internal cavity of the protrusion, the wave generator of the second wave gear mounted on a support placed on the ledge, which is General support for the output shaft and the second bearing of the output shaft is placed in a set in the casing sleeve and fixed in the axial direction relatively to the output shaft and the sleeve, the lid and the sleeve is rigidly connected to the housing and the outer surfaces of the cover, bearings dokvantovogo hard wheels and sleeves are made with diameters equal to the diameter of the surface through the inner cavity.

The illustration shows an example of a specific implementation duplicated wave drive, longitudinal section.

Duplicate wave actuator includes a housing 1 through the internal cavity 2 and the cover 3, installed the first electric motor 4, is rigidly connected with the cover 3, and the first wave gear 5, the flexible wheel 6 which is connected by gear-type coupling 7 with the cover 3, and the wave generator 8 is connected with the shaft 9 of the first electric motor 4 via the intermediate gear 10. Through the internal cavity 2 installed on it two bearings 11 posted by dvuhventsovye hard wheel 12 with internal gearing. The first row 13 of the rigid wheel 12 is introduced into engagement with a ring gear 14 of the flexible wheel 6 the first wave gear 5, and the second crown 15 - subcutaneo 16 flexible wheel 17 of the second wave gear 18. Flexible wheel 17 is connected by gear-type coupling 19 with two output shaft 20. The second motor 21 is fixed in the cavity 22 of the output shaft 20 and its shaft 23 is connected with the wave generator 24 of the second wave gear 18 through the intermediate gear 25. The surface through the inner cavity 2 is cylindrical, outer surface 26 of the cover 3 is cylindrical. The bearings 11 dokvantovogo hard wheel 12 is fixed in the axial direction with respect to it - in this example, the bearings are made in the form of split rings of antifriction material, placed in the grooves 27 on the outer surface dokvantovogo hard wheel 12. On the inner surface dokvantovogo hard wheel 12 between its rims 13 and 15 is a collar 28 with an inner diameter less than or equal to the minimum internal transverse dimension of the deformed flexible wheels 6 and 17. On the output shaft 20 is performed facing in the direction of the first electric motor 4 coaxial surface through the inner cavity 2, the protrusion 29, the wave generator 24 of the second wave gear 18 mounted on a support 30, is placed on the lug 29, which is General support for the output shaft 20. This bearing is made in the form set next to each other of the two bearings 31, which improves the working conditions of the bearings due to better vospityvavshego moment from the wave generator 24, however, it can be used bearing in the form of one of the bearing. Consequently, the claims used umbrella term "bearing", which means as a single bearing or two (in the above example of a specific implementation). The second bearing 32 (made in the form of the ball bearing output shaft 20 is placed in the installed in the housing 1 of the sleeve 33 and is fixed in the axial direction relatively to the output shaft 20 to its shoulder 34 and mounted on the outer surface of the output shaft 20 by a spring ring 35 and the sleeve 33 to its shoulder 36 and mounted on the inner surface of the sleeve 33 by a spring ring 37. Cover 3 and the sleeve 33 are rigidly connected to the body 1 by means of radial pins 38 and 39 respectively. The outer surfaces of the cover 3, the bearings 11 dokvantovogo hard wheel 12 and the sleeve 33 is made with diameters equal to the diameter of the surface through the inner cavity 2. Part of the Cam wave generator 24 includes a bearing 40 with a flexible inner and outer rings (so-called "flexible" bearing).

Duplicate wave actuator operates as follows: when the motor 4, the rotation of the shaft 9 (for definiteness, assume that it rotates on cs, looking from the side of the output shaft 20, and further the direction of rotation of all is a separate estimate will indicate this direction) through the intermediate gear 10 is transmitted to the Cam wave generator 8 - it rotates against cs), making the ring gear 14 of the flexible wheel 6 wave deformation, also moving against cs As flexible wheel 6 in the angular position motionless due to its attachment to the cover 3 toothed clutch 7, for each turn of the wave generator 8 crown gear 13 dokvantovogo hard wheel 12 is displaced in an angular direction against cs by an amount equal to the difference between the teeth of the rims 13 and 14. This dvuhventsovye hard wheel 12 rotates on two bearings 11, in contact with its outer diameter with a cylindrical surface through the inner cavity 2, and its second crown 15 transmits rotation to the ring gear 16 of the flexible wheel 17 of the second wave gear 18. Since is fixed to the output shaft 20 of the motor 21 is not enabled, its shaft 23, the intermediate gear 25 and the wave generator 24 is fixed relative to the output shaft 20 of the state. Therefore, the engagement of the rims 15 and 16 in this case works as a tooth clutch, and transmits the rotation dokvantovogo flexible wheel 12 through the flexible body of the wheel 17 and the coupling 19 to the output shaft 20 which rotates in its bearings 30 and 32 at the same speed and in the same direction - counterclockwise. If enabled, the motor 21 and turned off the motor 4, then duplicated wave drive works as the way: the shaft 9, intermediate gear 10, the wave generator 8 and dvuhventsovye hard wheel 12 fixed relative to the housing 1. Rotation of the shaft 23 counterclockwise through an intermediate gear 25 is transmitted to the Cam wave generator 24 - it rotates clockwise, creating the ring gear 16 of the flexible wheel 17 wave deformation, also moving clockwise. Because dvuhventsovye hard wheel 12 is stationary, then for each turnover wave generator 24 crown gear 16 is shifted in angular counterclockwise direction by an amount equal to the difference of the teeth crowns 16 and 15. Further rotation of the flexible wheel 17 is transmitted through the coupling 19 to the output shaft 20 which rotates in its bearings 30 and 32 in a counterclockwise direction. In case if both the motor 4 and 21 rotate in the above directions, then their angular velocities are summed and the rotation dokvantovogo hard wheel 12 driven by an electric motor 4, is summarized on the output shaft with the rotation of the flexible wheel 17 (caused by the rotation of the shaft 23 of the motor 21) relative to dokvantovogo hard wheel 12. Usually at work in the spacecraft uses this last algorithm of operation of the actuator, i.e. included both motor and shaft rotate in the above-described directions (the so-called work is in hot standby"). In case of failure, for example, the motor 4 stops dokvantovogo hard wheels 12, however, continued rotation of the shaft 23 of the motor 21 and, as described above, rotation of the flexible wheel 17 and the output shaft 20. In the case of failure of the electric motor 21 stops the rotation of the flexible wheel 17 relative to dokvantovogo hard wheel 12, but continues the rotation of the latter, driven by a motor 4 - detail this mode is also discussed above. As a result of use of the invention significantly simplifies the design duplicated wave drive, since all the clamping surface is the outer diameter of the cover 3 and the sleeve 33 and the bearing 27 dokvantovogo hard wheel 12 is performed by one diameter equal to the inner diameter of the through cavity 2 that, first, reduces the number of gauges required for the dimensional inspection of manufactured parts of the actuator, and, secondly, simplifies the manufacture of the end-to-end internal cavity due to the absence of any steps in its cross-section. It also improves the manufacturability of the actuator Assembly, because all of it can be done outside of the hull 1 - all other parts and podborki going methods of the axial Assembly, with all duplicate elements wave drive ready visual access, after which the building is from 1 to any end coming for the rest of the collected drive elements, set specified by drawing the mutual axial position of the cover 3 and the housing 1 and the installation of the pins 38, after which a small axial displacement of the sleeve 33 is secured specified in the technical documentation axial clearance between the ends of the flexible wheels 6 and 17 in relation to the end walls of the collar 28 and the installation of the pins 39. The implementation of the collar 28 with an inner diameter less than or equal to the minimum internal transverse dimension of the deformed flexible wheels 6 and 17, allows to provide axial position dokvantovogo hard wheels floating within a slight axial clearance is because the outer surfaces of the bearings 11 (which are fixed in the axial direction relative to dokvantovogo hard wheels and therefore can not fall into the drive) can move freely along the cylindrical surface through the internal cavity, not affecting the efficiency of the gearing crowns 13 14 and 15 16, but to help eliminate the possibility of jamming of the drive elements due to thermal deformations and deformations caused by mechanical effects on the body. While there is virtually no possibility of the flexible wheels 6 and 17 at the ends of the collar 28 into the space inside it. The axial position of the wave generator 24 is provided by installing it on a support 30, and the bearing 40 can (within thermal deformations 1) to move in the axial direction along the smooth inner surface of the flexible wheel 17. This eliminates potential interference fit between the supports 30 and 32 and provides their normal working conditions. When this bearing 30 maintains its alignment with the housing 1 due to the fact that the deformed flexible wheel 17 is rigidly based multi-pair by engagement of its teeth with the teeth of the crown 15 dokvantovogo hard wheel 12, and the alignment of the wave generator 24 flexible wheel 17 is provided so that the outer surface of the bearing 40 is in surface contact with the inner surface of the flexible wheel 17, and the inner with the outer surface of the wave generator 24. Possible deviation of the alignment of the flexible wheel 17 is relatively hard 12 provided mnogodelnosti gearing theoretically lies within the lateral clearance of the teeth in the wave gear. The maximum lateral clearance δ in gears is usually in the range of 0.2 mm [3]. Therefore, for maximum estimate the shift flexible wheel relatively hard you can accept this value, although in reality due to mnogodelnosti gear shift flexible wheel is substantially less. However, taking as an estimate of the radial displacement of the flexible wheel relatively rigid inflated the value of δ=0.2 mm, when the distance between the supports 30 and 32 L=100 mm, we find that the radial displacement of the flexible wheel 17 (and hence wave generator 24) δ=0.2 mm p is iveget of angular rotation (skew) of the output shaft 20 relative to the housing 1 at an angle

A=δ/L=0.2/100=0,002[rad]≈0,114°=6,84'

The specified bias of the output shaft does not cause deterioration of the supports 30 and 32, as in the case of use as bearings radial ball bearings misalignment of the inner ring relative to the outer does not exceed the accepted values in 1/4°=15' [4]. In relation to installed on the shaft load, the distortion of the output shaft also is not critical, as between the shaft wave actuator shaft and actuator, generally set the compensating coupling for compensating coaxial ties and angular misalignment. However, the use of as one of the pillars of the output shaft bearing 30 wave generator 24 avoids almost inevitable misalignment between the two bearings of the output shaft (in case, if the output shaft is fastened on the poles, one of which is not combined with a support wave generator 24 and the bearings 11 of the rigid wheel. In the claimed the same invention in the Assembly of duplicated wave drive at the stage when the cover 3 and both bearings 11 are already inside the housing 1 and the sleeve 33 is introduced into it, a possible misalignment of the latter relative to the housing 1 can be selected by a slight angular rotation of the output shaft due to the inclination of the inner ring of the bearing 40 relative to the outer and inner rings of bearings 32 on the context of its outer ring.

These advantages of simplifying the design and improving technology - allow to recommend the claimed technical solution for use in aggregates of aviation and space technology.

Literature

1. Rudenko V.N. Planetary and wave transmission. M., engineering, 1980, page 71, 4.

2. U.S. patent N 3986412, CL 74/661, 1976 (prototype).

3. Levin IA Guide the design of precision instruments. M., engineering, 1964, str, tabl.

4. Ibid, str.

Duplicate wave actuator, comprising a housing with a through the internal cavity and cover, installed the first electric motor is rigidly connected with the cover, the first wave gear, flexible impeller which is connected by gear-type coupling with the cover, and the wave generator is connected with the shaft of the first motor, and placed on two bearings mounted in end-to-end internal cavity, dvuhventsovye hard wheel with internal toothing, the first crown was put into engagement with the gear ring flexible wheel first wave gear, and the second crown with a ring gear of the flexible wheels of the second wave gear that associated gear clutch with two output shaft, and fixed in the cavity of the output shaft of the second motor, the shaft of which is connected with the wave generator of the second Volnov the second gear, characterized in that the surface through the inner cavity is cylindrical, the outer surface of the cap is cylindrical, bearings dokvantovogo hard wheels fixed in the axial direction with respect to it, on the inner surface dokvantovogo hard wheel between his crowns made a collar with an inner diameter less than or equal to the minimum internal transverse dimension of the deformed flexible wheels on the output shaft performed facing in the direction of the first electric motor ledge, coaxial surface through the internal cavity, the wave generator of the second wave gear mounted on a support placed on the ledge, which is General support for the output shaft and the second bearing of the output shaft is placed in set in the casing sleeve and fixed in the axial direction relatively to the output shaft and the sleeve, the lid and the sleeve is rigidly connected to the housing and the outer surfaces of the cover, bearings dokvantovogo hard wheels and sleeves are made with diameters equal to the diameter of the surface through the inner cavity.



 

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SUBSTANCE: planet gearing mechanism comprises shaped gear rack (9), base (1) with guides for longitudinal movements of the rack, rotatable lever (5) with gear wheel (4), and driving gear wheel (10). Shaped rack (9) has guides with flat (7) and profiled surfaces (2) and (8). The axis of rotation of wheel (10) passes through shaped rack (9), is in coincidence with the axis of rotation of lever (5), and transmits motion to shaped rack (9) through gear wheel (4) of rotatable lever (5). Rotatable lever (5) has bearings (3) and (6) which move individually over flat (7) and profiled (2) and (8) surfaces of rack (9).

EFFECT: simplified structure.

2 dwg

Gearbox // 2253774

FIELD: mechanical engineering.

SUBSTANCE: invention can be used in step gearshift mechanisms. Proposed gearbox has input shaft 1 and output shaft 2 installed in housing 3, differential transmitting modules and gearshift members. Each transmitting module contains three members, namely inlet one 4-7, outlet one 12-15and intermediate one 8-11. Modules are series-connected so that inlet member of following module is connected with outlet member of preceding module. Input shaft 1 of gearbox is connected with inlet member 4 of first module. Output shaft 2 of gearbox is connected with outlet member 15 of last module. Control members are made as shifters 16-19 connecting intermediate member of each module either with housing 3, or with its outlet member.

EFFECT: simplified design of gearbox owing to increased number of speed at the same number of transmitting modules.

4 cl, 2 dwg

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