Machine element or mechanism – Gearing
Reexamination Certificate
2000-02-28
2001-11-13
Estremsky, Sherry (Department: 3681)
Machine element or mechanism
Gearing
Reexamination Certificate
active
06314835
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention relates to harmonic drive transmissions, and more particularly to a piezo-electric drive mechanism to rotatably empower that harmonic drive transmission.
2. Prior Art
Harmonic drive transmissions were originally called “strain-wave gearing” and were initially introduced by Musser in U.S. Pat. No. 2,906,143. Such original harmonic drive, strain-wave gearing comprised a rigid circular spline having “N” teeth, a flexspline having fewer than “N” teeth (“IN” being a positive integer) and being disposed within the circular spline, and a rotatable wave generator disposed in the flexspline to deform the flexspline into a lobed configuration, such as an oval shape, so as to force the flexspline into an engagement with the circular spline at two points on the major axis of the formed ovaloid.
The wave generator may include an oval cam plate and a bearing snugly mounted on the outer periphery of the cam plate. The outer bearing is matingly inserted into the flexspline so as to deform it to the peripheral contour of the cam plate. An input shaft attached to the cam plate provides rotation thereto, causing the ovaloid configuration of the flexspline to be correspondingly rotated. During such rotation, the circular spline is induced to rotate, relative to the flexspline, an amount proportional to the difference in the number of teeth between the flexspline and the circular spline. When an output shaft is arranged on either the flexspline or the circular spline, that output shaft is rotated very slowly in comparison to its input shaft. Such harmonic drive, strain-wave gearing has been utilized in machinery requiring a high reduction ratio.
There are instances where a small reduction ratio is required, for example, as low as about 50:1. In most cases, in harmonic drive systems, the wave generator is driven by an electric motor. Electric motors however, typically have speed limitations, both on the upper and lower ends. At the upper end of these ratios, the motors and their bearings and those bearings on the wave generator, may wear or burn out rapidly. At the low end of these reduction ratios, the motors will not work well. There is a trade-off between torque and speed in using an electrically driven harmonic drive transmission. High torque will not permit a highspeed output, and a low torque will not permit a low speed output.
It is an object of the present invention to provide a drive means for a harmonic drive transmission, which will satisfy the needs for high torque and high speed and/or low torque and low speed in a manner not found in the prior art.
It is yet a further object of the present invention to provide a harmonic drive transmission which eliminates the drawbacks typically found with wave generators and their bearings.
It is a yet a further object of the present invention to provide a piezo electric drive arrangement for a harmonic drive transmission by a simple and efficient coupling not found in the art.
BRIEF SUMMARY OF THE INVENTION
The present invention relates to an improved, harmonic drive transmission arrangement driven by an array of piezo elements. The harmonic drive transmission of the present invention has an outer circular spline comprising the output member. The circular spline is of generally cylindrical configuration having a first end with an array of radially inwardly directed teeth, of “N” quantity. A cup-shaped primary flexspline is arranged in a stationary manner within the rotatable, circular spline output member.
The cup-shaped primary flexspline has a first end, defining the open end of the cup-shaped flexspline, having an array of radially outwardly directed teeth, preferably of N-2 in number. The cup-shaped flexspline has a second or closed end having a diaphragm extending thereacross. A hub is centrally arranged across the mid-portion of the diaphragm. A bore is arranged through the hub. The radially outwardly directed teeth on the first or open end of the primary flexspline are arranged to engage the radially inwardly directed teeth on the circular spline at spaced apart locations, according to the deflection apparatus utilized therewith.
A secondary or inner flexspline is arranged radially inwardly of the primary flexspline. The secondary or inner flexspline is of cup shape, having a first end of circular configuration. The secondary or inner flexspline has plurality of longitudinally directed gaps arranged through its outer annular surface, the gaps are also disposed partially across its diaphragm in a radially inwardly directed manner.
Such an arrangement of gaps creates an arrangement of generally L-shaped “fingers” joined around an annular rim encircling its hub at its second or closed end. Each finger has a projection thereon, at its distal-most end, at a radially outer-most location thereon. The hub of the inner secondary flexspline is attached to the hub at the diaphragm of the primary flexspline and is attached therearound by bolts, screws, or the like.
A stationary shaft is arranged through the bore in the circular spline, and extends co-axially through the opening in the hub of the primary flexspline and through the hub of the second inner flexspline. The shaft has an end centrally arranged within the inner flexspline. The primary and secondary flexsplines remain in a non-rotative configuration with respect to the shaft, which is also non-rotative. An end disk is arranged on the distal-most inner end of the shaft. The disk is coaxial with the shaft, and has an array of rod-like, piezo-electric elements extending, in parallel fashion, between the peripheral margin of the end disk and the midpoint of the radial spoke of its radially adjacent finger. The number of piezo-electric elements corresponds to the number of generally L-shaped fingers comprising the secondary flexspline.
Each piezo-electric element is arranged to be in electrical communication with a circuit controlled by a circuit energization control module.
Actuation of the control module is arranged to effect sequential energization of diametrically opposed piezo-electric elements. Introduction of an electrical current through each respective piezo-electric element will effectuate a physical change in the piezo-electric element. The physical change is in its longitudinal dimension, so as to intermittently elongate successive piezo-electric elements as they are sequentially energized.
The elongation of each piezo-electric element effects a slight axially directed bias on the spoke of the flexible finger to which the piezo-electric element is attached (towards the closed ends of the primary and secondary flexsplines). Each flexible finger thus has a spoke portion, which is alternatingly biased toward and away from the rear or second end of the flexspline to which it is attached. The rearward bias of the spoke effects a pivoting of the flexible finger about a thinned, radially inner-most pivot point portion of that spoke, to correspondingly effect a radially outwardly-directed bias of the distal-most tip of the finger against the inner annular side of the primary flexspline.
The primary flexspline at that location, and hence the gear teeth on the radially outward side thereof, are brought into engaging mesh with the radially inwardly directed teeth of, the circular spline. Sequential advancement of the adjacent piezo-electric elements effects successive advancement in radial motion of the protrusions on successively adjacent flexible fingers, thus effects rotative advancement of engaging teeth, inducing rotative motion within the circular spline with respect to the flexspline.
Therefore, the use of dimensionally elongatable piezo-electric elements, which can go through cycles of up to 2,000 fluctuations per second, eliminates the need for a wave generator and its associated bearing assembly, as typically found in the prior art. The piezo-electric elements, having such a high frequency response, permits the harmonic drive transmission assembly to be run at high speed without limits on its lifetime.
REFERENCES:
pat
Barth Oliver
Kristjansson Erlendur
Lascelles Robert P.
Tortora Carmine Gabriel
Estremsky Sherry
Halgren Don
Harmonic Drive Technologies
Lewis Tisha D.
LandOfFree
Piezo-electric drive arrangement for a harmonic drive... does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Piezo-electric drive arrangement for a harmonic drive..., we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Piezo-electric drive arrangement for a harmonic drive... will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2580224