HARMONIC DRIVE

Abstract

A drive for a harmonic gear assembly, comprising an input shaft having a shaft axis (A) and an epicyclic carrier unit removably mounted around, and coaxial with the input shaft, the epicyclic carrier unit comprising a carrier having an interior circumference designed to match the outer circumference of the shaft and further comprising a first roller assembly mounted at a first location around the circumference of the carrier unit and comprising a first roller shaft extending substantially parallel to the shaft axis and a first roller rotatably mounted around the first rotor shaft, and a second roller assembly mounted at a second location around the circumference of the carrier unit and comprising a second roller shaft extending substantially parallel to the shaft axis and a second roller rotatably mounted around the second rotor shaft, the first and second rollers extending radially outwards from the carrier to define a major axis between the radially outer surfaces of the first and second rollers, and wherein the outer surface of the carrier unit at locations other than the first and second locations defines a minor axis.

Claims

1. A drive for a harmonic gear assembly, comprising: an input shaft having a shaft axis (A); and an epicyclic carrier unit removably mounted around, and coaxial with the input shaft, the epicyclic carrier unit comprising: a carrier having an interior circumference designed to match an outer circumference of the shaft; a first roller assembly mounted at a first location around the circumference of the carrier unit and comprising a first roller shaft extending substantially parallel to the shaft axis and a first roller rotatably mounted around the first rotor shaft; and a second roller assembly mounted at a second location around the circumference of the carrier unit and comprising a second roller shaft extending substantially parallel to the shaft axis and a second roller rotatably mounted around the second rotor shaft; wherein first and second rollers extend radially outwards from the carrier to define a major axis between the radially outer surfaces of the first and second rollers, and wherein the outer surface of the carrier unit at locations other than the first and second locations defines a minor axis.

2. The drive of claim 1, further comprising: a third roller assembly mounted at a third location around the circumference of the carrier unit and comprising a third roller shaft extending substantially parallel to the shaft axis and a third roller rotatably mounted around the first rotor shaft.

3. The drive of claim 1, wherein the first location is radially opposite the second location, such that the epicyclic carrier unit defines an elliptical envelope.

4. The drive of claim 1, wherein each roller assembly comprises a plurality of rollers rotatably mounted around the respective roller shaft.

5. The drive of claim 1, further comprises bearings between the rollers and the respective roller shafts.

6. The drive of claim 1, comprising a plurality of said epicyclic carrier units removably mounted around and coaxial with the input shaft.

7. A harmonic drive assembly comprising: a drive as claimed in claim 1, and a flexible ring mounted around and compliant with the carrier unit.

8. An assembly as claimed in claim 7, further comprising: an outer ring mounted around the flexible ring, the outer ring having a substantially circular inner circumference, such that the flexible ring is brought into contact with the outer ring at locations defined by the positions of the roller assemblies and not at positions between the roller assemblies.

9. An assembly as claimed in claim 7, further comprising an output shaft connected to the flexible ring.

10. An assembly as claimed in claim 7, being a compound harmonic drive assembly.

11. An assembly as claimed in claim 7, being a single wave strain gear assembly.

12. An actuator comprising an assembly as claimed in claim 7.

13. An actuator as claimed in claim 12, being a multi-slice actuator.

14. An actuator as claimed in claim 12, for controlling a flight control surface of an aircraft.

Description

BRIEF DESCRIPTION

[0011] Examples according to the disclosure will now be described with reference to the drawings. It should be noted that these are examples only and variations are possible within the scope of the claims.

[0012] FIG. 1 shows a harmonic driver system according to the disclosure.

[0013] FIG. 2 shows a system as in FIG. 1, in a harmonic gear assembly.

[0014] FIG. 3 is a sectional view of the assembly of FIG. 2.

DETAILED DESCRIPTION

[0015] The present invention is concerned with providing an improved driver part of a harmonic drive assembly, that avoids the need for many rollers or balls and roller cages and the separate wave generator and the difficulty in assembling the multiple bearing components between the wave generator and the flex spline.

[0016] The driver comprises an input shaft 1 arranged to be rotated by the motor drive (not shown) as is known from conventional harmonic gears. The input shaft 1 is shown with splines 2 for engagement with a motor drive shaft (not shown) such that the shaft 1 is caused to rotate about its axis A by the motor. The operation of a harmonic gear is that rotation of the input shaft 1 rotates a wave generator that results in the flex spline 20 taking on a non-circular, and usually an oval or elliptical shape which rotates about the shaft axis A within a circular outer ring 30. The flex spline 20 has outer teeth or other contact or engaging means that engage with or contact teeth or other engaging means on the inner circumference of the outer ring 30 at points corresponding to the largest radial dimensions of the non-circular shape e.g. the major axis of the elliptical shape which, as described above, causes the flex spline to rotate backwards relative to the rotation of the input shaft at a stepped down gear ratio, causing resulting stepped down rotation of the outer ring to which the flex spline is connected. In addition to elliptical forms, wave generators may also take a lobed form having e.g. three lobes or points of larger radial dimension than the points therebetween.

[0017] In the present invention, the elliptical wave generator is formed by a roller carrier 40 which is mounted around, and coaxial with the input shaft 1, and has, at two radially opposite locations, roller shaft 42a, 42b on which a roller 50a, 50b is rotatably mounted, such that the opposing rollers 50a, 50b are mounted to rotate relative to the carrier 40 about a roller axis R substantially parallel to the input shaft axis A. Bearings (e.g. needle bearings 45) are provided between the rollers and the roller shafts to allow rotation of the rollers. The rollers extend beyond the outer circumference of the carrier 40 such that the outer surface 500 of each of the opposing rollers 50a, 50b is at a distance L from the input shaft axis A and the outer surface 400 of the carrier which is between the rollers is at a distance 1 from the input shaft axis, where 1 is less than L, so that the combination of the carrier and the rollers, mounted on the input shaft, has an elliptical envelope defined by the outer surfaces 500 of the rollers and the outer surface 400 of the carrier. In the example shown two sets of two rollers are provided i.e. two rollers 50a, 50b are mounted on each roller shaft 42a, 42b. In other examples, this may be just a single roller on each shaft. Alternatively, more than two rollers may be provided on each shaft.

[0018] The bearings and rollers are mounted to the carrier to form an epicyclic carrier unit that can then be mounted as a single, pre-assembled unit, to the input shaft 1. The input shaft itself can, therefore, have a standard circular cross-section and does not, as in conventional assemblies, need to be machined as an elliptical shaft. The elliptical shape is provided by the combination of the carrier and the rollers that are mounted to the input shaft. If the carrier or parts thereof need to be replaced, the carrier unit can be easily dismounted from the input shaft and repaired/replaced for re-assembly to the shaft.

[0019] The carrier can be made from a single machine piece or can be made of multiple parts joined together using conventional means such as splines, lugs, welding etc.

[0020] The combined input shaft and epicyclic carrier unit can be easily assembled to the rest of the harmonic gear as shown in FIGS. 2 and 3 wherein the flex spline 20 fits around the carrier in contact with the rollers 50a, 50b which define the major axis of the ellipse of the flex spline 20 which is mounted within the circular outer ring 30. The outer ring 30 is fixed e.g. by bracket 35 to a housing (not shown). The flex spline 20 is fixed to an output shaft 60.

[0021] As the input shaft 1 rotates, the epicyclic carrier unit and the rollers 50a, mounted thereto rotates about the input shaft axis A. The flex spline 20 is tightly fitted around the rollers, and as the input shaft and the carrier rotate about axis A, the position of the rollers rotates relative to the flex spline 20. The rollers also rotate about the roller shafts to allow rotation of the carrier relative to the flex spline. Because the flex spline 20 is made of a thin, flexible material, it conforms to the shape of the envelope of the epicyclic carrier unit i.e. is forced outwards to correspond to the major axis of the ellipse at the points where the rollers contact the flex spline and deform it radially outwards relative to the input shaft such that at the locations of the rollers, the outer surface 200 of the flex spline 20 is at the greatest distance from the input shaft axis and contacts the outer ring 30. The rest of the flex spline, not in contact with the rollers, is not pushed as far from the input shaft, and, in fact, due to the elastic nature of the flex spline, will actually deform radially inwards, and so does not contact the outer ring. When the flex spline engages the outer ring (e.g. by engaging teeth (not shown)) the fact that the outer ring is stationary causes the flex spline to rotate a small amount relative to the input shaft, which it is able to do by causing rotation of the rollers about the roller shaft axis R, in a direction of rotation opposite to that of the input shaft. This results in a corresponding rotation of the output shaft connected to the flex spline.

[0022] Because the elliptical shape of the flex spline is caused by the large rollers rotating around the inside of the flex spline and deforming it at the points of contact, the contact stress between the wave generator and the flex spline is reduced compared to conventional harmonic gearing in which the elliptical wave generator is always in contact with the flex spline via multiple roller bearings.

[0023] If the assembly is to be used in a multi-splice actuator, several flex splines will be required to cause movement of respective slices. The present invention is suited to such multi-splice assemblies in that multiple epicyclic carrier units, as described above, can be mounted to the input shaft and to different outputs. A shaft 70 may be provided to transfer drive from the input shaft to the next slice or to connect the assembly to the output shaft.

[0024] By combining the wave generator and bearings in a single epicyclic carrier unit, the driver can be easily assembled without the need for many separate parts including small bearing parts. As the rollers and their bearings are pre-mounted to the carrier unit and combine with that unit to form the elliptical shape of the wave generator, maintenance and repair of the assembly is considerably simplified.

[0025] It is expected that the mechanism would be particularly useful in areas where light, compact gearing with high gear ratio are desired, such as (but not only) in controlling aircraft flight control surfaces.