HARMONIC DRIVE Russian patent published in 2005 - IPC

FIELD: mechanical engineering; aircraft industry; rocketry.

SUBSTANCE: proposed harmonic drive has housing 1 with bushing 2, output shaft 4, flexible wheel 5, fixed rigid wheel 7 fitted on housing 1, wave generator 9 and plate 11 with n (n=1,2 etc) electric motors 12 placed inside flexible wheel 5. Wave generator 9 is installed on housing 1 and is provided with gear rim 10 coming into meshing with gear wheels 13 of electric motors 12. Plate 11 is made in form of cup 14 connected by bottom to end face 16 of output shaft 4. Cup is provided with unit 17 for connected to flexible wheel 5 made in form of thin-walled ring 18. Electric motors 12 are installed inside cup 14 on its bottom 15. Made on wall of cup 14 are n slots 21 for fitting in flanges 22 of motors.

EFFECT: reduced radial dimensions without increase of axial dimensions, reduced mass.

1 dwg