CN106194999A - A kind of harmonic speed reducer Multi-contact flexible bearing - Google Patents
A kind of harmonic speed reducer Multi-contact flexible bearing Download PDFInfo
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- CN106194999A CN106194999A CN201610871353.8A CN201610871353A CN106194999A CN 106194999 A CN106194999 A CN 106194999A CN 201610871353 A CN201610871353 A CN 201610871353A CN 106194999 A CN106194999 A CN 106194999A
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- Prior art keywords
- bearing
- outer ring
- flexible
- raceway
- contact
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C27/00—Elastic or yielding bearings or bearing supports, for exclusively rotary movement
- F16C27/04—Ball or roller bearings, e.g. with resilient rolling bodies
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
Abstract
A kind of harmonic speed reducer Multi-contact flexible bearing, including three point contact flexible ball bearings, four point cantact flexible ball bearings, linear contact lay flexible roller bearing, single rolling element i.e. has two or more contact point with between the flexbile gear interference fit part of outer ring with between outer ring raceway, compare compared with a technology only contact point, there is the set deformation accuracy improving outer ring flexbile gear interference fit part, the flexbile gear gear teeth are with the accuracy of mesh just taking turns the gear teeth, reduce or even avoid unnecessary additional deformation, reduce the contact stress of rolling element and raceway, control rolling element to slide, quality and the technical advantages such as lubricating condition when improving bearing assembled condition and operate, and finally improve flexible bearing, flexbile gear or even the running precision of whole harmonic speed reducer and service life, there is very important practical meaning in engineering.
Description
Technical field
The present invention relates to extraordinary technical field of rolling bearings, particularly to a kind of harmonic speed reducer Multi-contact flexible shaft
Hold and use the flexbile gear gear teeth low additional deformation wave producer-flexbile gear assembly of this bearing.
Background technology
Harmonic gear reducer (under be called for short harmonic speed reducer) is a kind of advanced person, accurate decelerator, because volume is little, quality
Gently, return difference is little, positioning precision and transmission efficiency is high, be easily achieved the outstanding advantages such as accurate position control and at industrial machine
The precision optical machinery fields such as people, high-grade car, Aero-Space, optical instrument, high-grade printer obtain extensively application.Along with industry
The rise of the intelligence manufacture that robot etc. are core, harmonic speed reducer with RV decelerator together, the advance intrinsic because of it and be subject to
Extensive attention to countries in the world.
Wave producer-flexbile gear assembly is the Core Feature assembly in harmonic speed reducer, as it is shown in fig. 7, comprises wave producer
And flexbile gear, wave producer includes cam-type, roller type and eccentric disc type, and wherein cam-type wave generator is the most commonly used, and it includes
Cam and flexible bearing (or claiming harmonic rolling beering), cam is oval (corresponding double wave according to its Cross-section Design of requirement of transmission
Transmission), prismatic (corresponding three ripple transmissions), the inner ring interference fit of cam and flexible bearing, the outer ring of flexbile gear and flexible bearing
Interference fit.The flexbile gear gear teeth on wave producer-flexbile gear assembly are meshed with the just wheel gear teeth, it is achieved slow down or step-up drive.
Harmonic speed reducer flexible bearing, its lasso wall thickness is only 0.01-0.025 times of bearing outside diameter, with cam shape ripple
As a example by generator, during installation, the inner ring inner headed face of flexible bearing and the cam profile face interference fit of cam type wave producer, soft
Property bearing the outer ring periphery endoporus interference fit corresponding with flexbile gear gear tooth portions, after installation, bearing inner race is forced deformation
For the shape of cam profile, the such as ellipticity of double wave transmission, and thus to make rolling element be ellipticity distribution, makes outer ring together with soft
Wheel becomes ellipticity.During harmonic speed reducer work, inner ring-cam interference fit part rotates, and drives outer ring-flexbile gear interference fit part
Rotate and the change of the position generating period of transverse and short axle, be in those flexbile gears wheel near transverse end
Tooth is just had an opportunity and just the gear teeth have been meshed, thus realizes power output.It can be seen that flexible bearing is the most special rolling
Bearing, outstanding behaviours is the thinnest at wall thickness, and bearing is the narrowest, and operation principle is the most special；Wave producer-flexbile gear is the most special group
Part, both elastic conjunction, the macroscopic deformation of the flexbile gear gear teeth is by wave producer type and acts on outer ring-flexbile gear interference fit part
The character of rolling element contact force together decide on.
The most long-term application practice all shows, flexible bearing and flexbile gear are the key component in harmonic speed reducer and rapid wear
Part, is often preceded by other parts generation precision and lost efficacy and fatigue failure.Existing flexible bearing is single-row shallow ridges radial ball bearing, rolling
Pearl and outer ring channel type raceway (under ditch type raceway is referred to as raceway groove) and bear inner ring grooved railway each only one of which contact point, thus existence is such as
Lower problem: (1) forces outer ring-flexbile gear interference fit diastrophic external force of part generating period to be that ball is with outer ring raceway
Contact force, these power are in one of them along the infinite multiple cross sections of bearing outer ring width or flexbile gear gear teeth width
On cross section, thus there are two problems, one is that when there is set deformation, required contact force is excessive, two be bearing outer ring and
Flexbile gear inevitably occurs to become along bearing outer ring or the buckling deformation of flexbile gear gear teeth width and distortion along the circumferential direction
Shape, thus affect flexbile gear and the accuracy of mesh just taken turns and transmission efficiency；(2) bearing is the lowest with angular rigidity vertically, once
Outer load exists axially and azimuth component, bearing ring and ball will occur along needed for the inflexibility bearing function in the two direction
Deformation and displacement, reduce transmission efficiency and the transmission accuracy of harmonic speed reducer；(3) raceway groove is inadequate to the constraint of ball, rolling
Pearl motion can produce substantial amounts of slip component, thus cause the scratch of bearing working face and the deterioration of bearing accuracy.Therefore, compel
Be essential the flexible bearing of new structure of rolling element to be researched and developed and the non-single contact point of outer ring raceway, to overcome existing flexible bearing
Limit to the above-mentioned principle technology existing for wave producer-flexbile gear Interference Fitted Assemblies and quality, thus improve flexible bearing
Or even transmission accuracy, accuracy life and the fatigue life of whole harmonic speed reducer.
Summary of the invention
It is an object of the invention to provide a kind of Multi-contact flexible bearing, to overcome current art single-row shallow ridges radial ball
Some principle technology existing for flexible bearing and quality limitation, such as, ball is higher with ring raceways contact stress, bearing
Axially and angular stiffness is too low, force bearing outer ring and flexbile gear interference fit part produce necessary to rolling needed for set deformation
Pearl is all in the contact force of outer ring raceway takes turns on one of them cross section of tooth width along bearing or flexbile gear, thus causes attached
Add deformation, affect the transmission accuracy of harmonic speed reducer, accuracy life and fatigue life etc..Another object of the present invention is just to provide
Use the wave producer-flexbile gear assembly of Multi-contact flexible bearing, thus avoid the current art flexbile gear gear teeth that both sizings are occurring
The produced buckling deformation along facewidth direction and torsional deformation along the circumferential direction when deformation, to improve harmonic speed reducer
Transmission accuracy and operational reliability.
It is an object of the invention to be achieved through the following technical solutions:
A kind of harmonic speed reducer Multi-contact flexible bearing, including thin-walled outer ring, thin-walled inner ring, embed outer ring raceway and
Rolling element between inner ring raceway and by keeper the most evenly spaced for each rolling element, is characterized in that, single rolling
With outer ring raceway two-point contact or linear contact lay, under the effect of rolling element contact force, there is set radial direction reducing thin-walled outer ring in body
Buckling deformation along outer ring width and/or the torsional deformation along outer ring circumferencial direction during deformation.
Described flexible bearing, is characterized in that, the raceway of outer ring is peach-shaped or elliptic arc ditch type raceway, and the raceway of inner ring is
Single circular arc ditch type raceway, rolling element is ball, and single ball has two contact points with outer ring channel type raceway, rolls with inner ring ditch type
There is a contact point in road, and flexible bearing is three point contact flexible ball bearings.
Described flexible bearing, is characterized in that, the raceway of outer ring and the raceway of inner ring are peach-shaped or the rolling of elliptic arc ditch type
Road, rolling element is ball, and single ball all has two contact points with outer ring channel type raceway and inner ring ditch type raceway, and flexible bearing is
Four point cantact flexible ball bearings.
Described flexible bearing, is characterized in that, the curve line that all straight line or belt trace of raceway of two lassos are protruding
Type raceway, rolling element is roller, single roller with being linear contact lay between inner ring line style raceway and outer ring line style raceway, flexible bearing
For linear contact lay flexible roller bearing.
Described three point contact and four point cantact flexible ball bearings, is characterized in that, ball material is bearing steel or engineering pottery
Porcelain.
Described three point contact and four point cantact flexible ball bearings, is characterized in that, ball is with the contact between ditch type raceway
Angle is 5 degree to 40 degree.
Described linear contact lay flexible roller bearing, is characterized in that, including following structure: inner ring is without rib type, and outer ring is without gear
Limit type, inner ring and outer ring all band single block borders and two ribs are not in the same side of bearing.
Described linear contact lay flexible roller bearing, is characterized in that, roller material is bearing steel or engineering ceramics, keeps equipment
Material is engineering plastics, sheet metal or steel band.
Described linear contact lay flexible roller bearing, is characterized in that, the curve that band trace is protruding, convex is loaarithmic curve, convex
Amount is less than 300 microns.
A kind of harmonic speed reducer flexbile gear gear teeth low additional deformation wave producer-flexbile gear assembly, including wave producer and soft
Wheel, when for cam-type wave generator (including cam and flexible bearing), cam and the inner headed face interference fit of bearing inner race, soft
Wheel and the periphery interference fit of bearing outer ring, is characterized in that, flexible bearing is described three point contact flexible ball bearings or institute
The four point cantact flexible ball bearings stated or described linear contact lay flexible roller bearing, the single rolling element in flexible bearing is with flexible
Bearing outer ring and flexbile gear interference fit part form two-point contact or linear contact lay, during to reduce flexbile gear gear teeth generation set radial deformation
Buckling deformation along facewidth direction and/or the torsional deformation along flexbile gear circumferencial direction.
For change prior art radial ball flexible bearing rolling element with single lasso contact point number only one of which not
Profit situation, is first to account in the range of ball from rolling element used by ball bearing i.e. bearing, to this end, prior art is flexible
The channels cross-section shape of bearing changes into peach-shaped raceway groove and the variable curvature raceway groove of bicircular arcs docking from single circular arc raceway groove,
Variable curvature raceway groove preferred elliptic arc raceway groove, ball has two contact points with peach-shaped raceway groove and elliptic arc raceway groove.When a lasso
The channel shape of (such as outer ring) is peach-shaped or ellipse arc, when the raceway groove of another lasso (inner ring) remains as circular arc, and one
Ball has three contact points with two lassos, and flexible bearing now is three point contact flexible bearing；Ditch when two lassos
When all peach-shapeds of road shape or ellipse arc, flexible bearing now is four point cantact flexible bearings.Due to ball and peach-shaped
Raceway groove and elliptic arc raceway groove have two contact points, therefore, under same external load, reduce contact stress；Due to ball
There is a contact angle being not zero with peach-shaped raceway groove and elliptic arc raceway groove, therefore, bearing, while having radial rigidity, has
Having axial rigidity, contact angle is the biggest, and axial rigidity is the biggest；When outer ring raceway is peach-shaped raceway groove and elliptic arc raceway groove, single
Ball and the contact force on outer ring-flexbile gear interference fit part, have two application points along ring width direction, and the radial direction of two power is divided
Measuring identical, axial component is equal in magnitude in opposite direction, is conducive to stoping outer ring-flexbile gear interference fit part completing set work of deformation
The additional deformation occurred during energy and warpage, thus improve transmission accuracy and the service life of decelerator.
For change prior art radial ball flexible bearing rolling element with single lasso contact point number only one of which not
Profit situation, the scope jumping out ball bearing considers, to this end, the ditch type groove-section shape of prior art flexible bearing be designed as
Linear type raceway, rolling element is designed as roller i.e. roller from ball, and at this moment, prior art radial ball flexible bearing just becomes roller
Flexible bearing, the roller of roller bearing is linear contact lay with raceway, i.e. has infinite contact point along contact line direction.Roller bearing is excellent
Select cylinder roller bearing, for avoiding the stress concentration phenomenon of roller and raceway contact end, improve the operating of cylinder roller bearing
Performance, is designed as the raceway of band convexity or/and use the roller of band convexity by lasso raceway.The single contact of linear contact lay flexible bearing
Secondary contact stress is greatly lowered, and has high radial rigidity and angular stiffness, and single roller is joined with outer ring-flexbile gear interference
Contact force on component, has infinite application point along ring width direction, for width equal to the even distributed force of roller length, has very much
It is beneficial to realize the set deformation of outer ring-flexbile gear interference fit part, and effectively stops undesirable additional deformation, warpage and distortion
Generation, thus increase substantially the deformation precision of outer ring-flexbile gear interference fit part, and then significantly improve the transmission essence of decelerator
Degree and service life.
Accompanying drawing explanation
Fig. 1 is current art flexible bearing profile；
Fig. 2 outer ring-flexbile gear interference fit part single-point stress schematic diagram；
Fig. 3 outer ring-flexbile gear interference fit part two points stress schematic diagram；
Fig. 4 outer ring-infinite some stress schematic diagram of flexbile gear interference fit part；
Fig. 5 A ball is with ditch type raceway three point contact (septal fossula 1 outer fissure 2 point) flexible ball bearings schematic diagram；
Fig. 5 B ball is with ditch type raceway four point cantact (septal fossula 2 outer fissures 2 point) flexible ball bearings schematic diagram；
Fig. 6 A roller synteny raceway infinite point cantact inner ring is without rib flexible roller bearing schematic diagram；
Fig. 6 B roller synteny raceway infinite point cantact outer ring is without rib flexible roller bearing schematic diagram；
Fig. 6 C roller synteny raceway infinite point cantact inner ring and outer ring heteropleural single block border flexible roller bearing schematic diagram；
Wave producer, flexbile gear, the just relative position view of wheel in Fig. 7 harmonic speed reducer；
Fig. 8 flexbile gear gear teeth low additional deformation wave producer-flexbile gear component drawings.
Detailed description of the invention
In figure, code name illustrates.
Fig. 1 is current art flexible bearing profile, for radial ball bearing structure, 11 is outer ring, 12 is inner ring, 13 is rolling
Pearl, 14 being keeper, outer ring 11 and inner ring 12 are single circular arc ditch type raceway, and a ball contacts with they each only one of which
Point (the black round dot shown in figure), and two lassos have 2 contact points.
Fig. 2 is outer ring-flexbile gear interference fit part single-point stress schematic diagram, and 21 is current art flexible bearing single circular arc ditch
Type raceway outer ring, rolling element is ball 22,23 is flexbile gear, outer ring 21 and flexbile gear 23 interference fit, a ball and outer ring raceway
Only one of which contact point (the black round dot shown in figure), so, a ball is applied to the power of outer ring-flexbile gear interference fit part
For concentration power Q, application point is at bottom of trench.
Fig. 3 is outer ring-flexbile gear interference fit part two points stress schematic diagram, and 31 is flexible bearing outer ring of the present invention, for peach-shaped
Or elliptic arc ditch type raceway, rolling element is ball 32,33 is flexbile gear, outer ring 31 and flexbile gear 33 interference fit, and a ball is with outer
Circle raceway groove has two contact points (the black round dot shown in figure), and two contact points are symmetrically distributed in the both sides of bottom of trench, and two connect
The contact angle of contact is equal, so, the power that ball is applied to outer ring-flexbile gear interference fit part is Q1And Q2Two power, two
The application point of power along interference fit part axially at a distance of L2, L2It is directly proportional to the size of contact angle.
Fig. 4 is outer ring-infinite some stress schematic diagram of flexbile gear interference fit part, and 41 is flexible bearing outer ring of the present invention, for directly
The Curve raceway that line or belt trace is protruding, rolling element be roller (roller) 42,43 be flexbile gear, outer ring 41 and flexbile gear 43 interference
Coordinating, a roller and outer ring raceway have infinite contact point, so, a roller is applied to outer ring-flexbile gear interference fit part
Power be distributed force, respectively Q1, Q2..., QN-1, QN(wherein N is infinitely great), distributed force is along the axial action of interference fit part
Distance is LN, LN＞ L2。
Fig. 5 A be ball with ditch type raceway three point contact (septal fossula 1 outer fissure 2 point) flexible ball bearings schematic diagram, 51A is this
Invention flexible bearing outer ring, 52A is inner ring, and 53A is ball, and 54A is keeper.Outer ring is the peach-shaped being made up of two semi arches
Raceway groove, the center of two semi arches is respectively Oe1、Oe2, the center of ball is O, and ball has two contact points (figure with outer ring raceway
Shown in black round dot), contact point, not in trench bottom, forms contact angle α；Inner ring is single circular arc raceway groove, and center is Oi,
Ball has single contact point with bear inner ring grooved railway, and contact point is in trench bottom, and contact angle is 0, and ball has with two ring raceways
Three contact points.
Fig. 5 B be ball with ditch type raceway four point cantact (septal fossula 2 outer fissures 2 point) flexible ball bearings schematic diagram, 51B is this
Invention flexible bearing outer ring, 52B is inner ring, and 53B is ball, and 54B is keeper.Outer ring is elliptic arc raceway groove, elliptic arc place
The oval center of circle be Oe, on raceway groove, the curvature of each point changes with position, and the center of ball is O, has two with outer ring raceway
Contact point (the black round dot shown in figure), contact point, not in trench bottom, forms contact angle αe；Inner ring is also elliptic arc ditch
Road, the oval center of circle at elliptic arc place is Oi, on raceway groove, the curvature of each point changes with position, and ball has two with bear inner ring grooved railway
Individual contact point, contact point, not in trench bottom, forms contact angle αi, ball has four contact points with two ring raceways.
In Fig. 5 A and Fig. 5 B, in order to show the curvature center of each contact surface, only depict bearing one side entity
The shape in cross section, and do not sign in the position of center line of bearing.
In Fig. 5 A and Fig. 5 B, rolling element with outer ring raceway contact force as shown in Figure 3.
Fig. 6 A be roller synteny raceway infinite point cantact inner ring be this without rib flexible roller bearing schematic diagram, 61A
Bright flexible bearing outer ring, 62A is inner ring, and 63A is roller, and 64A is keeper.Outer ring is without convexity or the linear type of band convexity
Raceway, the double rib of band, roller forms contact in roller total length with outer ring raceway, has infinite contact point；Inner ring is without convex
Degree or the linear type raceway of band convexity, without rib, roller forms contact with inner ring raceway in roller total length, has infinite to connect
Contact.In a whole set of bearing, owing to inner ring is without rib, therefore inner ring can separate.
Fig. 6 B to Fig. 6 C, the code name meaning in figure is corresponding with Fig. 6 A consistent.When one of them set single grade of limit of astragal or without
During rib, this lasso is exactly separable lasso, to the dismounting of bearing, install very convenient, to the axial limiting of this lasso by
Shoulder on harmonic speed reducer wave producer or flexbile gear, collar etc. realize.
From Fig. 6 A to Fig. 6 C, the general character of these flexible roller bearings is exactly, and rolling element is distributed with the contact force of outer ring raceway
As shown in Figure 4.
In Fig. 7 harmonic speed reducer, wave producer, flexbile gear, the just relative position view of wheel, illustrate that cam-type ripple in figure
Generator, it includes cam and flexible bearing.The same flexible bearing of cam periphery with certain geometry borderline (such as oval)
The inner headed face interference fit of inner ring, the periphery of the wave producer i.e. periphery of flexible bearing outer ring is corresponding with flexbile gear gear tooth portions
Endoporus interference fit, the assembly of wave producer and flexbile gear interference fit is referred to as wave producer-flexbile gear assembly, above flexbile gear
External tooth be meshed with just wheel internal tooth above, it is achieved power transmission and speed change.Wave producer, flexbile gear, just wheel three are concentrically
Axis.
Fig. 8 flexbile gear gear teeth low additional deformation wave producer-flexbile gear assembly, illustrates that double wave driving cam Shi Bofa in figure
Raw device, 81 be the cam with oval profile, 82 is flexible bearing, 83 is flexbile gear.Wherein 811 is the installation endoporus table of cam
Face, 812 is the oval profile of cam, and 831 is the gear teeth of flexbile gear.
Below in conjunction with accompanying drawing, describe the present invention in detail.
Embodiment 1, as shown in Figure 5A three point contact flexible ball bearings
In Fig. 5 A, 51A is bearing outer ring, and 52A is inner ring, and 53A is ball, and 54A is keeper, and 53A ball embeds 51A institute
Show in the middle of the raceway of inner ring shown in outer ring and 52A and by the keeper shown in 54A by spaced apart in the circumferential direction.Outer ring 51A is
The peach-shaped raceway groove being made up of two semi arches, the center of two semi arches is respectively Oe1、Oe2, the center of ball 53A is O, ball
53A has two contact points with outer ring 51A raceway groove, and contact point, not in trench bottom, forms contact angle α；Inner ring 52A is single circular arc
Raceway groove, center is Oi, ball 53A has single contact point with inner ring 52A raceway groove, and contact point is in trench bottom, and contact angle is 0, rolling
Pearl 53A has three contact points with two ring raceways.
Outer ring 51A and inner ring 52A material use bearing steel, and ball 53A material uses bearing steel or silicon nitride ceramics, keep
Device 54A material uses engineering plastics.The span of contact angle α is 5 to 40 degree, it can be seen that ball 53A is with outer ring 51A's
The trench bottom Fructus Persicae of peach-shaped raceway groove (i.e. point) not in contact with, but have a segment distance, contact angle is the biggest, and this distance is the biggest,
Mean that outer ring raceway is the thinnest to the wall thickness between the periphery of outer ring.Therefore, the wall thickness of flexible bearing outer ring 51A is the thinnest, if
Meter contact angle α just should select the least, and the distance between two contact points is the least, is equivalent to the force scope to lasso more
Narrow.
This three point contact flexible ball bearings, rolling element is to the active force of outer ring-flexbile gear interference fit part as shown in Figure 3.
Embodiment 2, as shown in Figure 5 B four point cantact flexible ball bearings
In Fig. 5 B, 51B is bearing outer ring, and 52B is inner ring, and 53B is ball, and 54B is keeper, and 53B ball embeds 51B institute
Show in the middle of the raceway of inner ring shown in outer ring and 52B and by the keeper shown in 54B by spaced apart in the circumferential direction.Outer ring 51B is
Elliptic arc raceway groove, the elliptical center at this elliptic arc place is Oe, on raceway groove, the curvature of each point changes with position, ball 53B
Center be O, have two contact points with outer ring 51B raceway groove, contact point, not in trench bottom, forms contact angle αe；Inner ring 52B is also
For elliptic arc raceway groove, the elliptical center at this elliptic arc place is Oi, on raceway groove, the curvature of each point changes with position, ball
53B has two contact points with inner ring 52B raceway groove, and contact point, not in trench bottom, forms contact angle αi, ball 53B is with two sets
Circle raceway groove has four contact points.
Outer ring 51B and inner ring 52B material use bearing steel, and ball 53B material uses bearing steel or silicon nitride ceramics, keep
Device 54B material uses engineering plastics.The span of contact angle α is 5 to 40 degree, it can be seen that ball 53B with outer ring 51B and
The trench bottom of inner ring 52B not in contact with, but have a segment distance, contact angle is the biggest, and this distance is the biggest, it is meant that outer ring
Raceway groove is the thinnest to the wall thickness between the periphery of outer ring, between bear inner ring grooved railway to inner ring inner headed face.Therefore, flexible bearing lasso
Wall thickness is the thinnest, and the ball of design just should select the least with the contact angle of this ring raceways.
Elliptic arc raceway groove i.e. raceway groove is the wherein sub-fraction of some ellipse, and the major axis of outer ring elliptic arc raceway groove is positioned at rolling
The pearl center of circle with on the line bottom outer ring raceway, the major axis of inner ring elliptic arc raceway groove be positioned at the ball center of circle with bear inner ring grooved railway bottom
On line.In Fig. 5 B, OeFor the elliptical center at outer ring raceway elliptic arc place, OiIn ellipse for bear inner ring grooved railway elliptic arc place
The heart.
This four point cantact flexible ball bearings, rolling element is to the active force of outer ring-flexbile gear interference fit part as shown in Figure 3.
Embodiment 3, as shown in Figure 6A roller synteny raceway infinite point cantact inner ring are without rib flexible roller bearing
In Fig. 6 A, 61A is outer ring, and 62A is inner ring, and 63A is to embed the roller between outer ring raceway and inner ring raceway, 64A
For the keeper that each ball 63A is separated along bearing circumferencial direction.The double rib of outer ring 61A band, inner ring 62A is without rib, outer ring
The bus of 61A raceway, inner ring 62A raceway and roller 63A is straight line, and roller 63A is with outer ring 61A raceway and inner ring 62A raceway
Roller 63A total length is formed contact, has an infinite contact point, this flexible bearing, owing to inner ring 62A is without rib, therefore in
Circle 62A is separated type inner ring.
The outer ring 61A of this flexible roller bearing and inner ring 62A material use bearing steel, and roller 63A material uses bearing steel
Or engineering ceramics, keeper 64A uses plastics or metal stamping keeper.
After bearing is installed, the two of outer ring ribs limit roller and the axial displacement of keeper or play.
This linear contact lay flexible roller bearing, rolling element is to the active force of outer ring-flexbile gear interference fit part as shown in Figure 4.
Embodiment 4, as shown in Figure 6 C roller synteny raceway infinite point cantact inner ring and the rolling of outer ring heteropleural single block border flexibility
Sub-bearing
In Fig. 6 C, 61C is outer ring, and 62C is inner ring, and 63C is to embed the roller between outer ring raceway and inner ring raceway, 64C
For the keeper that each roller 63C is separated along bearing circumferencial direction.Outer ring 61C and inner ring 62C all band single block borders but two lassos
Rib not in the same side of bearing, the bus of outer ring 61C raceway, inner ring 62C raceway and roller 63C is loaarithmic curve, rolling
Sub-63C forms linear contact lay with outer ring 61C raceway and inner ring 62C raceway in roller 63C total length, has infinite contact point, and this is soft
Property bearing, due to outer ring 61C and inner ring 62C all band single block borders, therefore, two lassos are the most separable.
The outer ring 61C of this flexible roller bearing and inner ring 62C material use bearing steel, and roller 63C material uses bearing steel
Or engineering ceramics, keeper 64C uses plastics or metal stamping keeper.
After bearing is installed, not single block border at two lassos of bearing the same side limit the axial position of roller and keeper
Move or play.
This linear contact lay flexible roller bearing, rolling element is to the active force of outer ring-flexbile gear interference fit part as shown in Figure 4.
Embodiment 5, as shown in Figure 8 the flexbile gear gear teeth low additional deformation wave producer-flexbile gear assembly
In figure, the wave producer of signal is double wave driving cam formula wave producer, and 81 is the cam with oval profile,
82 be flexible bearing, 83 for flexbile gear.Wherein 811 is the installation bore area of cam, and 812 is the oval profile of cam, and 831 are
The gear teeth of flexbile gear.The interference fit part of 81 and 82 is referred to as wave producer, and the assembly after wave producer and flexbile gear 83 interference fit claims
For wave producer-flexbile gear assembly.
It is different from the prior art wave producer-flexbile gear assembly using single-row shallow ridges radial ball flexible bearing, the present embodiment
Wave producer-flexbile gear assembly uses the rolling element described in embodiment 1 to embodiment 4 with outer ring raceway Multi-contact flexible bearing
82, the outer ellipsoid of cam 81 is with the inner headed face interference fit of flexible bearing 82 inner ring, and flexible bearing 82 shape of cross section is by filling
Circle before joining is forced to become oval, and the inner headed face of flexbile gear 83 is joined with the outer ellipsoid interference of flexible bearing 82 outer ring
Closing, flexbile gear 83 shape of cross section is also forced to become oval from the circle before assembling.
The present embodiment wave producer-flexbile gear assembly owing to have employed Multi-contact flexible bearing, the same flexbile gear of single rolling element-
There are two (three point contact flexible ball bearings, four point cantact flexible ball bearings) between the interference fit part of outer ring or infinite (line connects
Touch flexible roller bearing) contact point, therefore, during harmonic speed reducer work, the gear teeth 831 of flexbile gear 83 are except occurring in diagram plane
Set radial direction deformation outside, it is along the additional buckling deformation of flexbile gear gear teeth width or additional along flexbile gear gear teeth circumferencial direction
Torsional deformation is controlled, and compares current art product the least or even never occur, thus drastically increases harmonic wave and subtract
The speed transmission accuracy of device, transmission efficiency and military service reliability.
Above-mentioned harmonic speed reducer Multi-contact flexible bearing, including three point contact flexible ball bearings, four point cantact flexibilities
Ball bearing, linear contact lay flexible roller bearing, single rolling element is with between outer ring raceway i.e. between same outer ring-flexbile gear interference fit part
There is two or infinite contact point, compare compared with a technology only contact point, there is technology and the matter of many principles
Amount advantage, for the sake of directly perceived, contrasts situation by the technology of the present invention and prior art tabulated below.
Wave producer-flexbile gear the assembly using Multi-contact flexible bearing of the present invention has that additional deformation is little, transmission accuracy
High a series of technical quality advantage.
As a example by cam type wave producer, it is assumed that the shape of cross section of cam outer face is oval, when flexible bearing passes through
Its internal circular surfaces is installed as one with the interference fit of flexbile gear with cam and flexbile gear with the interference fit of cam, its outer round surface
After, distribution shape in cross section of bearing inner race cross section, each rolling element center, bearing outer ring cross section, flexbile gear cross section
It is forced to therewith become elliptical shape, for improving the flexbile gear gear teeth accuracy of mesh with the just wheel gear teeth, and then improves harmonic speed reducer
Transmission accuracy, it is intended that, in the range of the flexbile gear gear teeth (with the just gear teeth) effectively length of action, the shape of each cross section
The most completely the same, for same ellipse, the warpage i.e. do not added along the width of bearing outer ring-flexbile gear interference fit part
Deformation, the circumferencial direction along bearing outer ring-flexbile gear interference fit part does not has torsional deflection, but, prior art flexible bearing is
Common radial ball structure, single rolling element acts on a bit (at the bottom of outer ring channel) to outer ring-flexbile gear interference fit part applying
Concentration power, above-mentioned additional buckling deformation and torsional deflection are unavoidable, to transmission accuracy and the service life band of harmonic speed reducer
Inevitably negatively affect.Three point contact flexible ball bearings of the present invention and four point cantact flexible ball bearings, single rolling element
Having two contact points, two concentration powers with outer ring raceway, these two contact points are along the axle of bearing outer ring-flexbile gear interference fit part
To there being a span, accordingly, it is capable to effectively reduce above-mentioned buckling deformation and torsional deformation；Linear contact lay flexible roller bearing of the present invention, single
Individual rolling element has infinite contact point with outer ring raceway, and contact force is the distributed force along roller total length, accordingly, it is capable to substantially reduce
Or even avoid above-mentioned buckling deformation and torsional deformation completely.
Three point contact flexible ball bearings of the present invention and four point cantact flexible ball bearings are compared with technology three-point contact ball bearing
There is many differences with four-point contact ball, such as, prior art uses three-point contact ball bearing and four-point contact ball
(axial rigidity of general radial ball bearing is very in the radial and axial rigidity having had of bearing simultaneously mainly to consider them
Low), but the present invention uses three-point contact ball bearing and four-point contact ball to be then to increase ball with raceway groove at bearing axle
To contact count and the effect span of power, thus improve the set deformation accuracy of outer ring-flexbile gear interference fit part, the most such as,
The lasso wall thickness of flexible bearing is the thinnest, and raceway groove is the most shallow and bottom of trench is the thinnest to the wall thickness of periphery, therefore, and the contact angle of bearing
Sometimes to take less value, such as 20 degree, and prior art three point contact and four-point contact ball, contact angle is the most all 35
More than degree.
Linear contact lay flexible roller bearing of the present invention there is also many differences, such as, existing skill compared with technology roller bearing
Art uses roller bearing to be typically all radial direction bearing capacity and the radial rigidity in order to improve bearing, but the present invention is not, this
Invention uses roller bearing mainly to consider that the same outer ring of roller-flexbile gear interference fit part has infinite multiple contact point vertically, is edge
The distributed force of roller total length, accordingly, it is capable to significantly improve the set deformation accuracy of outer ring-flexbile gear interference fit part, such as, the most flexible
Bearing not only wall is thin, and the narrowest, and when a double rib of set astragal, the intensity of rib is probably a bigger problem,
Therefore, outer ring of the present invention and inner ring each band single block border but be distributed in the structure (shown in accompanying drawing 6C) of bearing heteropleural and there is reality the most very much
Border meaning, for another example, same because flexible bearing not only wall is thin, and also the narrowest, some product has to select draw ratio (roller
Length/roller diameter) less than 1 cylindrical roller, this is non-existent in the prior art, prior art cylindrical roller bearing
Minimum length is exactly and its equal diameters.
Certainly, three point contact flexible ball bearings of the present invention, four point cantact flexible ball bearings, linear contact lay flexible roller bearing remove
Can preferably fulfil outside flexible bearing function in harmonic speed reducer, also there is three-point contact ball bearing, four-point contact ball
Hold, other advantage of roller bearing, these dominating part have listed above table in.Above-mentioned excellent due to Multi-contact flexible bearing
Gesture, uses the wave producer-flexbile gear assembly of Multi-contact flexible bearing, occurs with the ripple of existing employing single-contact flexible bearing
Device-flexbile gear assembly is compared, and has the outstanding advantage that flexbile gear gear teeth additional deformation is low, and this is for improving the transmission essence of harmonic speed reducer
Degree, transmission efficiency and reliable operation degree have important practical meaning in engineering, subtract due to the widely used harmonic wave of industrial robot again
Speed device, therefore, in the intelligence manufacture epoch with one of the artificial outstanding feature of industrial machine, the innovation of above-mentioned technical quality and progress are same
Time there is very important realistic meaning.
One contact point of outer fissure that claim is covered, the three point contact flexible ball axle of two contact points of septal fossula
Hold, owing to single ball has two contact points with septal fossula, to control ball skidding, improve bearing running stability same
There is positive effect.
The several specific embodiments being only the application disclosed above, but the application is not limited to this, any this area
Technical staff can think change, all should fall in the protection domain of the application.
Claims (10)
1. a harmonic speed reducer Multi-contact flexible bearing, including thin-walled outer ring, thin-walled inner ring, embeds outer ring raceway and interior
Enclose the rolling element between raceway and by keeper the most evenly spaced for each rolling element, it is characterized in that, single rolling element
With being designed to two-point contact or linear contact lay between outer ring raceway, to reduce or to avoid thin-walled outer ring in the effect of rolling element contact force
Additional buckling deformation along outer ring width and/or the additional distortion along outer ring circumferencial direction during the lower set radial deformation of generation
Deformation.
2. flexible bearing as claimed in claim 1, is characterized in that, the raceway of outer ring is peach-shaped or elliptic arc ditch type raceway, interior
The raceway of circle is single circular arc ditch type raceway, and rolling element is ball, and single ball forms two contact points with outer ring channel type raceway,
Forming a contact point with inner ring ditch type raceway, flexible bearing is three point contact flexible ball bearings.
3. flexible bearing as claimed in claim 1, is characterized in that, the raceway of outer ring and the raceway of inner ring are peach-shaped or ellipse
Arc ditch type raceway, rolling element is ball, and single ball is respectively formed two contact points with outer ring channel type raceway and inner ring ditch type raceway,
Flexible bearing is four point cantact flexible ball bearings.
4. flexible bearing as claimed in claim 1, is characterized in that, all straight line or belt trace of raceway of two lassos are protruding
Curve raceway, rolling element is roller, single roller with between inner ring line style raceway and outer ring line style raceway formed line connect
Touching, flexible bearing is linear contact lay flexible roller bearing.
5. the three point contact as described in claim 2 or claim 3 and four point cantact flexible ball bearings, is characterized in that, ball
Material is bearing steel or engineering ceramics.
6. the three point contact as described in claim 2 or claim 3 and four point cantact flexible ball bearings, is characterized in that, ball
It it is 5 degree to 40 degree with the contact angle between ditch type raceway.
7. linear contact lay flexible roller bearing as claimed in claim 4, is characterized in that, including following structure: inner ring without rib type,
Outer ring without rib type, inner ring and outer ring all band single block borders and two ribs not in the same side of bearing.
8. linear contact lay flexible roller bearing as claimed in claim 4, is characterized in that, roller material is bearing steel or engineering pottery
Porcelain, keeper material is engineering plastics, sheet metal or steel band.
9. linear contact lay flexible roller bearing as claimed in claim 4, is characterized in that, the curve that band trace is protruding, convex is right
Number curve, convex amount is less than 300 microns.
10. the harmonic speed reducer flexbile gear gear teeth low additional deformation wave producer-flexbile gear assembly, including wave producer and soft
Wheel, when for including the cam-type wave generator of cam and flexible bearing, the inner headed face interference fit of cam and bearing inner race, soft
Wheel and the periphery interference fit of bearing outer ring, is characterized in that, flexible bearing is the three point contact flexible ball described in claim 2
Four point cantact flexible ball bearings described in bearing or claim 3 or the linear contact lay flexible roller bearing described in claim 4, soft
Property bearing in single rolling element form two-point contact or linear contact lay with flexible bearing outer ring and flexbile gear interference fit part, to reduce
Buckling deformation along facewidth direction and/or the torsional deformation along flexbile gear circumferencial direction during the flexbile gear gear teeth set radial deformation of generation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610871353.8A CN106194999B (en) | 2016-09-29 | 2016-09-29 | A kind of harmonic speed reducer Multi-contact flexible bearing |
| US16/338,421 US20200040981A1 (en) | 2016-09-29 | 2016-12-20 | Multiple contact-point flexible bearing applicable to a harmonic drive |
| PCT/CN2016/111109 WO2018058814A1 (en) | 2016-09-29 | 2016-12-20 | Multiple contact point flexible bearing for harmonic reducer |
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| CN201610871353.8A CN106194999B (en) | 2016-09-29 | 2016-09-29 | A kind of harmonic speed reducer Multi-contact flexible bearing |
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| CN106194999B CN106194999B (en) | 2019-03-19 |
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| CN107084194A (en) * | 2017-06-21 | 2017-08-22 | 宁波慈兴轴承有限公司 | Harmonic speed reducer flexible bearing |
| WO2018058814A1 (en) * | 2016-09-29 | 2018-04-05 | 上海斐赛轴承科技有限公司 | Multiple contact point flexible bearing for harmonic reducer |
| CN108061139A (en) * | 2017-12-19 | 2018-05-22 | 苏州习元智能科技有限公司 | A kind of miniature harmonic wave speed reducing machine |
| CN108799417A (en) * | 2018-07-31 | 2018-11-13 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with flexible roller bearing |
| CN112128343A (en) * | 2020-10-29 | 2020-12-25 | 珠海格力电器股份有限公司 | Speed reducer and robot with same |
| CN112412971A (en) * | 2020-11-19 | 2021-02-26 | 大族激光科技产业集团股份有限公司 | Flexible bearing and harmonic reducer |
| CN112539260A (en) * | 2020-12-14 | 2021-03-23 | 深圳市山卓谐波传动科技有限公司 | Harmonic reducer |
| CN112610599A (en) * | 2020-12-01 | 2021-04-06 | 广州市昊志机电股份有限公司 | Flexible bearing and harmonic reducer |
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| WO2018058814A1 (en) * | 2016-09-29 | 2018-04-05 | 上海斐赛轴承科技有限公司 | Multiple contact point flexible bearing for harmonic reducer |
| CN107084194A (en) * | 2017-06-21 | 2017-08-22 | 宁波慈兴轴承有限公司 | Harmonic speed reducer flexible bearing |
| CN107084194B (en) * | 2017-06-21 | 2022-12-13 | 宁波慈兴轴承有限公司 | Flexible bearing of harmonic reducer |
| CN108061139A (en) * | 2017-12-19 | 2018-05-22 | 苏州习元智能科技有限公司 | A kind of miniature harmonic wave speed reducing machine |
| CN108799417A (en) * | 2018-07-31 | 2018-11-13 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with flexible roller bearing |
| CN112128343A (en) * | 2020-10-29 | 2020-12-25 | 珠海格力电器股份有限公司 | Speed reducer and robot with same |
| CN112128343B (en) * | 2020-10-29 | 2021-10-08 | 珠海格力电器股份有限公司 | Speed reducer and robot with same |
| CN112412971A (en) * | 2020-11-19 | 2021-02-26 | 大族激光科技产业集团股份有限公司 | Flexible bearing and harmonic reducer |
| CN112610599A (en) * | 2020-12-01 | 2021-04-06 | 广州市昊志机电股份有限公司 | Flexible bearing and harmonic reducer |
| CN112610599B (en) * | 2020-12-01 | 2022-10-28 | 广州市昊志机电股份有限公司 | Flexible bearing and harmonic reducer |
| CN112539260A (en) * | 2020-12-14 | 2021-03-23 | 深圳市山卓谐波传动科技有限公司 | Harmonic reducer |
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