CN106194999B - 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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- CN106194999B CN106194999B CN201610871353.8A CN201610871353A CN106194999B CN 106194999 B CN106194999 B CN 106194999B CN 201610871353 A CN201610871353 A CN 201610871353A CN 106194999 B CN106194999 B CN 106194999B
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- bearing
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- outer ring
- flexible
- raceway
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rolling Contact Bearings (AREA)
Abstract
A kind of harmonic speed reducer Multi-contact flexible bearing, including three point contact flexible ball bearings, four point contact flexible ball bearings, line contacts flexible roller bearing, single rolling element is the same as i.e. same outer ring-flexbile gear is interference fitted between part with two or more contact points between outer ring raceway, only have a contact point compared with technology to compare, with the set deformation accuracy of raising outer ring-flexbile gear interference fit part, the accuracy of mesh of the flexbile gear gear teeth with the firm gear gear teeth, reduce or even avoid unnecessary additional deformation, reduce the contact stress of rolling element and raceway, control rolling element sliding, improve quality and the technical advantages such as lubricating condition when bearing assembled condition and operating, and finally improve flexible bearing, the running precision and service life of flexbile gear or even entire harmonic speed reducer, with very important practical meaning in engineering.
Description
Technical field
The present invention relates to extraordinary technical field of rolling bearings, in particular to a kind of harmonic speed reducer Multi-contact flexible shaft
Hold additional deformation wave producer-flexbile gear component low with the flexbile gear gear teeth using the bearing.
Background technique
Harmonic gear reducer (lower abbreviation harmonic speed reducer) is a kind of advanced, accurate retarder, because of small in size, quality
Gently, return difference is small, positioning accuracy and transmission efficiency are high, be easily achieved the outstanding advantages such as accurate position control and in industrial machine
The precision machineries fields such as people, high-grade car, aerospace, optical instrument, high-grade printing machine are widely applied.With with industry
Robot etc. is the rise of the intelligence manufacture of core, harmonic speed reducer with RV retarder together, due to its intrinsic advance by
To the extensive attention of countries in the world.
Wave producer-flexbile gear component is the core function component in harmonic speed reducer, as shown in fig. 7, comprises wave producer
And flexbile gear, wave producer include cam-type, roller type and eccentric disc type, wherein cam-type wave generator is the most commonly used, it includes
Cam and flexible bearing (or harmonic rolling beering), cam are designed as ellipse (corresponding double wave according to its cross section of the requirement of transmission
Transmission), prismatic (corresponding three waves transmission), 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 component are meshed with the firm gear gear teeth, realize deceleration or step-up drive.
Harmonic speed reducer flexible bearing, lasso wall thickness are only 0.01-0.025 times of bearing outside diameter, with cam shape wave
For generator, when installation, the inner ring inner headed face of flexible bearing and the cam profile face of cam type wave producer are interference fitted, soft
Property bearing outer ring periphery corresponding with flexbile gear gear tooth portions inner hole interference fit, after installation, bearing inner race is forced to deform
For the shape of cam profile, for example, the ellipticity of double wave transmission, and thus make rolling element in ellipticity distribution, make outer ring together with soft
Wheel becomes ellipticity.When harmonic speed reducer works, inner ring-cam interference fit part rotation drives outer ring-flexbile gear to be interference fitted part
Rotation and the variation of transverse and the position generating period of short axle, the flexbile gear wheel those of near transverse end
Tooth just has an opportunity to be meshed with the firm gear gear teeth, to realize power output.As can be seen that flexible bearing is very special rolling
Bearing, outstanding behaviours is very thin in wall thickness, and bearing is very narrow, and working principle is very special；Wave producer-flexbile gear is very special group
The macroscopic deformation of part, the two elastic conjunction, the flexbile gear gear teeth by wave producer type and acts on outer ring-flexbile gear interference fit part
Rolling element contact force property codetermine.
Long-term application practice shows flexible bearing both at home and abroad and flexbile gear is the key component and rapid wear in harmonic speed reducer
Part is often preceded by other components and precision failure and fatigue failure occurs.Existing flexible bearing is single-row shallow ridges radial ball bearing, rolling
Each only one contact point of pearl and outer ring channel type raceway (under by ditch type raceway be referred to as channel) and bear inner ring grooved railway, thus in the presence of such as
Lower problem: (1) forcing outer ring-flexbile gear interference fit part generating period bending deformation external force is ball with outer ring raceway
Contact force, these power are in along one of them of bearing outer ring width direction or the infinite multiple cross sections of flexbile gear gear teeth width direction
On cross section, thus there are problems that two, first is that contact force required when set deformation occurs is excessive, second is that bearing outer ring and
Buckling deformation and distortion change in the circumferential direction along bearing outer ring or flexbile gear gear teeth width direction inevitably occurs for flexbile gear
Shape, to influence the accuracy of mesh and transmission efficiency of flexbile gear and firm gear；(2) bearing is very low along axial and angular rigidity, once
Outer to carry there are axial direction and azimuth component, bearing ring and ball will occur needed for the non-flexible bearing function along the two directions
Deformation and displacement, reduce the transmission efficiency and transmission accuracy of harmonic speed reducer；(3) channel is inadequate to the constraint of ball, rolling
A large amount of sliding component can be generated in pearl movement, thus cause the scratch of bearing working face and the deterioration of bearing accuracy.Therefore, compel
Be essential the new structural flexible bearing of the non-single contact point of rolling element and outer ring raceway to be researched and developed, to overcome existing flexible bearing
Limit to above-mentioned principle technology present in wave producer-flexbile gear Interference Fitted Assemblies and quality, to improve flexible bearing
Or even transmission accuracy, accuracy life and the fatigue life of entire harmonic speed reducer.
Summary of the invention
The purpose of the present invention is to provide a kind of Multi-contact flexible bearings, to overcome the single-row shallow ridges radial ball of current art
Some principle technologies present in flexible bearing and quality limitation, for example, ball with ring raceways contact stress higher, bearing
Axial direction and angular stiffness it is too low, force bearing outer ring and flexbile gear to be interference fitted set deformation necessary to part generates needed for rolling
Pearl is all on one of cross section of bearing or flexbile gear wheel tooth width with the contact force of outer ring raceway, to cause attached
Add deformation, influences transmission accuracy, accuracy life and fatigue life of harmonic speed reducer etc..Another object of the present invention is just to provide
Using wave producer-flexbile gear component of Multi-contact flexible bearing, to avoid the current art flexbile gear gear teeth that both sizings are occurring
To buckling deformation along facewidth direction generated when deformation and in the circumferential direction torsional deformation, to improve harmonic speed reducer
Transmission accuracy and operational reliability.
The purpose of the present invention is what is 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, insertion outer ring raceway and
Rolling element and the retainer that each rolling element is along the circumferential direction evenly spaced between inner ring raceway, characterized in that single to roll
Body is contacted with outer ring raceway two-point contact or line, and set radial direction occurs to reduce thin-walled outer ring under the action of rolling element contact force
Buckling deformation along outer ring width direction and/or the torsional deformation along outer ring circumferencial direction when deformation.
The flexible bearing, characterized in that the raceway of outer ring is peach-shaped or elliptic arc ditch type raceway, the raceway of inner ring are
Single circular arc ditch type raceway, rolling element is ball, and there are two contact points with outer ring channel type raceway for single ball, is rolled with inner ring ditch type
There is a contact point in road, and flexible bearing is three point contact flexible ball bearings.
The flexible bearing, 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 are ball, and with outer ring channel type raceway and inner ring ditch type raceway there are two contact point, flexible bearing is single ball
Four point contact flexible ball bearings.
The flexible bearing, characterized in that the curve line of all straight micro protrusions of line or belt of the raceway of two lassos
Type raceway, rolling element are roller, and single roller is contacted between inner ring line style raceway and outer ring line style raceway for line, flexible bearing
Flexible roller bearing is contacted for line.
The three point contact and four point contact flexible ball bearings, characterized in that ball material is that bearing steel or engineering are made pottery
Porcelain.
The three point contact and four point contact flexible ball bearings, characterized in that ball is the same as the contact between ditch type raceway
Angle is 5 degree to 40 degree.
The line contacts flexible roller bearing, characterized in that comprise the following structure: inner ring is without rib type, and outer ring is without gear
Side type, inner ring and outer ring is with single block border and two ribs are not in the same side of bearing.
The line contacts flexible roller bearing, characterized in that roller material is bearing steel or engineering ceramics, keeps equipment
Material is engineering plastics, sheet metal or steel band.
The line contacts flexible roller bearing, characterized in that the curve with micro protrusion, convex is logarithmic curve, convex
Amount is no more than 300 microns.
A kind of harmonic speed reducer low additional deformation wave producer-flexbile gear component of the flexbile gear gear teeth, including wave producer and soft
Wheel, when for cam-type wave generator (including cam and flexible bearing), the inner headed face of cam and bearing inner race is interference fitted, soft
The periphery of wheel and bearing outer ring is interference fitted, characterized in that flexible bearing is the three point contact flexible ball bearings or institute
The four point contact flexible ball bearings stated or the line contact flexible roller bearing, and the single rolling element in flexible bearing is the same as flexible
Bearing outer ring and flexbile gear interference fit part form two-point contact or line contact, when set radial deformation occurs to reduce the flexbile gear gear teeth
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 not
Sharp situation, the first rolling element used in ball bearing, that is, bearing are to account in the range of ball, for this purpose, by prior art flexibility
The channels cross-section shape of bearing changes into peach-shaped channel and variable curvature channel made of bicircular arcs docking from single arc-shaped channel,
The preferred elliptic arc channel of variable curvature channel, all there are two contact points with peach-shaped channel and elliptic arc channel for ball.When a lasso
The channel shape of (such as outer ring) is peach-shaped or ellipse arc, when the channel of another lasso (inner ring) remains as arc-shaped, one
There are three contact points altogether with two lassos for ball, and flexible bearing at this time is three point contact flexible bearing；When the ditch of two lassos
When all peach-shapeds of road shape or ellipse arc, flexible bearing at this time is four point contact flexible bearings.Due to ball and peach-shaped
There are two channels and elliptic arc channel therefore contact point under same external load, reduces contact stress；Due to ball
With the contact angle that peach-shaped channel and elliptic arc channel are not zero there are one, therefore, bearing is while with radial rigidity, tool
There is axial rigidity, contact angle is bigger, and axial rigidity is also bigger；It is single when outer ring raceway is peach-shaped channel and elliptic arc channel
Contact force on ball and outer ring-flexbile gear interference fit part, along ring width direction, there are two position, the radial directions point of two power
Measure identical, axial component is equal in magnitude contrary, is conducive to prevent outer ring-flexbile gear interference fit part and completes set work of deformation
The additional deformation and warpage occurred when energy, to improve the transmission accuracy and service life of retarder.
For change prior art radial ball flexible bearing rolling element with single lasso contact point number only one not
Sharp situation jumps out the range of ball bearing to consider, for this purpose, the ditch type groove-section shape of prior art flexible bearing is designed as
Linear type raceway, rolling element are 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 are line contact with raceway, i.e., have infinite a contact point along contact line direction.Roller bearing is excellent
Cylinder roller bearing is selected, for the stress concentration phenomenon for avoiding roller Yu raceway contact end, improves the operating of cylinder roller bearing
Lasso raceway is designed as the raceway with convexity or/and uses the roller with convexity by performance.Line contact flexible bearing individually contacts
Secondary contact stress is greatly lowered, and has high radial rigidity and angular stiffness, and single roller is matched with outer ring-flexbile gear interference
Contact force on component has infinite a position along ring width direction, and the even distributed force of roller length is equal to for width, is had very much
Conducive to the set deformation of realization outer ring-flexbile gear interference fit part, and effectively prevent undesirable additional deformation, warpage and distortion
Generation, to increase substantially the deformation precision of outer ring-flexbile gear interference fit part, and then significantly improve the transmission essence of retarder
Degree and service life.
Detailed description of the invention
Fig. 1 is current art flexible bearing sectional view；
The outer ring Fig. 2-flexbile gear is interference fitted part single-point stress diagram；
The outer ring Fig. 3-flexbile gear is interference fitted part two points stress schematic diagram；
The outer ring Fig. 4-flexbile gear is interference fitted infinite stress diagram of part；
Fig. 5 A ball is the same as ditch type raceway three point contact (2 points of the outer fissure of septal fossula 1) flexible ball bearings schematic diagram；
Fig. 5 B ball is the same as four point contact of ditch type raceway (2 points of the outer fissure of septal fossula 2) flexible ball bearings schematic diagram；
Fig. 6 infinite point contact inner ring of A roller synteny raceway is without rib flexible roller bearing schematic diagram；
The infinite point contact outer ring of B roller synteny raceway Fig. 6 is without rib flexible roller bearing schematic diagram；
The infinite point contact inner ring and outer ring heteropleural single block border flexible roller bearing schematic diagram of Fig. 6 C roller synteny raceway；
Wave producer, flexbile gear, firm gear relative position schematic diagram in Fig. 7 harmonic speed reducer；
The low additional deformation wave producer-flexbile gear component drawings of Fig. 8 flexbile gear gear teeth.
Specific embodiment
Code name is illustrated in figure.
Fig. 1 is current art flexible bearing sectional view, is radial ball bearing structure, 11 is outer ring, 12 is inner ring, 13 is rolling
Pearl, 14 are retainer, and outer ring 11 and inner ring 12 are single circular arc ditch type raceway, a ball and their only one each contacts
Point (black dot shown in figure) and two lassos share 2 contact points.
Fig. 2 is that outer ring-flexbile gear is interference fitted part single-point stress diagram, and 21 be the single circular arc ditch of current art flexible bearing
Type raceway outer ring, rolling element are ball 22,23 be flexbile gear, and outer ring 21 and flexbile gear 23 are interference fitted, a ball and outer ring raceway
Only one contact point (black dot shown in figure), so, a ball is applied to outer ring-flexbile gear interference fit part power
For concentrated force Q, position is in bottom of trench.
Fig. 3 is that outer ring-flexbile gear is interference fitted part two points stress schematic diagram, and it is peach-shaped that 31, which be flexible bearing outer ring of the present invention,
Or elliptic arc ditch type raceway, rolling element are ball 32,33 be flexbile gear, and outer ring 31 and flexbile gear 33 are interference fitted, a ball and outer
Channel is enclosed there are two contact point (black dot shown in figure), two contact points are symmetrically distributed in the two sides of bottom of trench, and two connect
The contact angle of contact is equal, so, it is Q that a ball, which is applied to outer ring-flexbile gear interference fit part power,1And Q2Two power, two
The position of power is along the axial at a distance of L of interference fit part2, L2It is directly proportional to the size of contact angle.
Fig. 4 is that outer ring-flexbile gear is interference fitted infinite stress diagram of part, and it is straight that 41, which be flexible bearing outer ring of the present invention,
The Curve raceway of the micro protrusion of line or belt, rolling element are that roller (roller) 42,43 is flexbile gear, 43 interference of outer ring 41 and flexbile gear
Cooperation, a roller and outer ring raceway have infinite a 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 infinity), axial action of the distributed force along interference fit part
Distance is LN, LN> L2。
Fig. 5 A is ball with ditch type raceway three point contact (2 points of the outer fissure of septal fossula 1) flexible ball bearings schematic diagram, and 51A is this
Invention flexible bearing outer ring, 52A are inner ring, and 53A is ball, and 54A is retainer.Outer ring is the peach-shaped being made of two semi arches
Channel, the center of two semi arches are respectively Oe1、Oe2, the center of ball is O, and there are two contact point (figures with outer ring raceway for ball
Shown in black dot), contact point forms contact angle α not in trench bottom；Inner ring is single circular arc channel, center Oi,
Ball has single contact point with bear inner ring grooved railway, and contact point is shared in trench bottom, contact angle 0, ball with two ring raceways
Three contact points.
Fig. 5 B is ball with four point contact of ditch type raceway (2 points of the outer fissure of septal fossula 2) flexible ball bearings schematic diagram, and 51B is this
Invention flexible bearing outer ring, 52B are inner ring, and 53B is ball, and 54B is retainer.Outer ring is elliptic arc channel, elliptic arc place
The oval center of circle be Oe, the curvature of each point changes with position on channel, and the center of ball is O, with there are two outer ring raceway
Contact point (black dot shown in figure), contact point in trench bottom, do not form contact angle αe；Inner ring is also elliptic arc ditch
Road, the oval center of circle where elliptic arc are Oi, the curvature of each point changes with position on channel, and ball has two with bear inner ring grooved railway
A contact point, contact point in trench bottom, do not form contact angle αi, there are four contact points altogether with two ring raceways for ball.
In Fig. 5 A and Fig. 5 B, in order to show the curvature center of each contact surface, bearing unilateral side entity is only depicted
The shape in section, the position of center line without signing in bearing.
In Fig. 5 A and Fig. 5 B, rolling element is as shown in Figure 3 with the contact force of outer ring raceway.
Fig. 6 A is the infinite point contact inner ring of roller synteny raceway without rib flexible roller bearing schematic diagram, and 61A is this hair
Bright flexible bearing outer ring, 62A are inner ring, and 63A is roller, and 64A is retainer.Outer ring is without convexity or with the linear type of convexity
Raceway, the double ribs of band, roller form contact in roller overall length with outer ring raceway, there is infinite a contact point；Inner ring is without convex
Degree or the linear type raceway with convexity, without rib, roller forms contact with inner ring raceway in roller overall length, has infinite to connect
Contact.In a whole set of bearing, since inner ring is without rib, inner ring can be separated.
Fig. 6 B to Fig. 6 C, the code name meaning in figure are corresponding with Fig. 6 A consistent.When one of lasso band list flange or without
When rib, this lasso is exactly separable lasso, very convenient to disassembly, the installation of bearing, to the axial limiting of the lasso by
Shoulder, retainer ring on harmonic speed reducer wave producer or flexbile gear etc. are realized.
General character from Fig. 6 A to Fig. 6 C, these flexible roller bearings is exactly that rolling element is distributed with the contact force of outer ring raceway
As shown in Figure 4.
Wave producer, flexbile gear, firm gear relative position schematic diagram in Fig. 7 harmonic speed reducer illustrate that cam-type wave 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 of inner ring is interference fitted, and periphery, that is, flexible bearing outer ring periphery of wave producer is corresponding with flexbile gear gear tooth portions
Inner hole interference fit, component made of wave producer and flexbile gear interference fit is known as wave producer-flexbile gear component, above flexbile gear
External tooth be meshed with the internal tooth above firm gear, realize power transmitting and speed change.Wave producer, flexbile gear, firm gear three are concentrically
Axis.
Fig. 8 flexbile gear gear teeth low additional deformation wave producer-flexbile gear component 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 be cam installation inner hole table
Face, 812 be the oval profile of cam, and 831 be the gear teeth of flexbile gear.
Below in conjunction with attached drawing, the present invention will be described in detail.
Embodiment 1, three point contact flexible ball bearings as shown in Figure 5A
In Fig. 5 A, 51A is bearing outer ring, and 52A is inner ring, and 53A is ball, and 54A is retainer, and 53A ball is embedded in 51A institute
Show in the raceway of inner ring shown in outer ring and 52A and the retainer shown in 54A by it is spaced apart in the circumferential direction.Outer ring 51A is
The peach-shaped channel being made of two semi arches, the center of two semi arches are respectively Oe1、Oe2, the center of ball 53A is O, ball
For 53A with outer ring 51A channel there are two contact point, contact point in trench bottom, does not form contact angle α；Inner ring 52A is single circular arc
Channel, center Oi, ball 53A has a single contact point with inner ring 52A channel, and contact point is in trench bottom, contact angle 0, rolling
There are three contact points altogether with two ring raceways by pearl 53A.
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 value range of contact angle α is 5 to 40 degree, it can be seen that ball 53A is the same as outer ring 51A's
Trench bottom (i.e. the peach tip of peach-shaped channel) not in contact with, but have a distance, contact angle is bigger, this distance is also bigger,
Mean that outer ring raceway is thinner to the wall thickness between the periphery of outer ring.Therefore, the wall thickness of flexible bearing outer ring 51A is thinner, if
Meter contact angle α just should select smaller, and the distance between two contact points are also just smaller, be equivalent to and get over to the force range of lasso
It is narrow.
The three point contact flexible ball bearings, rolling element are as shown in Fig. 3 to outer ring-flexbile gear interference fit part active force.
Embodiment 2, four point contacts flexible ball bearings as shown in Figure 5 B
In Fig. 5 B, 51B is bearing outer ring, and 52B is inner ring, and 53B is ball, and 54B is retainer, and 53B ball is embedded in 51B institute
Show in the raceway of inner ring shown in outer ring and 52B and the retainer shown in 54B by it is spaced apart in the circumferential direction.Outer ring 51B is
Elliptic arc channel, the elliptical center where the elliptic arc are Oe, the curvature of each point changes with position on channel, ball 53B
Center be O, with outer ring 51B channel there are two contact point, contact point in trench bottom, does not form contact angle αe；Inner ring 52B
For elliptic arc channel, the elliptical center where the elliptic arc is Oi, the curvature of each point changes with position on channel, ball
For 53B with inner ring 52B channel there are two contact point, contact point in trench bottom, does not form contact angle αi, ball 53B is the same as two sets
Enclosing channel, there are four contact points altogether.
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 value range 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 is not in contact with but having a distance, contact angle is bigger, this distance is also bigger, it is meant that outer ring
Channel between the periphery of outer ring, bear inner ring grooved railway it is thinner to the wall thickness between inner ring inner headed face.Therefore, flexible bearing lasso
Wall thickness is thinner, and the ball of design just should select smaller with the contact angle of this ring raceways.
Elliptic arc channel, that is, channel is some elliptical wherein sub-fraction, and the long axis of outer ring elliptic arc channel is located at rolling
On line of the pearl center of circle with outer ring raceway bottom, the long axis of inner ring elliptic arc channel is located at the ball center of circle with bear inner ring grooved railway bottom
On line.In Fig. 5 B, OeFor the elliptical center where outer ring raceway elliptic arc, OiFor in the ellipse where bear inner ring grooved railway elliptic arc
The heart.
The four point contacts flexible ball bearings, rolling element are as shown in Fig. 3 to outer ring-flexbile gear interference fit part active force.
Embodiment 3, the infinite point contact inner ring of roller synteny raceway as shown in Figure 6A are without rib flexible roller bearing
In Fig. 6 A, 61A is outer ring, and 62A is inner ring, and 63A is the roller being embedded between outer ring raceway and inner ring raceway, 64A
For the retainer for separating each ball 63A along bearing circumferencial direction.The double ribs 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 the same as outer ring 61A raceway and inner ring 62A raceway
Contact is formed in roller 63A overall length, has infinite a contact point, the flexible bearing is interior since inner ring 62A is without rib
Circle 62A is separated type inner ring.
The outer ring 61A and inner ring 62A material of the flexible roller bearing use bearing steel, and roller 63A material uses bearing steel
Or engineering ceramics, retainer 64A use plastics or metal stamping retainer.
After bearing installation, the axial displacement or play of roller and retainer are limited by two ribs of outer ring.
The line contacts flexible roller bearing, and rolling element is as shown in Fig. 4 to outer ring-flexbile gear interference fit part active force.
The infinite point contact inner ring and outer ring heteropleural single block border flexibility rolling of embodiment 4, roller synteny raceway as shown in Figure 6 C
Sub- bearing
In Fig. 6 C, 61C is outer ring, and 62C is inner ring, and 63C is the roller being embedded between outer ring raceway and inner ring raceway, 64C
For the retainer for separating each roller 63C along bearing circumferencial direction.Outer ring 61C and inner ring 62C band single block border 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 logarithmic curve, rolling
Sub- 63C forms line contact with outer ring 61C raceway and inner ring 62C raceway in roller 63C overall length, has infinite a contact point, this is soft
Property bearing, due to outer ring 61C and inner ring 62C band single block border, two lassos are separable.
The outer ring 61C and inner ring 62C material of the flexible roller bearing use bearing steel, and roller 63C material uses bearing steel
Or engineering ceramics, retainer 64C use plastics or metal stamping retainer.
After bearing installation, by the axial position for not limiting roller and retainer in the single block border of two lassos of bearing the same side
Shifting or play.
The line contacts flexible roller bearing, and rolling element is as shown in Fig. 4 to outer ring-flexbile gear interference fit part active force.
The low additional deformation wave producer-flexbile gear component of embodiment 5, the flexbile gear gear teeth as shown in Figure 8
The wave producer illustrated in figure is double wave driving cam formula wave producer, and 81 be the cam with oval profile,
82 it is flexible bearing, 83 is flexbile gear.Wherein 811 be cam installation bore area, 812 be cam oval profile, 831 are
The gear teeth of flexbile gear.81 and 82 interference fit part is known as wave producer, and the component after wave producer is interference fitted with flexbile gear 83 claims
For wave producer-flexbile gear component.
Different from prior art wave producer-flexbile gear component using single-row shallow ridges radial ball flexible bearing, the present embodiment
Wave producer-flexbile gear component is using 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 interference fitted with the inner headed face of 82 inner ring of flexible bearing, and 82 cross-sectional shape of flexible bearing is by filling
It is forced to become ellipse with circle before, the inner headed face of flexbile gear 83 is matched with the outer ellipsoid interference of 82 outer ring of flexible bearing
It closes, circle of 83 cross-sectional shape of flexbile gear from before assembling also is forced to become ellipse.
The present embodiment wave producer-flexbile gear component is due to using Multi-contact flexible bearing, the single same flexbile gear-of rolling element
Outer ring is interference fitted between part there are two (three point contact flexible ball bearings, four point contact flexible ball bearings) or infinite (line connects
Touch flexible roller bearing) contact point, therefore, when harmonic speed reducer works, the gear teeth 831 of flexbile gear 83 are except generation is in diagram plane
Set radial deformation outside, along the additional buckling deformation of flexbile gear gear teeth width direction or along the additional of flexbile gear gear teeth circumferencial direction
Torsional deformation is controlled, and compared to current art product very little or even is never occurred, is thus greatly improved harmonic wave and subtract
Transmission accuracy, transmission efficiency and the military service reliability of fast device.
Above-mentioned harmonic speed reducer Multi-contact flexible bearing, including three point contact flexible ball bearings, four point contacts are flexible
Ball bearing, line contact flexible roller bearing, and single rolling element is the same as i.e. same outer ring-flexbile gear is interference fitted between part between outer ring raceway
There are two tools or infinite a contact point, only has a contact point compared with technology and compares, technology and matter with many principles
Amount advantage, it is for the sake of intuitive, the technology of the present invention and prior art comparative situation is tabulated below.
Have that additional deformation is small, transmission accuracy using wave producer-flexbile gear component of Multi-contact flexible bearing of the present invention
A series of high technical quality advantages.
By taking cam type wave producer as an example, it is assumed that the cross-sectional shape of cam outer face is ellipse, when flexible bearing passes through
Interference fit and cam and the flexbile gear installation of the interference fit of its internal circular surfaces and cam, its outer round surface and flexbile gear are integrated
Afterwards, 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 become elliptical shape therewith, to improve the flexbile gear gear teeth with the accuracy of mesh of the firm gear gear teeth, and then improves harmonic speed reducer
Transmission accuracy, it is intended that, in the flexbile gear gear teeth (with the firm gear gear teeth) effectively within the scope of length of action, the shape of each cross section
It is preferably completely the same, it is the same ellipse, i.e., does not have additional warpage along bearing outer ring-flexbile gear interference fit part width direction
Deformation does not have torsional deflection along bearing outer ring-flexbile gear interference fit part circumferencial direction, and still, prior art flexible bearing is
Common centripetal spherical structure, single rolling element act on a bit (outer ring channel bottom) to what outer ring-flexbile gear interference fit part applied
Concentrated force, above-mentioned additional buckling deformation and torsional deflection are unavoidable, transmission accuracy and service life band to harmonic speed reducer
Inevitably negatively affect.Three point contact flexible ball bearings of the present invention and four point contact flexible ball bearings, single rolling element
With outer ring raceway tool, there are two contact points, and two concentrated forces, this two contact points are along bearing outer ring-flexbile gear interference fit part axis
Therefore Xiang Youyi span can effectively reduce above-mentioned buckling deformation and torsional deformation；Line of the present invention contacts flexible roller bearing, single
A rolling element has infinite a contact point with outer ring raceway, therefore contact force can substantially reduce for the distributed force along roller overall length
Or even above-mentioned buckling deformation and torsional deformation are avoided completely.
Three point contact flexible ball bearings of the present invention and four point contact flexible ball bearings are compared with technology three-point contact ball bearing
There are many differences with four-point contact ball, for example, the prior art uses three-point contact ball bearing and four-point contact ball
Mainly consider they in the radial and axial of bearing and meanwhile the rigidity that has had (axial rigidity of general radial ball bearing is very
It is low), but the present invention is then to increase ball with channel in bearing axis using three-point contact ball bearing and four-point contact ball
To contact points and power effect span, to improve the set deformation accuracy of outer ring-flexbile gear interference fit part, for another example,
The lasso wall thickness of flexible bearing is very thin, and very shallow and bottom of trench to periphery the wall thickness of channel is also very thin, therefore, the contact angle of bearing
Sometimes lesser value, such as 20 degree are taken, and prior art three point contact and four-point contact ball, contact angle is generally all 35
Degree or more.
There is also many differences compared with technology roller bearing for line contact flexible roller bearing of the present invention, for example, existing skill
It is typically all the radial bearing capacity and radial rigidity in order to improve bearing that art, which uses roller bearing, but the present invention is not, this
Invention mainly considers that the same outer ring of roller-flexbile gear interference fit part has infinite multiple contact points along axial direction using roller bearing, is edge
Therefore the distributed force of roller overall length can significantly improve the set deformation accuracy of outer ring-flexbile gear interference fit part, for another example, flexible
Not only wall is thin for bearing, but also very narrow, and when the double ribs of a lasso band, the intensity of rib may be a bigger problem,
Therefore, outer ring of the present invention and inner ring respectively with single block border but are distributed in the structure (shown in attached drawing 6C) of bearing heteropleural just very with real
Border meaning, for another example, same because of flexible bearing, not only wall is thin, but also very narrow, some products have to select draw ratio (roller
Length/roller diameter) cylindrical roller less than 1, this is not present in the prior art, prior art cylindrical roller bearing
Minimum length is exactly equal with its diameter.
Certainly, three point contact flexible ball bearings of the present invention, four point contact flexible ball bearings, line contact flexible roller bearing remove
Flexible bearing can preferably be fulfiled outside the function in harmonic speed reducer, also there is three-point contact ball bearing, four-point contact ball
It holds, other advantages of roller bearing, these dominating parts have been included in above table.It is above-mentioned excellent due to Multi-contact flexible bearing
Gesture is occurred using wave producer-flexbile gear component of Multi-contact flexible bearing with the existing wave using single-contact flexible bearing
Device-flexbile gear component is compared, and with the low outstanding advantage of flexbile gear gear teeth additional deformation, this is smart for the transmission for improving harmonic speed reducer
Degree, transmission efficiency and reliable operation degree have important practical meaning in engineering, and subtract since harmonic wave is widely used in industrial robot
Fast device, therefore, using industrial robot as the intelligence manufacture epoch of one of outstanding feature, above-mentioned technical quality innovation and progress are same
When have very important realistic meaning.
The three point contact flexible ball axis of two one contact point of outer fissure, septal fossula contact points being covered for claim
It holds, it is same to the skidding of control ball, the running stability of raising bearing since there are two contact points with septal fossula tool for single ball
With positive effect.
The above disclosure is just a few specific examples of the present application, however, this application is not limited to this, any this field
Technical staff can think variation, should all fall in the protection domain of the application.
Claims (7)
1. a kind of harmonic speed reducer Multi-contact flexible bearing, including thin-walled outer ring, thin-walled inner ring, insertion outer ring raceway and interior
Enclose the rolling element and the retainer that each rolling element is along the circumferential direction evenly spaced between raceway, characterized in that single rolling element
With two-point contact or line contact is designed between outer ring raceway, to reduce or avoid thin-walled outer ring in the effect of rolling element contact force
Additional buckling deformation along outer ring width direction and/or the additional distortion along outer ring circumferencial direction when the set radial deformation of lower generation
Deformation；
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, and rolling element is rolling
Pearl, single ball form two contact points with outer ring channel type raceway, form a contact point, flexible bearing with inner ring ditch type raceway
For three point contact flexible ball bearings；Or,
The raceway of outer ring and the raceway of inner ring are peach-shaped or elliptic arc ditch type raceway, and rolling element is ball, and single ball is the same as outer
Circle ditch type raceway and inner ring ditch type raceway are respectively formed two contact points, and flexible bearing is four point contact flexible ball bearings；
When the raceway of outer ring is peach-shaped channel or elliptic arc channel, single ball and connecing on outer ring-flexbile gear interference fit part
Touch, along outer ring width direction, there are two positions, and the radial component of two power is identical, axial component direction phase equal in magnitude
Instead；
Or,
The Curve raceway of all straight micro protrusions of line or belt of the raceway of two lassos, rolling element is roller, single roller
With line contact is formed between inner ring line style raceway and outer ring line style raceway, flexible bearing is that line contacts flexible roller bearing；
The contact force on single roller and outer ring-flexbile gear interference fit part in the line contact flexible roller bearing, along lasso
Width direction has infinite a position, and the even distributed force of roller length is equal to for width.
2. a kind of harmonic speed reducer Multi-contact flexible bearing as described in claim 1, characterized in that the flexible bearing
For three point contact flexible ball bearings or four point contact flexible ball bearings, ball material is bearing steel or engineering ceramics.
3. a kind of harmonic speed reducer Multi-contact flexible bearing as described in claim 1, characterized in that the flexible bearing
For three point contact flexible ball bearings or four point contact flexible ball bearings, ball is 5 degree to 40 with the contact angle between ditch type raceway
Degree.
4. a kind of harmonic speed reducer Multi-contact flexible bearing as described in claim 1, characterized in that the flexible bearing
Contact flexible roller bearing for line, comprise the following structure: inner ring is without rib type, and without rib type, inner ring and outer ring band is single for outer ring
Rib and two ribs are not in the same side of bearing.
5. a kind of harmonic speed reducer Multi-contact flexible bearing as described in claim 1, characterized in that roller material is axis
Steel or engineering ceramics are held, retainer material is engineering plastics, sheet metal or steel band.
6. a kind of harmonic speed reducer Multi-contact flexible bearing as described in claim 1, characterized in that the flexible bearing
Flexible roller bearing is contacted for line, the curve with micro protrusion, convex is logarithmic curve, and convex amount is no more than 300 microns.
7. a kind of harmonic speed reducer low additional deformation wave producer-flexbile gear component of the flexbile gear gear teeth, including wave producer and soft
Wheel, when for including the cam-type wave generator of cam and flexible bearing, the inner headed face of cam and bearing inner race is interference fitted, soft
The periphery of wheel and bearing outer ring is interference fitted, characterized in that flexible bearing is three point contact flexible ball described in claim 1
Bearing or four point contacts flexible ball bearings described in claim 1 or line described in claim 1 contact flexible roller bearing, soft
Property bearing in single rolling element with flexible bearing outer ring and flexbile gear interference fit part formed two-point contact or line contact, with reduce
Buckling deformation along facewidth direction and/or the torsional deformation along flexbile gear circumferencial direction when set radial deformation occur for the flexbile gear gear teeth.
Priority Applications (3)
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|---|---|---|---|
| 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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| CN106194999A CN106194999A (en) | 2016-12-07 |
| CN106194999B true CN106194999B (en) | 2019-03-19 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN110388439A (en) * | 2019-06-24 | 2019-10-29 | 珠海格力电器股份有限公司 | A kind of harmonic speed reducer and manipulator |
| 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 |
| 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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| CN106194999A (en) | 2016-12-07 |
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