CN108343724A - A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave - Google Patents
A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave Download PDFInfo
- Publication number
- CN108343724A CN108343724A CN201810171900.0A CN201810171900A CN108343724A CN 108343724 A CN108343724 A CN 108343724A CN 201810171900 A CN201810171900 A CN 201810171900A CN 108343724 A CN108343724 A CN 108343724A
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- CN
- China
- Prior art keywords
- steel wheel
- bearing
- flexbile gear
- speed reducer
- annular groove
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- 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)
- Retarders (AREA)
Abstract
The invention discloses a kind of bearings and the integrated microminiature harmonic speed reducer of harmonic wave, including：Steel wheel a, steel wheel b, steel wheel c, flexbile gear, cam, flexible bearing, roller, end ring and mounting screw.Steel wheel a connects composition input steel wheel or output steel wheel with steel wheel b, and steel wheel c is as output steel wheel or input steel wheel.It is machined with 45 ° of chamferings on the inner wall of steel wheel a, forms V-type annular groove with 45 ° of chamferings of steel wheel b inwall processings, then square annular groove is cooperatively formed with the V-type annular groove of steel wheel c outer walls processing, roller is mounted in rectangular annular groove.For steel wheel a and steel wheel b as bearing outer ring, steel wheel c forms bearing and steel wheel integral structure as bearing inner race together with roller.Flexbile gear, flexible bearing and cam are sequentially set with.Present invention is designed such that harmonic wave weight is lighter, structure is simpler, effectively reduces the diameter and thickness of harmonic wave under identical parameters, improves usability.
Description
Technical field
The present invention relates to a kind of harmonic speed reducer, especially a kind of bearing and the integrated microminiature harmonic reduction of harmonic wave
Device.
Background technology
Harmonic speed reducer has the characteristics that transmission efficiency, small, light-weight, stable drive, noise are small, extensive use
In robot field, especially it is widely used in cooperation shape mechanical arm, service robot etc..With robot technology
Development, the size of harmonic wave is required to be increasingly stringenter.
Traditional harmonic speed reducer is divided into three-major-items：Wave producer, flexbile gear and steel wheel, in order to meet harmonic wave to axial force,
The requirement of radial load, moment of flexure mostly uses crossed roller bearing to connect flexbile gear and steel wheel.
As the output par, c connection of flexbile gear is intersected needle bearing by green harmonic wave LCD series using the form of cup-shaped flexbile gear
Then steel wheel is connected to the inner ring of crossed roller bearing by outer shroud, the final cooperation for realizing flexbile gear external tooth and steel wheel internal tooth is formed
A kind of scheme of harmonic speed reducer, remaining same hat shape flexbile gear catenation principle thus.
As described above, the diameter of harmonic speed reducer is finally limited by crossed roller bearing, more than being needed on practical harmonic principle
The diameter asked.Simultaneously because the use of independent cross roller bearing needs other form of intermediate junctions, such as connecting flange, fastening
Screw etc. leads to the features such as retarder manufacture difficulty is big, volume and weight is big, poor on transmission accuracy.
Invention content
The present invention is according to joint of robot application present situation, for the design disadvantage of existing harmonic speed reducer, by that will input
Steel wheel, output steel wheel and crossed roller bearing carry out integrated design, propose that a kind of bearing and the integrated microminiature of harmonic wave are humorous
Wave retarder has the characteristics that small size, light-weight, with high accuracy.
A kind of bearing proposed by the present invention and the integrated microminiature harmonic speed reducer of harmonic wave, including：Steel wheel a, steel wheel b,
Steel wheel c, flexbile gear, cam, flexible bearing, roller, end ring and mounting screw.Steel wheel a is connected with steel wheel b by mounting screw
Together, composition input steel wheel or output steel wheel, steel wheel c is as output steel wheel or input steel wheel.
The inner ring of steel wheel a is relatively large in diameter and smaller two parts, 45 ° of chamferings is machined on being relatively large in diameter inner wall, with steel
45 ° of chamferings for taking turns b inwall processings form V-type annular groove, then cooperatively form square annular groove with the V-type annular groove of steel wheel c outer walls processing.Rolling
Son is mounted and limits in the rectangular annular groove.It is machined with internal tooth, steel wheel c on the smaller inner wall of diameter of the inner ring of steel wheel a
Inner wall on be machined with internal tooth.Steel wheel a and steel wheel c is meshed by internal tooth with the external tooth of flexbile gear respectively.Flexbile gear, flexible bearing and
Cam is sequentially set with.End ring is mounted on cam, for radially being limited to flexible bearing.
The steel wheel a and steel wheel b as bearing outer ring, steel wheel c as bearing inner race, formed together with roller bearing with
Steel wheel integral structure.
The steel wheel a and steel wheel c, it is fixed in the flexbile gear number of teeth, by the internal tooth for changing steel wheel a and steel wheel c
Gear ratio realizes harmonic speed reducer reduction ratio regulatory function.
The flexbile gear is tubular flexbile gear.
Advantages of the present invention is with good effect：
(1) diameter of a diameter of steel wheel for the harmonic speed reducer that the present invention designs, than same parameter harmonic speed reducer in the market
Form reduces the width of a bearer ring；
(2) bearing and steel wheel integrated design are reduced structural member by the harmonic speed reducer that the present invention designs than traditional design
Quantity, the weight for reducing structural thickness, alleviating bearing wall so that harmonic wave weight is lighter, and structure is simpler；
(3) use tubbiness flexbile gear form, steel wheel that can effectively reduce harmonic wave under identical parameters with bearing integrated design scheme
Diameter and thickness；
(4) bearing and steel wheel integrated design are increased the engaging width of flexbile gear and steel wheel, existed than similar product by the present invention
There is higher bearing capacity under identical size；
(5) it is column structure in the harmonic speed reducer that the identical parameters present invention designs, convenient for application, in similar production
Cylindrical structure is kept in the case of product same bearer, improves usability.
Description of the drawings
Fig. 1 is a kind of microminiature harmonic speed reducer front view of the bearing and harmonic wave integrated design of the present invention；
Fig. 2 is a kind of microminiature harmonic speed reducer rearview of the bearing and harmonic wave integrated design of the present invention；
Fig. 3 is a kind of microminiature harmonic speed reducer sectional view of the bearing and harmonic wave integrated design of the present invention；
Fig. 4 be the present invention harmonic speed reducer in steel wheel a structural schematic diagram；
Fig. 5 be the present invention harmonic speed reducer in steel wheel c structural schematic diagram；
In figure：
1- steel wheels a；2- steel wheels b；3- steel wheels c；4- flexbile gears；5- cams；6- flexible bearings；
7- rollers；8- end rings；9- mounting screws.
Specific implementation mode
Below in conjunction with drawings and examples, the present invention is described in further detail.
As shown in FIG. 1 to 3, the microminiature harmonic reduction of a kind of bearing provided by the invention and harmonic wave integrated design
Device, including steel wheel a1, steel wheel b2, steel wheel c3, flexbile gear 4, cam 5, flexible bearing 6, roller 7, end ring 8 and mounting screw 9.
Steel wheel a1 and steel wheel b2 are linked together by mounting screw 9, are combined into the input steel wheel or output steel of the present invention
Wheel, correspondingly, steel wheel c3 is output steel wheel or input steel wheel.The internal tooth of steel wheel a1 and steel wheel c3 are meshed with the external tooth of flexbile gear 4,
Power is inputted by cam 5, drives 6 rotational deformation of flexible bearing, and corresponding deformation occurs for flexbile gear 4 and flexible bearing 6, flexbile gear 4 with
Steel wheel a1 and steel wheel c3 are meshed, and realize the transmission of power.When steel wheel a1 and steel wheel b2 assemblys are fixed or steel wheel c3 is fixed,
Under the cooperation of roller 7, output is completed by steel wheel c3 or steel wheel a1 and steel wheel b2 assemblys.
Steel wheel a1 be metal material processing at annular rotary structure, as shown in Figure 4.Left side is front view in Fig. 4, right
Side is A-A sectional views.The inner ring of steel wheel a1 is relatively large in diameter and smaller two parts, and the smaller inwall processing of diameter has interior in inner ring
Tooth realizes the transmission of power by internal tooth and 4 outer tooth engagement of flexbile gear, and being relatively large in diameter inwall processing has 45 ° of chamferings, in steel wheel b2
Wall chamfering forms V-type annular groove, and square annular groove is cooperatively formed with the V-type annular groove of steel wheel c3, provides 7 installation space of roller and limit is tied
Structure.It is threaded hole on steel wheel a1 structures, it is corresponding with the counter sink of steel wheel b2 processing, by mounting screw 9 by steel wheel a1
It is fixedly connected with steel wheel b2.
Steel wheel b2 be metal material processing at annular rotary structure, inner wall side is machined with 45 ° of chamferings, with steel wheel
After a1 is fixedly mounted, inner side chamfering between the two forms V-type annular groove, provides the installation limit space of roller 7.Steel wheel b2 structures
Countersunk head through-hole is machined on body, for being fixed together by mounting screw 9 and steel wheel a1.
It is uniformly distributed along the circumference on the structure of steel wheel a1 and steel wheel b2 and is machined with through-hole, the perimeter throughbores and steel wheel of steel wheel a1
The perimeter throughbores of b2 are corresponding so that steel wheel a1 and steel wheel b2 assemblys realize that harmonic wave subtracts by standard screws in actual use
The fixed installation of fast device.
Steel wheel c3 be metal material processing at annular rotary structure, inwall processing has internal tooth, passes through internal tooth and flexbile gear 4
Outer tooth engagement realizes the transmission of power.As shown in figure 5, left side is the front view of steel wheel c3, right side is A-A sectional views.Steel wheel c3
Inner ring be machined with flexbile gear annular stop boss, realize the axial limiting of flexbile gear 4.3 outer wall of steel wheel is machined with annular V slot, is used for
The installation space of roller 7 and limit.Steel wheel 3 is threaded hole on structure, will by using connectors such as standard screws
Steel wheel 3 is fixed as the installation of output steel wheel or input steel wheel.It is realized and is connected by roller 7 between steel wheel b2 and steel wheel c3.It will
The outer ring of steel wheel a1 and steel wheel b2 as roller bearing, steel wheel c3 form roller as inner ring, then three steel wheels and roller 7
Bearing and steel wheel integral structure.Relative to the existing structure for connecting flexbile gear and steel wheel using crossed roller bearing, this hair
It is bright to be used directly as steel wheel by roller bearing inner ring and outer ring, it realizes and ensures to simplify structure in the case of performance requirement, subtract
Small diameter and thickness.Meanwhile internal tooth is processed by steel wheel a1 and steel wheel c3 and is engaged with flexbile gear, increase bearing capacity.
Flexbile gear 4 be metal material processing at annular rotary thin-wall structure, outer wall is machined with external tooth, 4 external tooth of flexbile gear and steel
Wheel a1 and steel wheel c3 internal tooths engage respectively, by deformation of the flexbile gear 4 in the case where cam 5 and flexible bearing 6 act on, transmit and pass for steel wheel
Dynamic power.Under 4 number of teeth fixing situation of flexbile gear, by changing the gear ratio of the internal tooth of steel wheel a and the internal tooth of steel wheel c, realizes and adjust
Reduce speed ratio function.Flexbile gear 4 uses tubular form, under the conditions of same carrying, reduces harmonic speed reducer size.
Cam 5 be metal material processing at rotary structure, outer wall is oval structure, will be moved when exterior power inputs
Power is converted into the deformation of flexible bearing 6, and flexbile gear 4 deforms therewith, then realizes the transmission of power.5 outer shroud one end of cam is machined with
Annular convex platform, the other end are machined with annular groove, and annular groove is equipped with end ring 8, passes through annular convex platform and end ring 8
Realize the radial limit of flexible bearing 6.The inner ring of cam 5 is machined with through-hole, by using the connectors such as standard screws and power
Input shaft is attached.
Flexbile gear 4, flexible bearing 6 and cam 5, which sequentially cover, to install, and flexible shaft is carried out by the boss and end ring 8 of cam 5
Hold 6 radial limit, 6 tight fit of flexbile gear 4 and flexible bearing.
Flexible bearing 6 is standard component, deforms the power-conversion of cam 5 for flexbile gear 4 by the deformation of itself, completes power
Transmission.
Roller 7 be metal material processing at cylindrical structure, intersect mounted on steel wheel a1 and steel wheel b2 assemblys and steel
In the rectangle annular groove for taking turns c3 compositions, realizes the laterally and radially carrying of the present invention and input steel wheel and export the power between steel wheel
It transmits.
End ring 8 be metal material processing at split ring snap ring, 5 ring of cam may be mounted to by natural resiliency power
In connected in star, the installation limit of flexible bearing 6 is realized.
Mounting screw 9 is standard component, realizes that the installation of steel wheel a1 and steel wheel b2 are fixed.
The present invention by steel wheel a1, steel wheel b2, steel wheel c3 and roller 7 by being combined into steel wheel assembly, by cam 5, flexibility
Bearing 6, end ring 8 form wave producer, and the microminiature of the present invention is combined by steel wheel assembly, flexbile gear 4 and wave producer
Harmonic speed reducer.By the input axis connection in cam 5 and practical application, as the input of the present invention, using steel wheel a1 as defeated
Enter end or using steel wheel c3 as input terminal, the output of steel wheel c3 or steel wheel a1 is realized by the engagement of flexbile gear 4 and steel wheel.By convex
Input power is passed to by wheel 5, and flexible bearing 6 deforms under the effect of cam 5 drives flexbile gear 4 to deform, and passes through flexbile gear 4 and steel wheel
Between inside and outside tooth engagement realize the transmission of power, complete the output of input power.The present invention is with simple in structure, size is small, holds
Carry the features such as power is big.
Claims (4)
1. a kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave, which is characterized in that including：Steel wheel a, steel wheel b, steel wheel
C, flexbile gear, cam, flexible bearing, roller, end ring and mounting screw；
Steel wheel a is fixedly connected with steel wheel b by mounting screw, and composition input steel wheel or output steel wheel, steel wheel c is as output steel wheel
Or input steel wheel；The inner ring of steel wheel a is relatively large in diameter and smaller two parts, and 45 ° of chamferings are machined on being relatively large in diameter inner wall, with
45 ° of chamferings of steel wheel b inwall processings form V-type annular groove, then cooperatively form square annular groove with the V-type annular groove of steel wheel c outer walls processing；
Roller is mounted and limits in the rectangular annular groove；It is machined with internal tooth on the smaller inner wall of diameter of steel wheel a, steel wheel c's is interior
Internal tooth is machined on wall, steel wheel a and steel wheel c are meshed by internal tooth with the external tooth of flexbile gear respectively；Flexbile gear, flexible bearing and cam
Sequentially it is set with；End ring is mounted on cam, for radially being limited to flexible bearing.
2. microminiature harmonic speed reducer according to claim 1, which is characterized in that the steel wheel a and steel wheel b is as axis
Bearing outer-ring, steel wheel c form bearing and steel wheel integral structure as bearing inner race together with roller.
3. microminiature harmonic speed reducer according to claim 1 or 2, which is characterized in that the steel wheel a and steel wheel c,
In the case of the flexbile gear number of teeth is fixed, by changing the internal tooth gear ratio of steel wheel a and steel wheel c, harmonic speed reducer reduction ratio tune is realized
Save function.
4. microminiature harmonic speed reducer according to claim 1 or 2, which is characterized in that the flexbile gear is tubular flexbile gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810171900.0A CN108343724B (en) | 2018-03-01 | 2018-03-01 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810171900.0A CN108343724B (en) | 2018-03-01 | 2018-03-01 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108343724A true CN108343724A (en) | 2018-07-31 |
| CN108343724B CN108343724B (en) | 2019-06-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810171900.0A Active CN108343724B (en) | 2018-03-01 | 2018-03-01 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
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| CN (1) | CN108343724B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108916354A (en) * | 2018-09-18 | 2018-11-30 | 苏州绿的谐波传动科技有限公司 | The flexible bearing harmonic speed reducer of fully loaded ball roller |
| CN113297771A (en) * | 2021-06-07 | 2021-08-24 | 四川大学 | Method for shaping outer contour of wave generator of harmonic reducer |
| CN116717570A (en) * | 2023-06-12 | 2023-09-08 | 睿尔曼智能科技（北京）有限公司 | Harmonic reducer, mechanical arm and robot |
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| CN202165532U (en) * | 2011-08-05 | 2012-03-14 | 苏州绿的谐波传动科技有限公司 | Overtone decelerating device for robot |
| JP2012062940A (en) * | 2010-09-15 | 2012-03-29 | Denso Wave Inc | Harmonic drive gearing |
| CN102434635A (en) * | 2011-12-19 | 2012-05-02 | 福建长江工业有限公司 | Integrated harmonic drive motor |
| WO2015118994A1 (en) * | 2014-02-06 | 2015-08-13 | 株式会社ハーモニック・ドライブ・システムズ | Flat wave gear device |
| CN208024807U (en) * | 2018-03-01 | 2018-10-30 | 睿尔曼智能科技（北京）有限公司 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
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2018
- 2018-03-01 CN CN201810171900.0A patent/CN108343724B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012062940A (en) * | 2010-09-15 | 2012-03-29 | Denso Wave Inc | Harmonic drive gearing |
| CN202165532U (en) * | 2011-08-05 | 2012-03-14 | 苏州绿的谐波传动科技有限公司 | Overtone decelerating device for robot |
| CN102434635A (en) * | 2011-12-19 | 2012-05-02 | 福建长江工业有限公司 | Integrated harmonic drive motor |
| WO2015118994A1 (en) * | 2014-02-06 | 2015-08-13 | 株式会社ハーモニック・ドライブ・システムズ | Flat wave gear device |
| CN208024807U (en) * | 2018-03-01 | 2018-10-30 | 睿尔曼智能科技（北京）有限公司 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108916354A (en) * | 2018-09-18 | 2018-11-30 | 苏州绿的谐波传动科技有限公司 | The flexible bearing harmonic speed reducer of fully loaded ball roller |
| CN113297771A (en) * | 2021-06-07 | 2021-08-24 | 四川大学 | Method for shaping outer contour of wave generator of harmonic reducer |
| CN116717570A (en) * | 2023-06-12 | 2023-09-08 | 睿尔曼智能科技（北京）有限公司 | Harmonic reducer, mechanical arm and robot |
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| Publication number | Publication date |
|---|---|
| CN108343724B (en) | 2019-06-11 |
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