CN108374877B - Bearing and harmonic integrated ultra-small harmonic reducer - Google Patents
Bearing and harmonic integrated ultra-small harmonic reducer Download PDFInfo
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- CN108374877B CN108374877B CN201810350493.XA CN201810350493A CN108374877B CN 108374877 B CN108374877 B CN 108374877B CN 201810350493 A CN201810350493 A CN 201810350493A CN 108374877 B CN108374877 B CN 108374877B
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- steel wheel
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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
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a bearing and harmonic wave integrated ultra-small harmonic wave speed reducer which comprises a steel wheel a, a steel wheel b, a flexible wheel, a cam, a flexible bearing, rollers, roller stop blocks, bearing check rings, mounting screws and the like. The steel wheel a and the roller stop block are connected together to form an input steel wheel or an output steel wheel, and the steel wheel b is used as the output steel wheel or the input steel wheel. The inner diameter of the steel wheel a is processed with a V-shaped ring groove which is matched with the V-shaped ring groove processed on the outer wall of the steel wheel b to form a rectangular ring groove, the steel wheel a is also processed with a fan-shaped groove, the roller is arranged in the rectangular ring groove through the fan-shaped groove, the steel wheel a is used as a bearing outer ring, the steel wheel b is used as a bearing inner ring, and the bearing and the steel wheel integrated structure is formed together with the roller. The design of the invention reduces the number of structural members, reduces the structural thickness, lightens the weight of the bearing wall, realizes smaller size and improves the installability and the operability.
Description
Technical Field
The invention relates to a harmonic reducer, in particular to a bearing and harmonic integrated ultra-small harmonic reducer.
Background
The harmonic reducer has the characteristics of high transmission efficiency, small volume, light weight, stable transmission, low noise and the like, and is widely applied to the field of robots, in particular to cooperative mechanical arms, service robots and the like. With the development of robotics, the size requirements for harmonics are becoming more stringent.
The traditional harmonic reducer is divided into three major components: in order to meet the requirements of harmonic waves on axial force, radial force and bending moment, the wave generator, the flexible wheel and the steel wheel are connected by adopting crossed roller bearings.
If green harmonic LCD series adopts the form of cup flexbile gear, connects the output part of flexbile gear with the outer ring of cross needle bearing, then connects the steel wheel to the inner ring of cross roller bearing, finally realizes the cooperation of flexbile gear external tooth and steel wheel internal tooth, forms the scheme of a harmonic reducer, and the other cap flexbile gears are this connection principle equally, have adopted thin wall structure in order to avoid stress concentration simultaneously on the transition connection of flexbile gear tooth and mounting disc.
As mentioned above, the diameter of the harmonic reducer is ultimately defined by the crossed roller bearing, being larger than the diameter that is in principle required for practical harmonics. Meanwhile, other intermediate connection forms such as a connecting flange, a fastening screw and the like are needed for the use of the independent crossed roller bearing, so that the speed reducer has the characteristics of high manufacturing difficulty, large volume, high weight and the like.
Disclosure of Invention
According to the current application situation of the robot joint, the invention aims at the design defects of the existing harmonic reducer, adopts a cylindrical flexible gear form, and provides the ultra-small harmonic reducer with integrated bearing and harmonic by carrying out integrated design on the input steel wheel, the output steel wheel and the crossed roller bearing, and the ultra-small harmonic reducer has the characteristics of small volume, light weight, high precision and convenient installation.
The invention provides a bearing and harmonic wave integrated ultra-small harmonic wave speed reducer, which comprises: steel wheel a, steel wheel b, flexbile gear, cam, flexible bearing, roller dog, bearing retainer ring and mounting screw. The steel wheel a and the roller stop block are connected together through mounting screws to form an input steel wheel or an output steel wheel, and correspondingly, the steel wheel b is used as the output steel wheel or the input steel wheel.
The inner ring of the steel wheel a is provided with a larger diameter part and a smaller diameter part, a V-shaped ring groove is processed on the inner wall with the larger diameter part, and the V-shaped ring groove is matched with the V-shaped ring groove processed on the outer wall of the steel wheel b to form a rectangular ring groove. The steel wheel a and the steel wheel b are respectively meshed with the external teeth of the flexible wheel through the internal teeth. The flexible wheel, the flexible bearing and the cam are sleeved in sequence. The bearing retainer ring is arranged on the cam and used for axially limiting the flexible bearing.
A sector groove is formed in the steel wheel a and is communicated with a V-shaped annular groove in the inner diameter of the steel wheel a, and a roller is arranged in the rectangular annular groove through the sector groove; after the roller is mounted, the roller stopper is mounted in the sector groove on the steel wheel a by mounting screws. The steel wheel a is used as a bearing outer ring, the steel wheel b is used as a bearing inner ring, and the steel wheel a and the rollers form a bearing and steel wheel integrated structure.
The ultra-small harmonic reducer also comprises a sealing ring a, a sealing ring b and a sealing ring c, wherein annular grooves are formed in the two end faces of the steel wheel a and the outer end face of the steel wheel b and serve as mounting grooves of the sealing ring a, the sealing ring b and the sealing ring c.
The steel wheel a and the steel wheel b are uniformly provided with threaded holes on the upper end face and the outer ring along the circumference, and the threaded holes are used as mounting holes of the input steel wheel and the output steel wheel, so that the end face mounting or radial mounting mode can be selected according to the actual use requirements.
Under the condition that the number of the flexible gear teeth is fixed, the speed reduction ratio adjusting function of the harmonic speed reducer is realized by changing the internal tooth ratio of the steel gear a and the steel gear b.
The flexible gear is a cylindrical flexible gear, and the torque output by the harmonic reducer is changed by adjusting the width of the flexible gear.
The invention has the advantages and positive effects that:
(1) Compared with the traditional design, the harmonic reducer designed by the invention has the advantages that the bearing and the steel wheel are integrally designed, the number of structural parts is reduced, the thickness of the structure is reduced, the weight of the bearing wall is lightened, the harmonic weight is lighter, and the structure is simpler;
(2) The diameter of the harmonic reducer designed by the invention is the diameter of a steel wheel, the width of a bearing ring is reduced compared with the form of the same-parameter harmonic reducer in the market, and the ultra-small harmonic reducer has simpler structure and smaller realization size;
(3) According to the invention, the bearing and the steel wheel are integrally designed, so that the meshing width of the flexible wheel and the steel wheel is increased, and the bearing capacity is higher than that of similar products under the same size;
(4) The invention increases the radial installation mode on the basis of the conventional end face installation mode, improves the installation performance and the operability, and is suitable for more application scenes;
(5) The invention adopts a cylindrical flexible wheel form, and reduces the size of the harmonic reducer under the same bearing condition;
(6) Under the condition of fixed flexible gear teeth, the invention realizes the speed reduction ratio adjusting function of the harmonic speed reducer by changing the internal tooth gear ratio of the steel wheel a and the steel wheel b, and can reach a higher speed reduction ratio than the same-parameter harmonic speed reducer in the market;
(7) Under the condition that the external dimension is basically unchanged, different torque outputs can be achieved by adjusting the tooth widths of the engaged inner and outer teeth.
Drawings
FIG. 1 is a front view of a subminiature harmonic reducer of bearing and harmonic integrated design of the present invention;
FIG. 2 is a rear view of a subminiature harmonic reducer of bearing and harmonic integrated design of the present invention;
FIG. 3 is a cross-sectional view of a subminiature harmonic reducer of bearing and harmonic integrated design of the present invention;
fig. 4 is a schematic structural view of a steel wheel a in the harmonic reducer of the present invention;
FIG. 5 is a schematic view of the structure of a steel wheel b in the harmonic reducer of the present invention;
in the figure:
1-a steel wheel a; 2-steel wheel b; 3-flexible wheel; 4-cams; 5-flexible bearings; 6-a roller; 7-a roller stop;
8-a bearing retainer ring; 9-mounting screws; 10-a sealing ring a; 11-a sealing ring b; 12-sealing ring c.
Detailed Description
The invention will be described in further detail with reference to the drawings and examples.
As shown in fig. 1 to 3, the ultra-small harmonic reducer with integrated bearing and harmonic design provided by the invention comprises a steel wheel a, a steel wheel b, a flexible wheel 3, a cam 4, a flexible bearing 5, a roller 6, a roller stop 7, a bearing retainer 8 and a mounting screw 9. In addition, the harmonic reducer of the invention further comprises a sealing ring a, a sealing ring b and a sealing ring c.
The steel wheel a and the roller stop 7 are connected together through the mounting screw 9 to form an input steel wheel or an output steel wheel, and the steel wheel b is correspondingly used as the output steel wheel or the input steel wheel. The inner ring of the steel wheel a is provided with a larger diameter part and a smaller diameter part, a V-shaped ring groove is processed on the inner wall with the larger diameter part, a rectangular ring groove is formed by matching the V-shaped ring groove processed on the outer wall of the steel wheel b, and the roller 6 is arranged in the rectangular ring groove. The steel wheel a and the steel wheel b are respectively meshed with the external teeth of the flexible wheel 3 through the internal teeth, power is input through the cam 4, the flexible bearing 5 is driven to rotate and deform, the flexible wheel 3 is correspondingly deformed, and the flexible wheel 3 is meshed with the steel wheel a and the steel wheel b, so that power transmission is realized. When the steel wheel a or the steel wheel b is fixed, the power is output through the steel wheel b or the steel wheel a under the cooperation of the rollers 6.
The steel wheel a is an annular revolving body structure processed by metal materials, as shown in fig. 4. The left side of fig. 4 is a front view and the right side is a sectional view of A-A. The inner ring of the steel wheel a is provided with two parts with larger diameter and smaller diameter, the inner wall with smaller diameter in the inner ring is provided with inner teeth, the inner teeth are meshed with the outer teeth of the flexible wheel 3 to realize power transmission, the inner wall with larger diameter is provided with a V-shaped annular groove, and the V-shaped annular groove is matched with the V-shaped annular groove of the steel wheel b to form a rectangular annular groove, so that the installation space and the limiting structure of the roller 6 are provided. The steel wheel a is provided with a sector groove which is communicated with a V-shaped annular groove on the inner diameter of the steel wheel a, and the roller 7 is arranged in the rectangular annular groove through the sector groove. Threaded holes are machined in the fan-shaped grooves, and the roller stop blocks 7 and the steel wheel a can be fixedly connected through mounting screws 9.
The steel wheel b is an annular revolving body structure processed by metal materials, inner teeth are processed on the inner wall of the steel wheel b, and power transmission is realized through the meshing of the inner teeth and the outer teeth of the flexible wheel 3. As shown in fig. 5, the left side is a front view of the steel wheel b, and the right side is a sectional view of A-A. The inner ring of the steel wheel b is provided with a flexible wheel annular limiting boss to realize axial limiting of the flexible wheel 3. The outer wall of the steel wheel b is provided with an annular V groove for the installation space and limit of the roller 6.
The steel wheel a and the steel wheel b are uniformly provided with threaded holes on the upper end surface and the outer ring along the circumference, and can be used as mounting holes of the input steel wheel and the output steel wheel, the end surface mounting or radial mounting mode can be selected according to the actual use requirement, and the fixed mounting of the harmonic reducer is realized through standard screws in the actual use. Annular grooves are formed in the two end faces of the steel wheel a and the outer end face of the steel wheel b and serve as mounting grooves of the sealing ring a, the sealing ring b and the sealing ring c.
The connection between steel wheel a and steel wheel b is achieved by means of rollers 6. The steel wheel a is used as the outer ring of the roller bearing, the steel wheel b is used as the inner ring, and then the two steel wheels and the rollers 6 form a roller bearing and steel wheel integrated structure. Compared with the existing structure for connecting the flexible wheel and the steel wheel by adopting the crossed roller bearing, the invention directly uses the inner ring and the outer ring of the roller bearing as the steel wheel, simplifies the structure and reduces the diameter and the thickness under the condition of ensuring the performance requirement. Meanwhile, the inner teeth are machined through the steel wheel a and the steel wheel b to be meshed with the flexible wheel, so that the bearing capacity is improved.
The contact heights of the internal teeth of the steel wheel a and the steel wheel b and the external teeth of the flexible wheel 3 are the same, so that the output torque of the invention is ensured.
The flexible gear 3 is an annular rotary thin-wall structure processed by metal materials, external teeth are processed on the outer wall of the flexible gear 3, the external teeth of the flexible gear 3 are respectively meshed with the internal teeth of the steel gear a and the steel gear b, and transmission power is transmitted to the steel gear through deformation of the flexible gear 3 under the action of the cam 4 and the flexible bearing 5. Under the condition of fixed tooth number of the flexible gear 3, the function of adjusting the reduction ratio is realized by changing the tooth ratio of the internal teeth of the steel gear a and the internal teeth of the steel gear b. The flexible gear 3 adopts a cylindrical form, the structure with equal wall thickness can not generate stress concentration, and the size of the harmonic reducer is reduced under the same bearing condition.
The cam 4 is a revolving body structure processed by metal materials, the outer wall is of an elliptic structure, and when external power is input, the power is converted into deformation of the flexible bearing 5, and the flexible wheel 3 deforms along with the deformation, so that power transmission is realized. An annular boss is machined at one end of the outer ring of the cam 4, an annular groove is machined at the other end of the outer ring, a bearing retainer ring 8 is installed in the annular groove, and axial limiting of the flexible bearing 5 is achieved through the annular boss and the bearing retainer ring 8. The inner ring of the cam 4 is formed with a mounting through hole, and is connected to the power input shaft by using a connecting member such as a standard screw.
The flexible bearing 5 is composed of an inner ring, an outer ring and ball rollers, the inner ring is deformed under the drive of the cam 4, then the outer ring is driven to deform through the ball rollers, and finally the flexible wheel 3 connected with the outer ring is driven to deform, so that power transmission is realized.
The flexible gear 3, the flexible bearing 5 and the cam 4 are sleeved in sequence, the flexible bearing 5 is axially limited through a boss of the cam 4 and a bearing retainer 8, and the flexible gear 3 is tightly matched with the flexible bearing 5.
The rollers 6 are cylindrical structures processed by metal materials, are crosswise arranged in rectangular ring grooves formed by the steel wheels a and the steel wheels b, and realize transverse and radial bearing and power transmission between the input steel wheels and the output steel wheels.
The roller stop block 7 is of a fan-shaped structure formed by processing metal materials, a fan-shaped countersunk hole is processed on one side of the roller stop block, the roller stop block 7 is installed in a fan-shaped groove on the steel wheel a through the installation screw 9, and the rectangular annular groove is sealed.
The bearing retainer ring 8 is an open spring retainer ring processed by metal materials, and can be installed in the annular groove of the cam 5 through self elastic force, so that the installation limit of the flexible bearing 6 is realized.
The mounting screw 9 is a standard component, and the steel wheel a and the roller stop block 7 are mounted and fixed.
The sealing ring a, the sealing ring b and the sealing ring c are annular structures processed by nonmetallic materials and are arranged in corresponding sealing grooves of the steel wheel to realize the sealing of the invention.
The harmonic reducer designed by the invention has a columnar structure, is convenient to apply under the condition of the same parameters, maintains the columnar structure under the condition of the same bearing of like products, and improves the usability.
The invention combines the steel wheel a, the steel wheel b, the roller 6 and the roller stop 7 into a steel wheel combination, the cam 4, the flexible bearing 5 and the bearing retainer 8 form a wave generator, and the steel wheel combination, the flexible wheel 3 and the wave generator form the ultra-small harmonic reducer. The cam 4 is connected with an input shaft in practical application, and the steel wheel a is used as an input end or the steel wheel b is used as an input end, so that the steel wheel b or the steel wheel a is output through the engagement of the flexible wheel 3 and the steel wheel. The input power is transmitted through the cam 4, the flexible bearing 5 deforms under the action of the cam 4 to drive the flexible gear 3 to deform, and the power transmission is realized through the meshing of the inner teeth and the outer teeth of the flexible gear 3 and the steel gear, so that the output of the input power is completed. The roller is arranged in a rectangular groove formed by the steel wheel a and the steel wheel b through a fan-shaped groove of the steel wheel a, after the installation is finished, the roller stop block 7 is installed on the steel wheel a through the installation screw 9, and the sealing of the invention is realized through the sealing ring a, the sealing ring b and the sealing ring c, and the sealing device is mainly used for sealing lubricant between the flexible wheel and the steel wheel and between the roller and the steel wheel. The ultra-small harmonic reducer provided by the invention has a simpler structure, can be smaller in realization size, can be axially and radially mounted when the ultra-small harmonic reducer is additionally mounted, and can be suitable for more scenes.
Claims (6)
1. A bearing and harmonic integrated subminiature harmonic reducer, comprising: the device comprises a steel wheel a, a steel wheel b, a flexible wheel, a cam, a flexible bearing, rollers, roller stop blocks, bearing retainer rings and mounting screws; the steel wheel a and the roller stop block are connected together through mounting screws to form an input steel wheel or an output steel wheel, and the steel wheel b is correspondingly used as the output steel wheel or the input steel wheel;
the inner ring of the steel wheel a is provided with a larger diameter part and a smaller diameter part, a V-shaped ring groove is processed on the inner wall with the larger diameter part, and the V-shaped ring groove is matched with the V-shaped ring groove processed on the outer wall of the steel wheel b to form a rectangular ring groove; the steel wheel a and the steel wheel b are respectively meshed with the external teeth of the flexible wheel through the internal teeth; the flexible gear, the flexible bearing and the cam are sleeved in sequence, and a bearing retainer ring is arranged on the cam and used for axially limiting the flexible bearing; the cam is a revolving body structure processed by metal materials;
a sector groove is formed in the steel wheel a and is communicated with a V-shaped annular groove in the inner diameter of the steel wheel a, and a roller is arranged in the rectangular annular groove through the sector groove; after the roller is installed, the roller stop block is installed in the sector groove on the steel wheel a through the installation screw; the steel wheel a is used as a bearing outer ring, the steel wheel b is used as a bearing inner ring, and the steel wheel a and the rollers form a bearing and steel wheel integrated structure.
2. The ultra-small harmonic reducer according to claim 1, wherein threaded holes are uniformly formed on the end surfaces and the outer ring of the steel wheel a and the steel wheel b, and the threaded holes are used as mounting holes of the input steel wheel and the output steel wheel, so that the end surface mounting or the radial mounting mode is selected according to actual use requirements.
3. The ultra-small harmonic reducer according to claim 1, further comprising a sealing ring a, a sealing ring b and a sealing ring c, wherein annular grooves are formed on both end surfaces of the steel wheel a and the outer end surface of the steel wheel b, and are used as mounting grooves of the sealing ring a, the sealing ring b and the sealing ring c.
4. The ultra-small harmonic reducer according to claim 1, 2 or 3, wherein the steel wheel a and the steel wheel c realize the reduction ratio adjusting function of the harmonic reducer by changing the internal tooth ratio of the steel wheel a and the steel wheel b under the condition that the number of the flexible gear teeth is fixed.
5. The ultra-small harmonic reducer according to claim 1, 2 or 3, wherein the flexible gear is a cylindrical flexible gear, and the torque output by the harmonic reducer is changed by adjusting the width of the flexible gear.
6. A subminiature harmonic reducer according to claim 1, 2 or 3, wherein the internal teeth of the steel wheel a and the steel wheel b are in contact with the external teeth of the flexspline to the same height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810350493.XA CN108374877B (en) | 2018-04-18 | 2018-04-18 | Bearing and harmonic integrated ultra-small harmonic reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810350493.XA CN108374877B (en) | 2018-04-18 | 2018-04-18 | Bearing and harmonic integrated ultra-small harmonic reducer |
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| Publication Number | Publication Date |
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| CN108374877A CN108374877A (en) | 2018-08-07 |
| CN108374877B true CN108374877B (en) | 2023-07-21 |
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| CN201810350493.XA Active CN108374877B (en) | 2018-04-18 | 2018-04-18 | Bearing and harmonic integrated ultra-small harmonic reducer |
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Families Citing this family (2)
| 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 |
| 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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