CN110388439A - Harmonic reducer and manipulator - Google Patents
Harmonic reducer and manipulator Download PDFInfo
- Publication number
- CN110388439A CN110388439A CN201910551081.7A CN201910551081A CN110388439A CN 110388439 A CN110388439 A CN 110388439A CN 201910551081 A CN201910551081 A CN 201910551081A CN 110388439 A CN110388439 A CN 110388439A
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- Prior art keywords
- outer ring
- inner ring
- ring
- harmonic speed
- speed reducer
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 57
- 239000000463 material Substances 0.000 claims abstract description 20
- 230000002093 peripheral effect Effects 0.000 claims description 12
- 229920006351 engineering plastic Polymers 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004080 punching Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
- F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
- F16C19/16—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls
- F16C19/163—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls with angular contact
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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
- F16C25/00—Bearings for exclusively rotary movement adjustable for wear or play
- F16C25/06—Ball or roller bearings
- F16C25/08—Ball or roller bearings self-adjusting
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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
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/58—Raceways; Race rings
- F16C33/62—Selection of substances
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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
- F16C43/00—Assembling bearings
- F16C43/04—Assembling rolling-contact bearings
- F16C43/06—Placing rolling bodies in cages or bearings
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention provides a harmonic reducer and a manipulator, and relates to the technical field of reducers. The flexible angular contact bearing comprises an inner ring, an outer ring and a plurality of rollers, wherein the rollers are arranged between the inner ring and the outer ring, and the inner ring and the outer ring are both made of deformable materials; the outer ring is sleeved in the flexible gear and in interference fit with the flexible gear, and the wave generator is sleeved in the inner ring and in interference fit with the inner ring. The harmonic reducer provided by the invention adopts a flexible angular contact bearing structure, and the last roller is not required to be assembled in a stamping mode when the flexible angular contact bearing is assembled. During assembly, all the rollers and the outer ring can be assembled firstly, then the inner ring is assembled, and meanwhile, the flexible angular contact bearing can reduce the clearance by adjusting the relative axial positions of the inner ring and the outer ring, so that the efficiency of the harmonic reducer is improved.
Description
Technical field
The present invention relates to retarder fields, in particular to a kind of harmonic speed reducer and manipulator.
Background technique
Harmonic speed reducer is a kind of common retarder, harmonic speed reducer have high transmission accuracy, speed ratio it is big, it is small in size,
Many advantages, such as structure is simple, application scenarios are extensive.Basic element of character composition there are three harmonic speed reducer is main, respectively firm gear,
Flexbile gear and wave producer.Wherein, flexbile gear is set in firm gear and is intermeshed, and wave producer is set in flexbile gear, for driving
Flexbile gear rotation.Also, bearing is equipped between flexbile gear and wave producer.
The efficiency of existing harmonic speed reducer influences maximum factor to harmonic speed reducer efficiency usually only less than 80%
It is exactly the clearance (gap between bearing roller and bearing internal external circle) of flexible bearing, clearance is bigger, and efficiency is lower.And it is existing
For conventional bearings in assembly, last roller is assembled between Internal and external cycle by punching press, and the two will inevitably produce
Raw clearance reduces the efficiency of harmonic speed reducer, and can not also be reduced clearance by technological means.
Summary of the invention
The present invention provides a kind of harmonic speed reducer and manipulators, it is intended to improve the clearance of existing harmonic speed reducer middle (center) bearing
Excessive the problem of causing harmonic speed reducer efficiency to reduce.
The present invention is implemented as follows:
A kind of harmonic speed reducer, including flexbile gear, flexible angular contact bearing and wave producer, the flexibility angular contact bearing packet
Inner ring, outer ring and several rollers are included, several rollers are set between the inner ring and the outer ring, the inner ring and institute
Outer ring is stated to be made of deformable material；The outer ring is sheathed in the flexbile gear and is interference fitted with the flexbile gear, the wave
Generator is sheathed in the inner ring and is interference fitted with the inner ring.
Further, in preferred embodiments of the present invention, the inner ring and the outer ring are by elastic metallic or engineering plastic
Material is made.
A kind of harmonic speed reducer, including flexbile gear, flexible angular contact bearing and wave producer, the flexibility angular contact bearing packet
Inner ring, outer ring and several rollers are included, several rollers are set between the inner ring and the outer ring, the outer ring and institute
It states flexbile gear to be wholely set, and the outer ring and the flexbile gear are made of deformable material；The inner ring and the wave producer
It is wholely set, and the inner ring and the wave producer are made of rigid material.
Further, in preferred embodiments of the present invention, the flexibility angular contact bearing further includes retainer, the guarantor
Holder is equipped with several holes being intervally arranged, and the retainer is set between the inner ring and the outer ring, and several institutes
Roller is stated to be correspondingly arranged in hole.
Further, in preferred embodiments of the present invention, the inner peripheral surface of the outer ring is equipped with outer rollaway nest, the inner ring
Outer peripheral surface be equipped with interior rollaway nest, several rollers, which have, contact angle and rollably to be configured in the outer rollaway nest and the interior rollaway nest
Between.
Further, in preferred embodiments of the present invention, on the outer peripheral surface of the inner ring, relative to the interior rollaway nest
It is formed with inner ring fore shaft in axial side, is formed with interior ring recess shoulder in the axial other side relative to the interior rollaway nest；Described
On the inner peripheral surface of outer ring, it is formed with outer ring recess shoulder in axial side relative to the outer rollaway nest, is existed relative to the outer rollaway nest
The axial other side is formed with outer ring fore shaft；And the inner ring fore shaft is opposite with the outer ring recess shoulder, the outer ring fore shaft and institute
It is opposite to state interior ring recess shoulder.
Further, in preferred embodiments of the present invention, the contact angle of the roller is 10 ° -70 °.
Further, in preferred embodiments of the present invention, the contact angle of the roller is 30 ° -50 °.
Further, in preferred embodiments of the present invention, the outer ring is made of elastic metallic or engineering plastics.
A kind of manipulator, the manipulator include harmonic speed reducer described in any of the above embodiments.
The beneficial effects of the present invention are: the harmonic speed reducer that the present invention obtains by above-mentioned design, using flexible angular contact
Bearing, flexible angular contact bearing do not need to assemble last roller using the mode of punching press in assembly.When assembly
After first all rollers and outer ring can be assembled, then the assembly of inner ring is carried out, while flexible angular contact bearing can pass through tune
The position to axial of whole inner ring and outer ring reduces clearance, to improve the efficiency of harmonic speed reducer.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram for harmonic speed reducer that the embodiment of the present invention 1 provides；
Fig. 2 is that the cooperation that clearance adjusts preceding inner ring and outer ring in a kind of harmonic speed reducer of the offer of the embodiment of the present invention 1 is closed
It is schematic diagram；
Fig. 3 is that the cooperation of inner ring and outer ring after clearance adjustment in a kind of harmonic speed reducer of the offer of the embodiment of the present invention 1 is closed
It is schematic diagram；
Fig. 4 is a kind of structural schematic diagram for harmonic speed reducer that the embodiment of the present invention 2 provides.
Icon: flexbile gear 1；Outer ring 2；Outer ring fore shaft 21；Outer ring recess shoulder 22；Inner ring 3；Inner ring fore shaft 31；Interior ring recess shoulder
32；Roller 4；Wave producer 5；Clearance A.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit below and is wanted
The scope of the present invention of protection is sought, but is merely representative of selected embodiment of the invention.Based on the embodiment in the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts belongs to this
Invent the range of protection.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, with spy
Fixed orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Embodiment 1:
It please refers to shown in Fig. 1-Fig. 3, the present embodiment provides a kind of harmonic speed reducers, including firm gear, flexbile gear 1, flexible corner connection
Contact bearing and wave producer 5.Firm gear has internal tooth, and flexbile gear 1 has external tooth, and flexbile gear 1 is arranged in firm gear, and in wave producer 5
Driving under, with firm gear be intermeshed.Wave producer 5 is sheathed in the axis hole of flexbile gear 1, and is equipped with flexible angular contact axis between the two
It holds.Wherein, wave producer 5 is cam, specially ellipticity, and the length of the long axis of cam is more bigger than the shaft hole diameter of flexbile gear 1.
Specifically, flexible angular contact bearing includes inner ring 3, outer ring 2 and several rollers 4, several rollers 4 are set to inner ring
Between 3 and outer ring 2, inner ring 3 and outer ring 2 are made of deformable material；When installation, outer ring 2 is sheathed in flexbile gear 1 and and flexbile gear
1 interference fit, wave producer 5 are sheathed in inner ring 3 and are interference fitted with inner ring 3.In the present embodiment, roller 4 is steel ball.At it
In his embodiment, cylindrical type roller can also be used.
Outer ring 2 and inner ring 3 are circle in nature.Since the length that cam is ellipticity and long axis is greater than flexbile gear 1
Shaft hole diameter, after assembly, inner ring 3 and outer ring 2 is made in deformable material, and by the profile of cam, deformation occurs.Similarly, flexbile gear 1 exists
The profile of cam is pressed under the action of flexible angular contact bearing and cam, and deformation occurs, and engages with firm gear completion.When work, cam
Rotation makes flexible angular contact bearing and flexbile gear 1 continue deformation, and completes transmission by the engagement of flexbile gear 1 and firm gear, makes harmonic wave
Retarder can work normally.
Harmonic speed reducer provided in this embodiment, using flexible angular contact bearing, flexible angular contact bearing is in assembly, no
It needs to assemble last roller 4 using the mode of punching press.First all rollers 4 and outer ring 2 can be filled when assembly
After matching, then the assembly of inner ring 3 is carried out, while flexible angular contact bearing can come by adjusting the relative position of inner ring 3 and outer ring 2
Reduce clearance A, to improve the efficiency of harmonic speed reducer.
Specific clearance A regulative mode is, outer ring 2 is fixed, then applies an effect in assembly direction to inner ring 3
Power (direction when i.e. inner ring 3 is pressed into outer ring 2 when being assembled, can refer in Fig. 2 and Fig. 3, direction from right to left).At this
Under a active force, inner ring 3 and outer ring 2 can be pressed against roller 4 from two sides, to reduce clearance A, improve harmonic speed reducer effect
Rate.Specific mode can be, by adjusting the link position of cam and motor, to be exerted a force by cam to inner ring 3.
Referring to figure 2. and shown in Fig. 3, harmonic speed reducer provided in this embodiment can be by adjusting inner ring 3 and outer ring 2
Relative position, adjust clearance A size, make the clearance A of flexible angular contact bearing reach zero windage even negative clearance (zero windage
Refer to state when inner ring 3 and outer ring 2 are just contacted with roller 4, negative clearance refers to that inner ring 3 and outer ring 2 are contacted with roller 4 and to roller
4 form state when squeezing), substantially increase the efficiency of harmonic speed reducer.
At runtime, flexible angular contact bearing will receive the axial force of other workpiece application to harmonic speed reducer, this will lead to
Relative displacement occurs between flexible angular contact bearing and flexbile gear 1 and cam, when relative displacement is excessive, will lead to retarder damage
And it can not work normally.Harmonic speed reducer provided in this embodiment, outer ring 2 and flexbile gear 1 are interference fitted, wave producer 5 and inner ring 3
Interference fit.Increase the interaction force between workpiece, to avoided between flexible angular contact bearing and flexbile gear 1 and cam as far as possible
Relative displacement occurs.
Harmonic speed reducer has service life, and life time refers to the precision retention time of harmonic speed reducer.Usual feelings
Under condition, the case where excluding improper failure (because extraneous factor is not up to the sample service life), the dominant failure (service life of harmonic speed reducer
Exhaust) gear (internal tooth and external tooth) of the form between flexbile gear 1 and firm gear because abrasion caused by precision lose.The present embodiment mentions
The harmonic speed reducer of confession, due to inner ring 3 apply axial force when, lubrication groove can the active force of external wheel shape radially,
Since foreign steamer is made of deformable material, so foreign steamer can deformation occurs under the action of lubrication groove (being radially stretched), from
And drive flexbile gear 1 deformation occurs (being radially stretched), the even closer engagement of the internal tooth of the external tooth and firm gear that finally make flexbile gear 1
Together, reduce influence of the gear wear to transmission accuracy, to extend the service life of harmonic speed reducer.
In the present embodiment, cam is made of rigid material, specifically refers to the wave producer 5 of existing harmonic speed reducer.It is soft
Wheel 1 is made of deformable material, specifically refers to the flexbile gear of existing harmonic speed reducer.Further, inner ring 3 and outer ring 2 can be with
It is made of material identical with flexbile gear 1.
Further, in the present embodiment, inner ring 3 and outer ring 2 are made of elastic metallic or engineering plastics.
Further, in the present embodiment, flexible angular contact bearing further includes retainer, and retainer is equipped with several intervals
The hole of arrangement, retainer are set between inner ring 3 and outer ring 2, and several rollers 4 are correspondingly arranged in hole.Retainer energy
The relative position between several rollers 4 is enough kept, enables to be always maintained at and is spaced apart from each other, relative position when its rotation is avoided to occur
Change, influences the performance of flexible angular contact bearing.Retainer is made of deformable material.
Further, referring to figure 2. and shown in Fig. 3, in the present embodiment, the inner peripheral surface of outer ring 2 is equipped with outer rollaway nest, interior
The outer peripheral surface of circle 3 is equipped with interior rollaway nest, several rollers 4 have contact angle and rollably configure outer rollaway nest and interior rollaway nest it
Between.When inner ring 3 and outer ring 2 rotate, roller 4 can prevent from moving along the raceway rotation that interior rollaway nest and outer rollaway nest are collectively formed
When be detached from.
Further, referring to figure 2. and shown in Fig. 3, in the present embodiment, on the outer peripheral surface of inner ring 3, relative to interior rolling
Road is formed with inner ring fore shaft 31 in axial side, is formed with interior ring recess shoulder 32 in the axial other side relative to interior rollaway nest；Outside
On the inner peripheral surface of circle 2, it is formed with outer ring recess shoulder 22 in axial side relative to outer rollaway nest, relative to outer rollaway nest axial another
Side is formed with outer ring fore shaft 21；And inner ring fore shaft 31 and outer ring recess shoulder 22 are opposite, outer ring fore shaft 21 and interior 32 phase of ring recess shoulder
It is right.When assembly, interior ring recess shoulder 32 and outer ring recess shoulder 22 can be fixed from two-way formed to roller 4.When adjusting clearance A,
And roller 4 is formed by interior ring recess shoulder 32 and outer ring recess shoulder 22 and squeezes to reach negative clearance.
It further, in the present embodiment, is the transmission accuracy for guaranteeing roller 4, the contact angle of roller 4 is 10 ° -70 °.Into
One step, the contact angle of roller 4 is 30 ° -50 °.
A kind of manipulator is also provided in the present embodiment, which includes harmonic speed reducer described in any of the above embodiments.
Embodiment 2:
Shown in referring to figure 4., the present embodiment provides a kind of harmonic speed reducers, including firm gear, flexbile gear 1, flexible angular contact axis
It holds and wave producer 5.Firm gear has internal tooth, and flexbile gear 1 has external tooth, and flexbile gear 1 is arranged in firm gear, and in the drive of wave producer 5
Under dynamic, it is intermeshed with firm gear.Wave producer 5 is sheathed in the axis hole of flexbile gear 1, and is equipped with flexible angular contact bearing between the two.
Wherein, wave producer 5 is cam, specially ellipticity, and the length of the long axis of cam is more bigger than the shaft hole diameter of flexbile gear 1.
Specifically, flexible angular contact bearing includes inner ring 3, outer ring 2 and several rollers 4, several rollers 4 are set to inner ring
Between 3 and outer ring 2, outer ring 2 and flexbile gear 1 are wholely set, and outer ring 2 and flexbile gear 1 are made of deformable material；Inner ring 3 and wave
Generator 5 is wholely set, and inner ring 3 and wave producer 5 are made of rigid material.
Content in reference implementation example 1 in place of the present embodiment and the difference of embodiment 1 as it can be seen that be, inner ring 3 and wave producer
It is replaced with and is wholely set by interference fit between 5, set likewise, being also integrated by interference fit replacement between outer ring 2 and flexbile gear 1
It sets.And inner ring 3 with wave producer 5 due to being wholely set in the present embodiment, so the material of inner ring 3 is changed to just by flexible material
Property material.In addition to above-mentioned difference, technical solution same as Example 1 is can be used in other settings, is not added and is repeated herein.
Harmonic speed reducer provided in this embodiment, working principle is same as Example 1, can between refer to content above.
And it is same using flexible angular contact bearing, clearance A can be adjusted, to improve the efficiency of harmonic speed reducer.
Also, the harmonic speed reducer provided in the present embodiment, since inner ring 3 and wave producer 5 are wholely set, outer ring 2 with
Flexbile gear 1 is wholely set, and fundamentally avoids inner ring 3 and relative displacement and outer ring 2 occurs for wave producer 5 and flexbile gear 1 occurs
The case where opposite displacement, occurs, and enhances stability when harmonic speed reducer work, will not slide because of flexible angular contact bearing
And damage harmonic speed reducer.
Further, in the present embodiment, outer ring 2 is made of elastic metallic or engineering plastics.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of harmonic speed reducer, which is characterized in that including flexbile gear, flexible angular contact bearing and wave producer, the flexibility angle
Contact bearing includes inner ring, outer ring and several rollers, and several rollers are set between the inner ring and the outer ring, institute
It states inner ring and the outer ring is made of deformable material；The outer ring is sheathed in the flexbile gear and matches with the flexbile gear interference
It closes, the wave producer is sheathed in the inner ring and is interference fitted with the inner ring.
2. harmonic speed reducer according to claim 1, which is characterized in that the inner ring and the outer ring by elastic metallic or
Engineering plastics are made.
3. a kind of harmonic speed reducer, which is characterized in that including flexbile gear, flexible angular contact bearing and wave producer, the flexibility angle
Contact bearing includes inner ring, outer ring and several rollers, and several rollers are set between the inner ring and the outer ring, institute
It states outer ring and the flexbile gear is wholely set, and the outer ring and the flexbile gear are made of deformable material；The inner ring and institute
It states wave producer to be wholely set, and the inner ring and the wave producer are made of rigid material.
4. according to claim 1 or 3 described in any item harmonic speed reducers, which is characterized in that the flexibility angular contact bearing is also
Including retainer, the retainer is equipped with several holes being intervally arranged, and the retainer is set to the inner ring and described
Between outer ring, and several rollers are correspondingly arranged in hole.
5. according to claim 1 or 3 described in any item harmonic speed reducers, which is characterized in that set on the inner peripheral surface of the outer ring
There is outer rollaway nest, the outer peripheral surface of the inner ring is equipped with interior rollaway nest, and several rollers have contact angle and rollably configure described
Between outer rollaway nest and the interior rollaway nest.
6. harmonic speed reducer according to claim 5, which is characterized in that on the outer peripheral surface of the inner ring, relative to institute
It states interior rollaway nest and is formed with inner ring fore shaft in axial side, be formed with interior ring recess shoulder in the axial other side relative to the interior rollaway nest
Portion；On the inner peripheral surface of the outer ring, it is formed with outer ring recess shoulder in axial side relative to the outer rollaway nest, relative to described
Outer rollaway nest is formed with outer ring fore shaft in the axial other side；And the inner ring fore shaft is opposite with the outer ring recess shoulder, the outer ring
Fore shaft is opposite with the interior ring recess shoulder.
7. harmonic speed reducer according to claim 5, which is characterized in that the contact angle of the roller is 10 ° -70 °.
8. harmonic speed reducer according to claim 7, which is characterized in that the contact angle of the roller is 30 ° -50 °.
9. harmonic speed reducer according to claim 3, which is characterized in that the outer ring is by elastic metallic or engineering plastics system
At.
10. a kind of manipulator, which is characterized in that the manipulator includes the described in any item harmonic speed reducers of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910551081.7A CN110388439A (en) | 2019-06-24 | 2019-06-24 | Harmonic reducer and manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910551081.7A CN110388439A (en) | 2019-06-24 | 2019-06-24 | Harmonic reducer and manipulator |
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| CN110388439A true CN110388439A (en) | 2019-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910551081.7A Withdrawn CN110388439A (en) | 2019-06-24 | 2019-06-24 | Harmonic reducer and manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873271A (en) * | 2019-11-29 | 2021-06-01 | 精工爱普生株式会社 | Gear device and robot |
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| CN106194999A (en) * | 2016-09-29 | 2016-12-07 | 上海斐赛轴承科技有限公司 | A kind of harmonic speed reducer Multi-contact flexible bearing |
| CN106640958A (en) * | 2016-11-09 | 2017-05-10 | 上海斐赛轴承科技有限公司 | Novel flexible gear and wave generator assembly used for harmonic gear transmission device |
| 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 |
| CN210859728U (en) * | 2019-06-24 | 2020-06-26 | 珠海格力电器股份有限公司 | Harmonic reducer and manipulator |
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2019
- 2019-06-24 CN CN201910551081.7A patent/CN110388439A/en not_active Withdrawn
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| US20080110287A1 (en) * | 2006-11-14 | 2008-05-15 | Schonlau William J | Robotic harmonic flex-drive |
| CN204533186U (en) * | 2015-04-07 | 2015-08-05 | 浙江八环轴承有限公司 | A kind of robot angular contact thrust ball bearing |
| CN105864283A (en) * | 2016-05-25 | 2016-08-17 | 浙江来福谐波传动股份有限公司 | Four-point contact bearing for harmonic reducer |
| CN106194999A (en) * | 2016-09-29 | 2016-12-07 | 上海斐赛轴承科技有限公司 | A kind of harmonic speed reducer Multi-contact flexible bearing |
| WO2018058814A1 (en) * | 2016-09-29 | 2018-04-05 | 上海斐赛轴承科技有限公司 | Multiple contact point flexible bearing for harmonic reducer |
| CN106640958A (en) * | 2016-11-09 | 2017-05-10 | 上海斐赛轴承科技有限公司 | Novel flexible gear and wave generator assembly used for harmonic gear transmission device |
| CN210859728U (en) * | 2019-06-24 | 2020-06-26 | 珠海格力电器股份有限公司 | Harmonic reducer and manipulator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873271A (en) * | 2019-11-29 | 2021-06-01 | 精工爱普生株式会社 | Gear device and robot |
| US11378170B2 (en) * | 2019-11-29 | 2022-07-05 | Seiko Epson Corporation | Gear device and robot |
| CN112873271B (en) * | 2019-11-29 | 2023-06-30 | 精工爱普生株式会社 | Gear device and robot |
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