CN112855761A - Crossed roller bearing with toothed inner ring - Google Patents

Crossed roller bearing with toothed inner ring Download PDF

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Publication number
CN112855761A
CN112855761A CN202110174868.3A CN202110174868A CN112855761A CN 112855761 A CN112855761 A CN 112855761A CN 202110174868 A CN202110174868 A CN 202110174868A CN 112855761 A CN112855761 A CN 112855761A
Authority
CN
China
Prior art keywords
inner ring
ring
teeth
roller bearing
wall
Prior art date
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.)
Pending
Application number
CN202110174868.3A
Other languages
Chinese (zh)
Inventor
吴洪德
杨奇能
欧学国
陈志广
苏潮
邵立伟
黄德皇
陈庆武
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhongshan Research Institute Beijing Institute Of Technology
Zhongshan Waseda Technology Co ltd
Original Assignee
Zhongshan Research Institute Beijing Institute Of Technology
Zhongshan Waseda Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhongshan Research Institute Beijing Institute Of Technology, Zhongshan Waseda Technology Co ltd filed Critical Zhongshan Research Institute Beijing Institute Of Technology
Priority to CN202110174868.3A priority Critical patent/CN112855761A/en
Publication of CN112855761A publication Critical patent/CN112855761A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
    • F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
    • F16C19/361—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers
    • F16C19/362—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers the rollers being crossed within the single row
    • 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
    • F16C33/581—Raceways; Race rings integral with other parts, e.g. with housings or machine elements such as shafts or gear wheels
    • 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
    • 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
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Rolling Contact Bearings (AREA)

Abstract

The invention discloses a crossed roller bearing with a toothed inner ring, which comprises an outer ring, an inner ring and a plurality of rollers, wherein a raceway is arranged between the outer ring and the inner ring, and the rollers are sequentially arranged in the raceway in a mutually vertical crossed manner; the inner wall of the inner ring is divided into an upper part inner wall and a lower part inner wall which are respectively marked as an upper part inner wall and a lower part inner wall, the upper part inner wall is provided with inner teeth, the inner teeth are shifting teeth, and the tooth height of the shifting teeth is smaller than the tooth width. When the device works, the crossed roller bearing is arranged on the harmonic speed reducer, and the internal teeth are meshed with flexible gear teeth on the harmonic speed reducer to carry out transmission output. The crossed roller bearing and the steel wheel are integrated together, one part is reduced, the structure of the harmonic speed reducer is more compact, the rigidity is increased, and the size and the weight are reduced. Meanwhile, the tooth profile of the inner teeth adopts the modified teeth, the tooth profile is optimized, the risk of tooth breakage is reduced, larger load can be borne, and the running noise is smaller.

Description

Crossed roller bearing with toothed inner ring
Technical Field
The invention relates to the technical field of crossed roller bearings, in particular to a crossed roller bearing with a toothed inner ring.
Background
The harmonic speed reducer is widely applied to robots due to small volume, light weight and high precision. The existing harmonic speed reducer mainly comprises the following components: the device comprises a crossed roller bearing, a steel wheel, an output flange, a flexible gear and a wave generator. Wherein, the output flange and the steel wheel are connected with the inner ring of the crossed roller bearing through screws. However, the existing structure has the following defects:
(1) the number of superposed parts is large, so that the rigidity is easy to be insufficient, the installation is not concentric, and the length in the axial direction is relatively long, so that the volume is large;
(2) at present, the tooth profile on the steel wheel is high, so that fracture failure is easily caused, and the noise is also high.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the crossed roller bearing with the toothed inner ring, which integrates the functions of a steel wheel, reduces the number of installed parts, increases the rigidity and has a compact structure; and the tooth profile of the inner ring teeth is optimized, so that the bearing capacity is high, the teeth are not easy to break, and the noise is low.
The purpose of the invention is realized by adopting the following technical scheme:
a crossed roller bearing with a toothed inner ring comprises an outer ring, an inner ring and a plurality of rollers, wherein a roller path is arranged between the outer ring and the inner ring, and the rollers are sequentially arranged in the roller path in a mutually vertical crossed manner; the inner wall of inner circle divide into upper and lower two parts, marks as upper portion inner wall and lower part inner wall respectively, the upper portion inner wall is provided with the internal tooth, the internal tooth is the tooth that shifts, the tooth height of the tooth that shifts is less than the tooth width.
Further, the rollers are cylindrical rollers, and the diameter and the height of the cylindrical rollers are equal.
Furthermore, for the inner ring, the end face close to the inner wall of the upper part is marked as the upper end face of the inner ring, and the upper end face of the inner ring longitudinally extends downwards and is provided with a flange mounting hole; and an outer ring mounting hole is formed in the outer ring.
Further, the height of the flange mounting hole is not less than the tooth height of the deflection tooth; the outer ring mounting hole longitudinally penetrates through the upper end face and the lower end face of the outer ring.
Furthermore, for the inner ring, the end face close to the inner wall of the lower part is recorded as the end face of the lower part of the inner ring, a roller mounting hole is formed in the end face of the lower part of the inner ring, and a hole plug is detachably arranged on the roller mounting hole.
Furthermore, the roller path structure further comprises a sealing ring, wherein the sealing ring is arranged above the roller path and between the outer ring and the inner ring, and the sealing ring is close to one side of the end face of the upper part of the inner ring.
Further, the axis of the outer ring and the axis of the inner ring are overlapped; the outer ring is of an integrally formed structure; the inner ring is of an integrally formed structure.
Further, the outer ring is a high-carbon chromium bearing steel outer ring; the inner ring is a high-carbon chromium bearing steel inner ring.
Compared with the prior art, the invention has the beneficial effects that:
(1) when the crossed roller bearing with the toothed inner ring provided by the invention works, the crossed roller bearing is arranged on the harmonic speed reducer, and the internal teeth on the inner ring are meshed with the flexible gear teeth on the harmonic speed reducer to carry out transmission output. The inner ring inner wall of the crossed roller bearing is toothed, which is equivalent to the function of integrating a steel wheel, the crossed roller bearing and the steel wheel are integrated together, one part is reduced, the structure of the harmonic speed reducer is more compact, the rigidity is increased, and the volume and the weight are reduced.
(2) The crossed roller bearing with the toothed inner ring provided by the invention has the advantages that the inner ring is provided with the inner teeth, the tooth profile of the inner teeth adopts the shifted teeth, the tooth height is smaller than the tooth width, the risk of tooth breakage is reduced, larger load can be borne, and the running noise is smaller.
(3) The crossed roller bearing with the toothed inner ring is suitable for the field of a robot cooperative robot, and is particularly suitable for occasions with small size and high rigidity.
Drawings
FIG. 1 is a cross-sectional view of a cross roller bearing provided by an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a cross roller bearing according to an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a cross roller bearing according to an embodiment of the present invention;
fig. 4 is a top view of a cross roller bearing provided by an embodiment of the present invention.
In the figure: 10. an inner ring; 11. internal teeth; 12. the end surface of the upper part of the inner ring; 13. a flange mounting hole; 14. the lower end face of the inner ring; 15. a roller mounting hole; 20. an outer ring; 21. an outer ring mounting hole; 30. a raceway; 40. a roller; 50. a seal ring; 60. and (4) plugging the hole.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
As shown in fig. 1-4, a crossed roller bearing with toothed inner ring comprises an outer ring 20, an inner ring 10 and a plurality of rollers 40, wherein a raceway 30 is arranged between the outer ring 20 and the inner ring 10, and the plurality of rollers 40 are sequentially arranged in the raceway 30 in a mutually perpendicular and crossed manner; the inner wall of the inner ring 10 is divided into an upper part inner wall and a lower part inner wall which are respectively marked as an upper part inner wall and a lower part inner wall, the upper part inner wall is provided with inner teeth 11, the inner teeth 11 are shifting teeth, and the tooth height of the shifting teeth is smaller than the tooth width.
When the device works, the crossed roller bearing is arranged on the harmonic speed reducer, and the internal teeth 11 are meshed with flexible gear teeth on the harmonic speed reducer to carry out transmission output. The crossed roller bearing and the steel wheel are integrated together, one part is reduced, the structure of the harmonic speed reducer is more compact, the rigidity is increased, and the size and the weight are reduced. Meanwhile, the tooth profile of the inner teeth 11 adopts the modified teeth, the tooth profile is optimized, the risk of tooth breakage is reduced, larger load can be borne, and the running noise is smaller.
In a preferred embodiment, the tooth height of the displaced teeth is shorter than that of the standard teeth, so that the risk of tooth breakage is further reduced, and the meshing capability is higher.
In a preferred embodiment, the rollers 40 are cylindrical rollers having a diameter and height equal to each other, ensuring rotational accuracy. Of course, the roller 40 may be provided as a tapered roller 40.
In a preferred embodiment, for the inner ring 10, an end surface close to the upper inner wall is referred to as an inner ring upper end surface 12, and the inner ring upper end surface 12 is longitudinally extended and provided with a flange mounting hole 13 downwards; the outer ring 20 is provided with an outer ring mounting hole 21. When the bearing is installed, the flange installation holes 13 are used for connecting and fixing the bearing inner ring 10 and the flange, and the outer ring installation holes 21 are used for installing and connecting the outer ring 20.
As a preferred embodiment, the height of the flange mounting hole 13 is not less than the tooth height of the shifted tooth; the outer ring mounting hole 21 penetrates the upper and lower end faces of the outer ring 20 in the longitudinal direction. By adopting the arrangement mode, the precision and the stability of the bearing installation are ensured.
In a preferred embodiment, an end surface of the inner ring 10 adjacent to the lower inner wall is referred to as an inner ring lower end surface 14, a roller mounting hole 15 is provided in the inner ring lower end surface 14, and a hole plug 60 is detachably provided in the roller mounting hole 15. The roller mounting hole 15 is used for loading the roller 40, and after the roller 40 is loaded, the roller mounting hole 15 is blocked by the hole plug 60 to prevent the roller 40 from falling out.
In a preferred embodiment, the bearing further comprises a seal ring 50, the seal ring 50 is arranged above the raceway 30 and between the outer ring 20 and the inner ring 10, and the seal ring 50 is close to the side of the upper end surface 12 of the inner ring. After the sealing ring 50 is pressed, the sealing ring 50 is firmly matched with the outer ring 20 and the inner ring 10 and cannot rotate along with the outer ring 20, and the friction torque between the inner lip of the sealing ring 50 and the inner ring 10 does not obviously fluctuate when the bearing rotates.
In a preferred embodiment, the axial center of the outer ring 20 and the axial center of the inner ring 10 overlap; the outer ring 20 is an integrally formed structure; the inner ring 10 is of an integrally formed structure. The inner ring 10 and the outer ring 20 are both integrated, so that the precision and the rigidity of the bearing are improved, and the defects of a split structure are overcome.
In a preferred embodiment, the outer ring 20 is a high carbon chromium bearing steel outer ring 20; the inner ring 10 is made of high-carbon chromium bearing steel 10, the GCr15 bearing steel has high hardness, uniform structure, good wear resistance and high contact fatigue performance, the guide roller 40 runs at high precision, and the bearing has long service life.
When the crossed roller bearing with the toothed inner ring provided by the embodiment of the invention works, the crossed roller bearing is arranged on a harmonic speed reducer, and the internal teeth 11 on the inner ring 10 are meshed with flexible gear teeth on the harmonic speed reducer to carry out transmission output. The inner wall of the inner ring 10 of the crossed roller bearing is provided with teeth, which is equivalent to the function of integrating a steel wheel, the crossed roller bearing and the steel wheel are integrated together, one part is reduced, the structure of the harmonic speed reducer is more compact, the rigidity is increased, and the volume and the weight are reduced. Meanwhile, the inner ring 10 of the crossed roller bearing is provided with the inner teeth 11, the tooth profile of the inner teeth 11 adopts the shifted teeth, the tooth height is smaller than the tooth width, the risk of tooth breakage is reduced, larger load can be borne, and the running noise is smaller.
The crossed roller bearing with the toothed inner ring provided by the embodiment of the invention is suitable for the field of a robot cooperative robot, and is particularly suitable for occasions with small volume and high rigidity.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims (9)

1. A crossed roller bearing with a toothed inner ring comprises an outer ring, an inner ring and a plurality of rollers, wherein a roller path is arranged between the outer ring and the inner ring, and the rollers are sequentially arranged in the roller path in a mutually vertical crossed manner; the inner wall of the inner ring is divided into an upper part and a lower part which are respectively marked as an upper inner wall and a lower inner wall, the upper inner wall is provided with inner teeth, the inner teeth are shifting teeth, and the tooth height of the shifting teeth is smaller than the tooth width.
2. The inner race toothed cross roller bearing of claim 1 wherein said rollers are cylindrical rollers, said cylindrical rollers being of equal diameter and height.
3. The crossed roller bearing with teeth on the inner ring as claimed in claim 1, wherein, for the inner ring, the end surface close to the upper inner wall is marked as the upper end surface of the inner ring, and the upper end surface of the inner ring is provided with a flange mounting hole extending downwards in the longitudinal direction; and an outer ring mounting hole is formed in the outer ring.
4. The inner race toothed cross roller bearing of claim 3 wherein said flange mounting holes are threaded holes; the outer ring mounting hole is a through hole with a smooth wall surface.
5. The inner race toothed cross roller bearing of claim 3 wherein said flange mounting bore has a height no less than the tooth height of said indexing teeth; the outer ring mounting hole longitudinally penetrates through the upper end face and the lower end face of the outer ring.
6. The crossed roller bearing with teeth on the inner ring as claimed in claim 1, wherein, for the inner ring, an end surface close to the lower inner wall is referred to as inner ring lower end surface, the inner ring lower end surface is provided with roller mounting holes, and the roller mounting holes are detachably provided with hole plugs.
7. The crossed roller bearing with teeth on the inner ring as claimed in claim 3, further comprising a seal ring disposed above the raceway and between the outer ring and the inner ring, the seal ring being disposed adjacent to a side of an upper end surface of the inner ring.
8. The inner ring toothed cross roller bearing of claim 1, wherein the axial center of said outer ring and the axial center of said inner ring overlap; the outer ring is of an integrally formed structure; the inner ring is of an integrally formed structure.
9. The inner ring toothed cross roller bearing of claim 1, wherein said outer ring is a high carbon chromium bearing steel outer ring; the inner ring is a high-carbon chromium bearing steel inner ring.
CN202110174868.3A 2021-02-09 2021-02-09 Crossed roller bearing with toothed inner ring Pending CN112855761A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110174868.3A CN112855761A (en) 2021-02-09 2021-02-09 Crossed roller bearing with toothed inner ring

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110174868.3A CN112855761A (en) 2021-02-09 2021-02-09 Crossed roller bearing with toothed inner ring

Publications (1)

Publication Number Publication Date
CN112855761A true CN112855761A (en) 2021-05-28

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ID=75989385

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110174868.3A Pending CN112855761A (en) 2021-02-09 2021-02-09 Crossed roller bearing with toothed inner ring

Country Status (1)

Country Link
CN (1) CN112855761A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115163660A (en) * 2022-08-22 2022-10-11 宁波瀚晟传动技术有限公司 Bearing and mounting method thereof with adjustable bearing capacity

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115163660A (en) * 2022-08-22 2022-10-11 宁波瀚晟传动技术有限公司 Bearing and mounting method thereof with adjustable bearing capacity
CN115163660B (en) * 2022-08-22 2024-02-02 宁波瀚晟传动技术有限公司 Bearing capacity adjustable bearing installation method and bearing

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