CN114593145A - Harmonic drive and bearing element for a harmonic drive - Google Patents

Harmonic drive and bearing element for a harmonic drive Download PDF

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Publication number
CN114593145A
CN114593145A CN202011406993.4A CN202011406993A CN114593145A CN 114593145 A CN114593145 A CN 114593145A CN 202011406993 A CN202011406993 A CN 202011406993A CN 114593145 A CN114593145 A CN 114593145A
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CN
China
Prior art keywords
outer ring
harmonic drive
inner ring
section
bearing element
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
CN202011406993.4A
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Chinese (zh)
Inventor
乌韦·荣格
梅克·克鲁泽
乌韦·莫茨考
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.)
Schaeffler Technologies AG and Co KG
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Schaeffler Technologies AG and Co KG
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Filing date
Publication date
Application filed by Schaeffler Technologies AG and Co KG filed Critical Schaeffler Technologies AG and Co KG
Priority to CN202011406993.4A priority Critical patent/CN114593145A/en
Publication of CN114593145A publication Critical patent/CN114593145A/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
    • F16C19/44—Needle bearings
    • F16C19/48—Needle bearings with two or more rows of needles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • 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
    • 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
    • F16C33/583—Details of specific parts of races
    • 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
    • F16C33/60—Raceways; Race rings divided or split, e.g. comprising two juxtaposed rings
    • 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
    • F16C33/66—Special parts or details in view of lubrication
    • 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
    • F16C33/66—Special parts or details in view of lubrication
    • F16C33/6603—Special parts or details in view of lubrication with grease as lubricant
    • F16C33/6607—Retaining the grease in or near the bearing
    • F16C33/6614—Retaining the grease in or near the bearing in recesses or cavities provided in retainers, races or rolling elements
    • 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
    • F16C33/66—Special parts or details in view of lubrication
    • F16C33/6637—Special parts or details in view of lubrication with liquid lubricant
    • F16C33/664—Retaining the liquid in or near the bearing
    • F16C33/6651—Retaining the liquid in or near the bearing in recesses or cavities provided in retainers, races or rolling elements
    • 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
    • F16C33/66—Special parts or details in view of lubrication
    • F16C33/6696—Special parts or details in view of lubrication with solids as lubricant, e.g. dry coatings, powder
    • 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
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/762—Sealings of ball or roller bearings by means of a fluid
    • 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
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
    • F16C33/7803—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members suited for particular types of rolling bearings
    • F16C33/7809—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members suited for particular types of rolling bearings for needle roller bearings
    • 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
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
    • F16C33/784—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members mounted to a groove in the inner surface of the outer race and extending toward the inner race

Landscapes

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

Abstract

The invention relates to a harmonic drive and a bearing element for a harmonic drive. The harmonic drive is used for a robot drive, comprising at least one bearing element (1) having an inner ring (2) and an outer ring (3), wherein the inner ring (2) or the outer ring (3) is designed in sections, and wherein two axially adjacent axially inclined needle roller cages (4a, 4b) are spatially arranged between the inner ring (2) and the outer ring (3), in which needle rollers (5) are guided. The bearing element (1) further comprises an inner ring (2) and an outer ring (3), wherein the inner ring (2) or the outer ring (3) is formed in sections, and wherein two axially adjacent axially inclined needle cages (4a, 4b) are spatially arranged between the inner ring (2) and the outer ring (3), in which needle rollers (5) are guided.

Description

Harmonic drive and bearing element for a harmonic drive
Technical Field
The invention relates to a harmonic drive for a robot drive, comprising at least one bearing element having an inner ring and an outer ring, wherein at least one bearing cage is arranged spatially between the inner ring and the outer ring, in which bearing cage rolling bodies are guided in a surrounding manner. The invention also relates to a bearing element for a harmonic drive.
Background
DE 10134191191a1 discloses a transmission unit comprising an annular housing and a reduction mechanism accommodated in the housing. Furthermore, the transmission unit comprises a rolling bearing for rotatably supporting an output element of the reduction mechanism at the housing, wherein the rolling bearing has an outer ring held at the housing, an inner ring present at the output element, and a plurality of rolling bodies. The outer ring is provided on its outer circumferential surface with an external thread section, while on the inner circumferential surface of the housing an internal thread section is formed which is adapted to the external thread section, and the outer ring is screwed onto the housing.
Disclosure of Invention
The invention aims to: the harmonic drive and the bearing element for the harmonic drive are improved such that they achieve a high tilt stiffness and a low friction torque while being simple to assemble.
The harmonic drive for a robot drive according to the invention comprises at least one bearing element having an inner ring and an outer ring, wherein the inner ring or the outer ring is designed in segments, and wherein two axially adjacent axially inclined needle roller cages are arranged spatially between the inner ring and the outer ring, in which axially inclined needle roller cages needle rollers are guided. In other words, the bearing element has two axially spaced-apart axially inclined needle bearing rows, wherein each axially inclined needle bearing row is formed by an axially inclined needle roller cage having needle rollers guided around it. By means of the bearing element configured in this way, large forces can be transmitted in the radial and axial directions, wherein low friction torques and a relatively high tilting stiffness can be achieved. In particular, the assembly of the harmonic drive or the bearing element is simplified.
The bearing element is preferably designed as a driven bearing of the harmonic drive or as part of the driven bearing. The bearing element is preferably designed as a double-row, self-retaining, axially tilting needle bearing, wherein a plurality of needles are arranged spatially at a distance from one another by an axially tilting needle cage and roll between the outer circumferential surface of the inner ring and the inner circumferential surface of the outer ring. In other words, two symmetrical tilting needle rows are arranged within the bearing element at a distance from one another in the axial direction, wherein the double-row axial tilting needle bearing is capable of carrying high radial loads and bidirectional axial loads. The high stiffness of the bearing element is achieved by means of a double row axially tilting needle bearing.
The term "segmented inner ring" or "segmented outer ring" is to be understood as: the inner ring is formed from a plurality of inner ring segments or the outer ring is formed from a plurality of outer ring segments.
According to one embodiment, the inner ring is formed by a first inner ring section and a second inner ring section, wherein the two axially inclined needle cages are arranged in an O-ring arrangement with respect to one another. In particular, the inner ring sections are arranged axially adjacent to each other and coaxially to each other. In this case, when assembling the bearing element, the axially inclined needle roller cage is first inserted into the one-piece outer ring and then the inner ring segments, i.e. the inner ring halves, are assembled. For example, the inner ring sections may be screwed together with each other.
According to a further embodiment, the outer ring is formed by a first outer ring section and a second outer ring section, wherein the two axially inclined needle roller cages are arranged in an X-shaped arrangement with respect to one another. In particular, the outer ring sections are arranged axially adjacent to each other and coaxially to each other. In this case, when assembling the bearing elements, the axially inclined needle roller cage is first inserted into the one-piece inner ring and then the outer ring segments, i.e. the outer ring halves, are assembled. Similar to the O-ring arrangement, the outer ring halves can be fixed in their position by screwing.
In particular, if the bearing element is formed by a one-piece inner ring and a segmented outer ring, the bearing element must be protected against undesired lubricant leakage due to the centrifugal forces occurring during operation.
For this purpose, an O-ring is arranged between the first outer ring section and the second outer ring section. The O-ring is accommodated, for example, at least partially in a circumferential groove at the first outer ring section and/or the second outer ring section in order to achieve a sealing effect.
Alternatively or additionally, a liquid seal is provided between the first outer ring section and the second outer ring section. The liquid seal has the same function as an O-ring or may additionally assist or improve the sealing function.
Furthermore, alternatively or additionally, a caulking contour is formed at the first outer ring section and/or the second outer ring section, which caulking contour rests against a mating contour formed at the respectively opposite first outer ring section or second outer ring section. The caulking profile extends substantially axially or parallel to the axis of rotation of the bearing element and prevents radial oil leakage between the outer ring sections. If the caulking profile is configured at the first outer ring section, the caulking profile abuts against a mating profile formed at the second outer ring section. In contrast thereto, if the caulking profile is configured at the second outer ring section, the caulking profile abuts against the mating profile formed at the first outer ring section.
The sealing contour is in particular designed such that it is elastically and/or plastically deformed during assembly or during screwing of the two outer ring sections in order to achieve a sufficient sealing effect at the contact surface between the sealing contour and the mating contour. For this purpose, the caulking profile has a contact tip, for example of acute-angled construction, which is elastically and/or plastically deformed during assembly. In other words, the caulking profile is preferably configured softer than the mating profile. The caulking profile thus contains a material having a lower resistance to elastic and/or plastic deformation than the mating profile.
Alternatively, the mating contour is of a softer construction than the caulking contour. In this case, the mating contour is elastically and/or plastically deformed during assembly or during screwing of the two outer ring sections, in order to achieve a sufficient sealing effect at the contact surface between the caulking contour and the mating contour. For this purpose, the caulking contour penetrates, for example with its contact tip, into the surface of a mating contour, which deforms elastically and/or plastically during assembly. Additionally, the mating profiles may already be provided with recesses or grooves for receiving and guiding the caulking profiles. In this case, the contact surfaces between the mating contour and the caulking contour are formed corresponding to one another.
Furthermore, alternatively, it is conceivable: the sealing contour and the mating contour are each designed to be flexible, so that a corresponding sealing surface for sealing is produced by elastic and/or plastic deformation of the sealing contour and the mating contour.
According to an alternative or additional embodiment, a lubricant mixture is arranged spatially between the inner ring and the outer ring, the lubricant mixture being composed of at least a lubricant and a polymer. The lubricant mixture makes it possible to dispense with additional components or materials for achieving the sealing effect. The lubricant mixture is preferably provided in the region of the axially inclined needle cage, in the region of the raceways of the needles and/or in the region of the sealing surfaces in the case of the provision of a caulking profile and a mating profile. The lubricant mixture especially fulfils a dual function. On the one hand, the lubrication is improved during the oscillatory operation of the harmonic drive and, on the other hand, radial leakage of lubricant is effectively prevented. Lubricant mixtures, also referred to as lubricant compounds, are generally composed of a porous polymer and a lubricant. Alternatively, instead of such lubricant mixtures, greases, lubricating oils or solid lubricants may also be used.
The bearing element according to the invention for a harmonic drive comprises an inner ring and an outer ring, wherein the inner ring or the outer ring is designed in segments, and wherein two axially adjacent axially inclined needle roller cages are arranged spatially between the inner ring and the outer ring, in which axially inclined needle roller cages needle rollers are guided.
Drawings
Further measures for improving the invention are explained in more detail below in connection with the description of three preferred embodiments of the invention on the basis of four figures, wherein identical or similar components are provided with the same reference numerals. Shown here are:
figure 1 shows a simplified schematic cross-sectional view of a bearing element according to the invention for a harmonic drive according to a first embodiment,
figure 2 shows a simplified schematic cross-sectional view of a bearing element according to the invention according to a second embodiment,
FIG. 3 shows a simplified schematic detail section of the bearing element according to the invention according to FIG. 2, an
Fig. 4 shows a greatly simplified schematic detail section for explaining two mutually abutting outer ring sections of a bearing element according to the invention according to a third embodiment.
Detailed Description
According to fig. 1 to 3, a bearing element 1 according to the invention for a harmonic drive (not shown here) comprises an inner ring 2 and an outer ring 3, wherein two axially adjacent axially inclined needle roller cages 4a, 4b are spatially arranged between the inner ring 2 and the outer ring 3, in which axially inclined needle roller cages 4a, 4b needle rollers 5 are guided. In other words, the bearing element 1 is in this case designed as a double-row axially tilting needle bearing and has two rows of rolling elements 12a, 12b arranged axially offset from one another, wherein the needles 5 of the first row of rolling elements 12a are arranged symmetrically with respect to the needles 5 of the second row of rolling elements 12 b. Furthermore, the bearing element 1 has a sealing element 10 for axially sealing the bearing element 1.
According to the first exemplary embodiment according to fig. 1, the outer ring 3 is formed in one piece, wherein the inner ring 2 is formed in sections, i.e. from a first inner ring section 2a and a second inner ring section 2 b. In this case, the two axially inclined needle cages 4a, 4b are arranged in an O-ring arrangement with respect to one another in order to simplify the assembly of the bearing element 1 and to increase the inclination stiffness of the bearing element 1. For this purpose, the axially inclined needle roller cages 4a, 4b are first inserted into the one-piece outer ring and then the two inner ring segments 2a, 2b are assembled, for example screwed, together. In this embodiment of the bearing element 1, it is advantageous that: the lubricant does not leak radially outward due to centrifugal force.
According to fig. 2 to 4, the inner ring 2 is formed in one piece and the outer ring 3 is formed in sections, i.e. from a first outer ring section 3a and a second outer ring section 3 b. In this case, for the sake of simplified assembly, the two axially inclined needle cages 4a, 4b are arranged in an X-arrangement with respect to one another.
According to the second embodiment according to fig. 2 and 3, an O-ring 6 is arranged between the first outer ring section 3a and the second outer ring section 3 b. The two outer ring sections 3a, 3b each have an axial guide section 11a, 11b, the axial guide sections 11a, 11b being arranged radially one above the other. In this exemplary embodiment, the axial guide section 11a of the first outer ring section 3a radially surrounds the axial guide section 11b of the second outer ring section 3 b. The O-ring is arranged radially between the two guide sections 11a, 11b and is accommodated here at the guide section 11a of the first outer ring section 3. Alternatively or additionally, it is conceivable that: a liquid seal (not shown here) is provided between the first outer ring section 3a and the second outer ring section 3b, instead of or in addition to the sealing effect. Furthermore, it is conceivable: instead of the O-ring 6, a press fit is provided between the two guide sections 11a, 11b of the outer ring sections 3a, 3b or between the two outer ring sections 3a, 3 b.
Here, a lubricant mixture 7, which is composed of at least a lubricant and a porous polymer, is arranged spatially between the inner ring 2 and the outer ring 3. The lubricant mixture (also referred to as a lubricant compound) may be used with other seals, such as O-rings, or separately without additional seals, thereby reducing manufacturing and maintenance costs. The bearing element 1 lubricated with the lubricant mixture has the same load capacity as a standard greased bearing and operates substantially maintenance-free. The lubricant mixture forms an additional barrier to prevent contamination of the rolling contact between the rolling elements and the raceways. Furthermore, the lubricant mixture is better integrated in the bearing element 1, whereby the risk of lubricant leakage is reduced.
According to the third exemplary embodiment according to fig. 4, a sealing contour 8 designed as a contact tip is formed at the second guide section 11b of the second outer ring section 3b, which sealing contour abuts against a mating contour 9 formed at the opposite first outer ring section 3 a. Alternatively, the caulking contour 8 can also be formed at the first guide section 11a of the first outer ring section 3a, and the mating contour 9 at the second outer ring section 3 b. The mating contour 9 is designed softer than the caulking contour 8. This means that: when assembling the bearing element 1, the caulking profile 8 enters axially into the mating profile 9, the mating profile 9 being plastically deformed again to achieve the desired sealing effect. Alternatively, the caulking profile 8 can be configured softer than the mating profile 9, so that the caulking profile 8 is plastically deformed relative to the mating profile 9. Furthermore, the mating contour 9 can alternatively be formed complementary to the caulking contour 8. In other words, the mating contour 9 and the caulking contour may have corresponding contact surfaces, which may be substantially planar or curved shaped. For example, the mating profile 9 may have a convex curvature, while the caulking profile 8 may have a concave curvature corresponding thereto.
List of reference numerals
1 bearing element
2 inner ring
2a, 2b inner ring section
3 outer ring
3a, 3b outer ring section
4a, 4b needle roller cage with axial inclination
5 needle roller
6O-shaped ring
7 Lubricant mixture
8 caulking profile
9 mating profile
10 sealing element
11a, 11b guide section
12a, 12b rolling element row

Claims (10)

1. Harmonic drive for a robot drive, comprising at least one bearing element (1) having an inner ring (2) and an outer ring (3), wherein the inner ring (2) or the outer ring (3) is designed in segments, and wherein two axially adjacent axially inclined needle roller cages (4a, 4b) are spatially arranged between the inner ring (2) and the outer ring (3), in which axially inclined needle roller cages needle rollers (5) are guided.
2. Harmonic drive according to claim 1, characterized in that the inner ring (2) is composed of a first inner ring section (2a) and a second inner ring section (2b), wherein the two axially inclined needle cages (4a, 4b) are arranged in an O-arrangement with respect to one another.
3. Harmonic drive as claimed in claim 1, characterized in that the outer ring (3) is composed of a first outer ring section (3a) and a second outer ring section (3b), wherein the two axially inclined needle cages (4a, 4b) are arranged in an X-arrangement with respect to one another.
4. Harmonic drive as claimed in claim 3, characterized in that an O-ring (6) is provided between the first outer ring section (3a) and the second outer ring section (3a, 3 b).
5. Harmonic drive as claimed in claim 3 or 4, characterized in that a liquid seal is provided between the first outer ring section (3a) and the second outer ring section (3a, 3 b).
6. The harmonic drive according to any of claims 3 to 5, characterized in that a caulking profile (8) is configured at the first outer ring section (3a) and/or the second outer ring section (3a, 3b), which caulking profile abuts at a mating profile (9) configured at the first outer ring section (3a) or the second outer ring section (3b) respectively, which are opposite.
7. Harmonic drive as claimed in claim 6, characterized in that the caulking profile (8) is configured softer than the mating profile (9).
8. Harmonic drive as claimed in claim 6, characterized in that the fitting contour (9) is configured softer than the caulking contour (8).
9. Harmonic drive as claimed in any of the foregoing claims, characterized in that a lubricant mixture (7) is provided spatially between the inner ring (2) and the outer ring (3), which lubricant mixture consists at least of a lubricant and a polymer.
10. Bearing element (1) for a harmonic drive, comprising an inner ring (2) and an outer ring (3), wherein the inner ring (2) or the outer ring (3) is designed in sections, and wherein two axially adjacent, axially inclined needle roller cages (4a, 4b) are spatially arranged between the inner ring (2) and the outer ring (3), in which needle rollers (5) are guided.
CN202011406993.4A 2020-12-04 2020-12-04 Harmonic drive and bearing element for a harmonic drive Pending CN114593145A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011406993.4A CN114593145A (en) 2020-12-04 2020-12-04 Harmonic drive and bearing element for a harmonic drive

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011406993.4A CN114593145A (en) 2020-12-04 2020-12-04 Harmonic drive and bearing element for a harmonic drive

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Publication Number Publication Date
CN114593145A true CN114593145A (en) 2022-06-07

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201262193Y (en) * 2008-08-05 2009-06-24 无锡市神力齿轮冷挤有限公司 Unidirectional two-row combined needle bearing
JP2011501070A (en) * 2007-10-26 2011-01-06 シェフラー テクノロジーズ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト Rolling bearing with brake device
EP2716924A2 (en) * 2012-10-02 2014-04-09 Josef Blässinger GmbH + Co. KG Solid lubricated rolling bearing
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