CN202349110U - Integrated harmonic transmission machine - Google Patents
Integrated harmonic transmission machine Download PDFInfo
- Publication number
- CN202349110U CN202349110U CN2011205320385U CN201120532038U CN202349110U CN 202349110 U CN202349110 U CN 202349110U CN 2011205320385 U CN2011205320385 U CN 2011205320385U CN 201120532038 U CN201120532038 U CN 201120532038U CN 202349110 U CN202349110 U CN 202349110U
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- Prior art keywords
- outer ring
- steel wheel
- ring
- inner ring
- bearing
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- Expired - Lifetime
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Abstract
An integrated harmonic transmission machine comprises a harmonic generator, a steel wheel sleeved on the harmonic generator, a flexible gear clamped between the harmonic generator and the steel wheel, and a crossed cylindrical roller bearing connected with the harmonic generator, wherein the crossed cylindrical roller bearing comprises an outer ring, an inner ring and cylindrical rollers; the outer ring and the inner ring rotate relative to each other; the cylindrical rollers are arranged between the outer ring and the inner ring; and the steel wheel and the flexible gear are in zigzag connection with the outer ring and the inner ring. The harmonic generator can bear moments in three directions in space, has the advantages of compact structure, convenience in use and maintenance, simple manufacturing technique, small size, light weight, high transmission accuracy, large speed ratio and high bearing capacity, meets the transmission requirements of joints of aerospace vehicles and robots, and has a wide market prospect.
Description
Technical field
The utility model relates to the transmission device field, more particularly relates to integrated harmonic driving machine.
Background technique
Present domestic harmonic speed reducer mainly is outside harmonic generator, to be arranged with two steel wheels, and between harmonic generator and steel wheel, has clamped flexbile gear.When but this harmonic speed reducer was worked, the cam of harmonic generator ran up, and the concentricity of steel wheel and harmonic generator is difficult to guarantee, inconvenient installation, and component are many, and rate of fault is high, safeguards inconvenience, and working life is limited.Simultaneously also have fractional harmonic generator volume big at present, weight is big, and use in the joint that is not suitable for the narrow and small robot in space.
The model utility content
The integrated harmonic driving machine that the utility model provides, its purpose are to overcome existing harmonic generator inconvenient installation, component are many, rate of fault is high, maintenance is inconvenient, working life is limited, volume is big, weight is big shortcoming.
The technological scheme that the utility model provides is following:
Integrated harmonic driving machine; Comprise harmonic generator, be sheathed on steel wheel on the harmonic generator, be located in flexbile gear between harmonic generator and the steel wheel and the crossing cylinder roller bearing that is connected with harmonic generator; This crossing cylinder roller bearing comprises in relative rotation outer ring, inner ring and is located at the cylindrical roller between outer ring, inner ring that said steel wheel, flexbile gear and outer ring, inner ring are cross-linked.
Said flexbile gear is connected with bearing outer ring, and said steel wheel is connected with inner ring.
Through the sealing of " O " font seal ring, seal through " O " font seal ring between said flexbile gear and bearing outer ring between said steel wheel and bearing inner race.
Said flexbile gear and bearing outer ring are provided with fixed hole, and said steel wheel is provided with the output attachment hole.
Said steel wheel and bearing inner race are one-body molded.
Said steel wheel is connected with bearing outer ring, and said flexbile gear is connected with inner ring.
Seal through " O " font seal ring between said steel wheel and bearing outer ring.
Fix through socket head screw between said flexbile gear and bearing inner race.
Said outer ring is provided with fixed hole, and said inner ring is provided with the output attachment hole.
Be provided with outside framework oil seal between the inner ring of said crossing cylinder roller bearing and outer ring.
Can know through above-mentioned description the utility model, and comparing with prior art, the advantage of the utility model is:
1, this integrated harmonic driving machine is through integrating cylinder crossed roller bearing and harmonic generator; Be cross-linked through steel wheel, flexbile gear and outer ring, inner ring, flexbile gear and bearing outer ring are fixed, steel wheel is connected with bearing inner race; By the motor driving harmonic generator; And from steel wheel output, perhaps steel wheel and bearing outer ring are fixed, flexbile gear is connected with bearing inner race and exports as power; This harmonic generator can bear space three-dimensional moment, compact structure, weight saving, have transmission accuracy height, speed ratio big, carry advantages such as big.
2, this harmonic generator is easy to use, easy to maintenance, manufacturing process is simple, volume is little, in light weight, satisfied the transmission demand of aerospace vehicle and joint of robot, market prospects are wide.
Description of drawings
Fig. 1 is embodiment one a structural representation.
Fig. 2 is the sectional view of A-A direction in Fig. 1.
Fig. 3 is embodiment two a structural representation.
Fig. 4 is the sectional view of B-B direction in Fig. 3.
Fig. 5 is embodiment three a structural representation.
Fig. 6 is the sectional view of C-C direction in Fig. 5.
Embodiment
Embodiment one
With reference to figure 1, Fig. 2; Integrated harmonic driving machine; Comprise harmonic generator 1, be sheathed on the steel wheel 2 on the harmonic generator 1 and be located in harmonic generator 1 and steel wheel 2 between flexbile gear 3, also comprise a crossing cylinder roller bearing 4, this crossing cylinder roller bearing 4 comprises outer ring 41, inner ring 42 in relative rotation and is located at the cylindrical roller 43 of 42 of outer rings 41, inner ring; Flexbile gear 3 is connected with bearing outer ring 41, and steel wheel 2 is connected with inner ring 42.42 of steel wheel 2 and bearing inner races pass through 51 sealings of " O " font seal ring; 41 of flexbile gear 3 and bearing outer rings pass through 52 sealings of " O " font seal ring; Bag bone outside framework oil seal 53 in 41 of the inner ring 42 of crossing cylinder roller bearing 4 and outer rings are provided with, the outer ring 41 and the flexbile gear 2 of bearing 4 are provided with fixed hole 411, and are screwed on support; Steel wheel 2 is provided with output attachment hole 21, and convenient output connects.
This modified model harmonic generator; Through 41 of flexbile gear 3 and bearing outer rings are fixed on the support through fixed hole 411 with screw, steel wheel 2 is connected with inner ring 42, motor driving harmonic generator 1; And by steel wheel 2 outputs; Guaranteed the coaxality of motion, the harmonic generator of this structure is very easy to use, can application and medical apparatus, the accurate fields such as machinery, precision machine tool, satellite sun ability turnover panel of detecting.
Embodiment two
With reference to figure 3, Fig. 4; Integrated harmonic driving machine; Comprise harmonic generator 1, be sheathed on the steel wheel 2 on the harmonic generator 1 and be located in harmonic generator 1 and steel wheel 2 between flexbile gear 3, also comprise a crossing cylinder roller bearing 4, this crossing cylinder roller bearing 4 comprises outer ring 41, inner ring 42 in relative rotation and is located at the cylindrical roller 43 of 42 of outer rings 41, inner ring; This crossing cylinder roller bearing 4 is an outer ring divergence type bearing; Outer ring 41 comprises first outer ring 411 and second outer ring 412 of two separation, and flexbile gear 3 is connected with bearing inner race 42, and steel wheel 2 is connected with second outer ring 412.51 sealings of " O " font seal ring are passed through in 412 of the steel wheel 2 and second outer rings; 42 of flexbile gear 3 and bearing inner races are fixing through socket head screw 52; Bag bone outside framework oil seal 53 in 41 of the inner ring 42 of crossing cylinder roller bearing 4 and outer rings are provided with; 412 of first outer ring 411 and second outer rings are through 54 sealings of " O " font seal ring, and steel wheel 2, first outer ring 411 and second outer ring 412 are provided with fixed hole 413, through screw on support; Inner ring 42 is provided with output attachment hole 421, and convenient output connects.
This modified model harmonic generator; 412 of steel wheel 2, first outer ring 411 and second outer rings are screwed on support through fixed hole 413, and flexbile gear 3 is connected with inner ring 42, through motor driving harmonic generator 1; Flexbile gear 3 is exported as transmission with inner ring 42; Guaranteed the coaxality of motion, the harmonic generator of this structure is very easy to use, can application and medical apparatus, the accurate fields such as machinery, precision machine tool, satellite sun ability turnover panel of detecting.
Embodiment three
With reference to figure 5, Fig. 6; Integrated harmonic driving machine; Comprise harmonic generator 1, be sheathed on the steel wheel 2 on the harmonic generator 1 and be located in harmonic generator 1 and steel wheel 2 between flexbile gear 3, also comprise a crossing cylinder roller bearing 4, this crossing cylinder roller bearing 4 comprises outer ring 41, inner ring 42 in relative rotation and is located at the cylindrical roller 43 of 42 of outer rings 41, inner ring; Flexbile gear 3 is connected with bearing outer ring 41, and steel wheel 2 is connected with inner ring 42.Steel wheel 2 adopts integrated mode to form and which is provided with output attachment hole 51 with the inner ring 42 of bearing 4; 41 of flexbile gear 3 and bearing outer rings pass through 52 sealings of " O " font seal ring; Bag bone outside framework oil seal 53 in 41 of the inner ring 42 of crossing cylinder roller bearing 4 and outer rings are provided with, outer ring 41 is provided with fixed hole 411.
The outer ring 41 and the flexbile gear 2 of bearing 4 are screwed on support through fixed hole 411; The inner ring 42 of bearing 4 is one-body molded with steel wheel, is the output member of harmonic driving machine, and which is provided with output attachment hole 51; Convenient output connects, and power source directly drives harmonic generator.This modified model harmonic generator; Combine harmonic generator and crossing cylinder roller bearing 4 dexterously, make its structure compact more, motion is flexible, control is simple; Easy to maintenance; Weight saving, at joint of robot, precision instrumentation, there is very big applying value in fields such as Aero-Space medical apparatus.
The above-mentioned embodiment that is merely the utility model, but the design concept of the utility model is not limited thereto allly utilizes this design that the utility model is carried out the change of unsubstantiality, all should belong to the behavior of invading the utility model protection domain.
Claims (10)
1. integrated harmonic driving machine; It is characterized in that: comprise harmonic generator, be sheathed on steel wheel on the harmonic generator, be located in flexbile gear between harmonic generator and the steel wheel and the crossing cylinder roller bearing that is connected with harmonic generator; This crossing cylinder roller bearing comprises in relative rotation outer ring, inner ring and is located at the cylindrical roller between outer ring, inner ring that said steel wheel, flexbile gear and outer ring, inner ring are cross-linked.
2. integrated harmonic driving machine according to claim 1, it is characterized in that: said flexbile gear is connected with bearing outer ring, and said steel wheel is connected with inner ring.
3. integrated harmonic driving machine according to claim 2 is characterized in that: through the sealing of " O " font seal ring, seal through " O " font seal ring between said flexbile gear and bearing outer ring between said steel wheel and bearing inner race.
4. integrated harmonic driving machine according to claim 2, it is characterized in that: said flexbile gear and bearing outer ring are provided with fixed hole, and said steel wheel is provided with the output attachment hole.
5. integrated harmonic driving machine according to claim 2, it is characterized in that: said steel wheel and bearing inner race are one-body molded.
6. integrated harmonic driving machine according to claim 1, it is characterized in that: said steel wheel is connected with bearing outer ring, and said flexbile gear is connected with inner ring.
7. integrated harmonic driving machine according to claim 6 is characterized in that: seal through " O " font seal ring between said steel wheel and bearing outer ring.
8. integrated harmonic driving machine according to claim 6 is characterized in that: fix through socket head screw between said flexbile gear and bearing inner race.
9. integrated harmonic driving machine according to claim 6, it is characterized in that: said outer ring is provided with fixed hole, and said inner ring is provided with the output attachment hole.
10. according to claim 2 or 6 described integrated harmonic driving machines, it is characterized in that: be provided with outside framework oil seal between the inner ring of said crossing cylinder roller bearing and outer ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205320385U CN202349110U (en) | 2011-12-19 | 2011-12-19 | Integrated harmonic transmission machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205320385U CN202349110U (en) | 2011-12-19 | 2011-12-19 | Integrated harmonic transmission machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202349110U true CN202349110U (en) | 2012-07-25 |
Family
ID=46538117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205320385U Expired - Lifetime CN202349110U (en) | 2011-12-19 | 2011-12-19 | Integrated harmonic transmission machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202349110U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102434635A (en) * | 2011-12-19 | 2012-05-02 | 福建长江工业有限公司 | Integrated harmonic drive motor |
| CN108374877A (en) * | 2018-04-18 | 2018-08-07 | 睿尔曼智能科技（北京）有限公司 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
-
2011
- 2011-12-19 CN CN2011205320385U patent/CN202349110U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102434635A (en) * | 2011-12-19 | 2012-05-02 | 福建长江工业有限公司 | Integrated harmonic drive motor |
| CN108374877A (en) * | 2018-04-18 | 2018-08-07 | 睿尔曼智能科技（北京）有限公司 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120725 |