CN204083080U - Multiple differential reducing drive bearing - Google Patents
Multiple differential reducing drive bearing Download PDFInfo
- Publication number
- CN204083080U CN204083080U CN201420505130.6U CN201420505130U CN204083080U CN 204083080 U CN204083080 U CN 204083080U CN 201420505130 U CN201420505130 U CN 201420505130U CN 204083080 U CN204083080 U CN 204083080U
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- ring surface
- outer shroud
- internal tooth
- inner ring
- gear
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Abstract
The utility model is about the multiple differential reducing drive bearing of one, and it comprises: one first outer shroud, and one inner ring surface is provided with the first internal tooth; One second outer shroud, its rotationally group be located at one end of this first outer shroud, one inner ring surface is provided with the second internal tooth, and the number of teeth of this second internal tooth and this first internal tooth has number of teeth difference; One internal gear, it is arranged in this first outer shroud and this second outer shroud rotationally, and one outer ring surface is provided with the external tooth being engaged on this first internal tooth and this second internal tooth, and one inner ring surface is provided with the 3rd internal tooth; One harmonic device, it is arranged in this internal gear rotationally.Multiple differential reducing drive bearing provided by the utility model, the internal tooth that the harmonic device that one off normal pinion gear is formed can follow internal gear rotates and then promotes internal gear, the external tooth at least one position of internal gear is made to be engaged on the internal tooth of first and second outer shroud, so utilize the off normal pinion gear group of harmonic device to rotate with the tooth difference of inner and outer rings to match, reach the gearing of high reduction speed ratio.
Description
Technical field
The utility model is about a kind of gearing down bearing, and espespecially a kind of driving mechanism that supplies firmly supports and has the multiple differential reducing drive bearing of high reduction speed ratio gearing concurrently.
Background technique
Known bearing, as the rotating element of rotating shaft, can provide radial direction and the axially support of rotating shaft, is used for the central position of retainer shaft, and promotes the sliding of rotating shaft and reduce frictional force, and in addition, general bearing does not just have other function.Therefore when bearing is applied in the mechanism of gearing down, such as, when motor is to deceleration drive one drive axis, can not utilize above-mentioned bearing reach with slow down function; The general practice can only utilize a speed change gear (such as gearbox) to be connected between motor and transmission shaft, the power of motor shaft is made first to input speed change gear, after the multiple gear reductions in speed change gear, then drive the transmission shaft of the speed change gear the other end; Therefore the volume of overall driving mechanism cannot reduce effectively, is difficult to be applied on precision machinery (such as manipulator) or the limited facility of installing space.
In addition, the speed reducer of be customarily used in manipulator now, as harmonic drive (Harmonic drive), many structures be made up of metal zero element and motor, when metal structure so is applied to each axle portion of manipulator, its add up the weight inertia motion caused and certainly will aggravate, and speed reducer also must possess higher rigidity carrys out this inertial force of anti-lotus, and manipulator energy precise positioning is operated.Therefore, for harmonic speed changer, the little flute profile that its internal gear is formed to reach high reduction speed ratio is a large vital wound in its working life.Such as, and the robotic arm of much light industry now, the robotic arm that electronic part package industry uses, makes every effort to the start of lightweight and agility, the inertia motion problem that more necessary minimizing speed reducer occurs because of weight.
Model utility content
In view of this, the purpose of this utility model is to provide a kind of multiple differential reducing drive bearing, its outer shroud also closed by two, and the internal gear framework being placed in two outer shroud inside goes out two reducing gear groups, add a light-weighted off normal pinion gear group and take the harmonic device of formation to drive this internal gear, and then reach the configuration of combined type reducing gear group, the flute profile of each tooth group is made can still to have large modulus flute profile under the requirement of high reducing gear ratio, to reach strengthening gear transmission load carrying capacity, and overall volume is reduced, structure is simplified, have the object of gearing down and bearing function concurrently.
In order to achieve the above object, the utility model provides a kind of multiple differential reducing drive bearing, and comprising: one first outer shroud, one inner ring surface is provided with the first internal tooth; One second outer shroud, its rotationally group be located at one end of this first outer shroud, one inner ring surface is provided with the second internal tooth, and the number of teeth of this second internal tooth and this first internal tooth has number of teeth difference; One internal gear, it is arranged in this first outer shroud and this second outer shroud rotationally, and one outer ring surface is provided with the external tooth being engaged on this first internal tooth and this second internal tooth, and one inner ring surface is provided with the 3rd internal tooth; One harmonic device, it is arranged in this internal gear rotationally, it planetary pinion comprising a master gear and be engaged on around this master gear, this master gear drives this planetary pinion, this internal gear is pushed and driven to this planetary pinion, and this internal gear this external tooth is at least partially engaged in this first internal tooth and this second internal tooth.
Preferably, wherein this first outer shroud has one first outer ring surface, one first inner ring surface and one second inner ring surface, the diameter of this first inner ring surface is greater than this second inner ring surface, and this first inner ring surface is provided with one first roller groove, and this second inner ring surface is provided with this first internal tooth; This second outer shroud is embedded in the first inner ring surface of this first outer shroud rotationally, and it has one second outer ring surface and one the 3rd inner ring surface, and this second outer ring surface is arranged with one second roller groove, and the 3rd inner ring surface is provided with this second internal tooth; And most roll pieces, this roll piece spread configuration is between this first roller groove and this second roller groove.
Preferably, wherein said multiple differential reducing drive bearing more comprises an outer sleeve, and it entangles this first outer shroud and this second outer shroud; One end of this first outer shroud has one first convex shoulder, and the axial block in this first convex shoulder is in a primary importance of this outer sleeve; This second outer shroud has one second convex shoulder, and the axial block in this second convex shoulder is in a second place of this outer sleeve.
Preferably, wherein the inner ring surface of this internal gear has the round and smooth anchor ring that abuts the 3rd internal tooth, and this planetary pinion comprises an axle portion and a gear part, and this axle portion is resisted against this round and smooth anchor ring rolling, and this gear part is engaged on the 3rd internal tooth.
Preferably, wherein this master gear comprises the gear part that an outer axial face and abuts against this outer axial face one end, and this outer axial face is resisted against this planetary axle portion rolling.
Preferably, wherein the center of this master gear has a transmission spindle.
Preferably, wherein this second outer shroud has an axis hole, and this transmission spindle is placed through this axis hole, is provided with more than one bearing between this transmission spindle and this axis hole.
Multiple differential reducing drive bearing of the present utility model, can by transmission of power to the master gear of harmonic device, when the master gear of harmonic device rotates, each planetary pinion is rotated with portion, planetary pinion is pushed and drives internal gear, and then make the external tooth of internal gear be engaged in first and second internal tooth of first and second outer shroud, there is the number of teeth poor by the first internal tooth and the second internal tooth, when the first outer shroud is fixed, the second outer shroud will be made to be driven by internal gear and form underdrive, and then reach effect that gearing down has bearing concurrently.
Effect that the utility model reaches is: (one) drives internal gear by off normal pinion gear, form first time gearing down effect, and internal gear carries out second time gearing down again with first and second internal tooth of first and second outer shroud, therefore reach the effect of high reduction speed ratio; (2) under high reduction speed ratio, the tooth at each position is embodied as large modulus flute profile, to strengthen gear transmission load carrying capacity; (3) and because of large modulus flute profile have preferably load carrying capacity, this internal gear can adopt lower-cost engineering plastics molding to make, and more saves cost than metal.
Accompanying drawing explanation
Fig. 1 is the combination schematic perspective view of the utility model first preferred embodiment;
Fig. 2 is the combination generalized section of the utility model first preferred embodiment;
Fig. 3 is the exploded schematic perspective view of the utility model first preferred embodiment;
Fig. 4 is whole exploded perspective schematic diagram of the utility model first preferred embodiment;
Fig. 5 is the first end schematic diagram of the utility model first preferred embodiment;
Fig. 6 is the second end schematic diagram of the utility model first preferred embodiment;
Fig. 7 is the combination schematic perspective view of the utility model first preferred embodiment;
Fig. 8 is the combination generalized section of the utility model second preferred embodiment;
Fig. 9 is the exploded schematic perspective view of the utility model second preferred embodiment;
Figure 10 is the exploded schematic perspective view of the utility model second preferred embodiment.
[primary component symbol description]
1-first outer shroud; 11-first internal tooth; 12-first outer ring surface; 13-first inner ring surface; 14-second inner ring surface; 15-first roller groove; 16-first convex shoulder; 17-first interference part;
2-second outer shroud; 21-second internal tooth; 22-second outer ring surface; 23-the 3rd inner ring surface; 24-second roller groove; 25-second convex shoulder; 26-axis hole;
3-internal gear; 31-external tooth; 32-the 3rd internal tooth; The round and smooth anchor ring of 33-;
4-harmonic device; 41-master gear; 411-outer axial face; 412-gear part; 413-transmission spindle; 42-planetary pinion; 421-axle portion; 422-gear part;
5-roll piece;
6-outer sleeve; Portion of 61-class; 62-second interference part;
7-bearing.
Embodiment
Can obtain for making the purpose of this utility model, feature and effect and further understand, coordinate preferred embodiment of the present utility model and accompanying drawing to further illustrate as rear below again.
In the lump as shown in Figure 1, Figure 2 and Figure 3, multiple differential reducing drive bearing of the present utility model, it mainly comprises one first outer shroud 1,1 second outer shroud 2, internal gear 3 and a harmonic device 4, wherein: this first outer shroud 1 is a cirque body, and one inner ring surface is provided with the first internal tooth 11.This second outer shroud 2 is a cirque body, its rotationally side by side group be located at one end of this first outer shroud 1 or group to be located at this first outer shroud 1 inner, one inner ring surface is provided with the second internal tooth 21, and this second internal tooth 21 has number of teeth difference with the number of teeth of this first internal tooth 11.This internal gear 3 is the ring body that inside and outside anchor ring all implements tooth, it is arranged in this first outer shroud 1 and this second outer shroud 2 rotationally, one outer ring surface of this internal gear 3 is provided with the external tooth 31 being engaged on this first internal tooth 11 and this second internal tooth 21, and an inner ring surface of this internal gear 3 is provided with the 3rd internal tooth 32.And this harmonic device 4 is arranged in this internal gear 3 rotationally, this harmonic device 4 preferably implements the more than one planetary pinion 42 comprising a master gear 41 and be engaged on around this master gear 41, so drive this planetary pinion 42 by this master gear 41, and then make this planetary pinion 42 push this internal gear 3 to produce eccentric rolling, make the external tooth 31 of this internal gear 3 at least partially be engaged in the first internal tooth 11 of this first outer shroud 1 and the second internal tooth 21 of this second outer shroud 2, and then produce the object of high reduction speed ratio transmission.
Based on above-mentioned technical characteristics, again in the lump as shown in Figures 2 to 4, what this first outer shroud 1 was concrete implements one first outer ring surface 12,1 first inner ring surface 13 and one second inner ring surface 14, the diameter of the first inner ring surface 13 is greater than the diameter of the second inner ring surface 14, makes the first outer shroud 1 be formed with the endoporus of step shape; And the first inner ring surface 13 is arranged with one first roller groove 15, second inner ring surface 14 is then provided with this first internal tooth 11 above-mentioned.Concrete being embodied as of this second outer shroud 2 is arranged in the first inner ring surface 13 of the first outer shroud 1 rotationally, in order to shorten the axial width dimension of multiple differential reducing drive bearing; What this second outer shroud 2 was concrete implements one second outer ring surface 22 and one the 3rd inner ring surface 23, second outer ring surface 22 is arranged with one second roller groove 24,3rd inner ring surface 23 is provided with this second internal tooth 21 above-mentioned, the number of teeth of the second internal tooth 21 and the first internal tooth 11 is made to have number of teeth difference, illustrate the second internal tooth 21 add up to 60 tooth time, the sum of the first internal tooth 11 can be 62 teeth, and it has the number of teeth difference (concrete number of teeth difference manufactures demand according to reduction speed ratio and determines) of 2 teeth.By the design of this first outer shroud 1 above-mentioned with this second outer shroud 2, most roll pieces 5 can be set between the first roller groove 15 and the second roller groove 24, make roll piece 5 as the connection of the first outer shroud 1 and the second outer shroud 2 and spacing element, prevent its axial separation each other, also can reduce frictional force each other when the first outer shroud 1 and the second outer shroud 2 rotate simultaneously; This roll piece 5 can be the roller of illustrated cross arrangement, also can be the rolling element such as ball or needle roller, all has identical object and effect in the utility model.
As shown in Figures 3 and 4, this internal gear 3 above-mentioned is arranged in the first outer shroud 1 and the second outer shroud 2 rotationally, and its width equals the overall width of the first internal tooth 11 and the second internal tooth 21, makes its external tooth 31 be engaged on the first internal tooth 11 and the second internal tooth 21; And the inner ring surface of this internal gear 3 preferably implements the round and smooth anchor ring 33 that abuts the 3rd internal tooth 32, harmonic device 4 outward radial can be pushed by round and smooth anchor ring 33, and cause its external tooth 31 and closely can be engaged in this first internal tooth 11 and the second internal tooth 21 completely and reduce backlash and produce, so make the tooth of the planetary pinion 42 of this harmonic device 4 only be responsible for engagement and the 3rd internal tooth 32 driving internal gear 3, the function of pushing this internal gear 3 is then reached by round and smooth anchor ring 33 structure without backlash.Specifically, this planetary pinion 42 above-mentioned can implement axle portion 421 and a gear part 422, columned axle portion 421 is so made to be resisted against round and smooth anchor ring 33 rolling of above-mentioned internal gear 3, and then produce the effect of pushing internal gear 3, this gear part 422 is then engaged on the 3rd internal tooth 32 of this internal gear 3, is responsible for engagement and drives internal gear 3 by gear part 422.
For the structure in the axle portion 421 of the round and smooth anchor ring 33 with this planetary pinion 42 that realize this internal gear 3 above-mentioned, effect and object, again as shown in Figure 4, this master gear 41 of the utility model is better implements the gear part 412 that an outer axial face 411 and abuts against this outer axial face 411 one end, and the center of master gear 41 has a transmission spindle 413, this outer axial face 411 can be made whereby to be resisted against axle portion 421 rolling of respectively this planetary pinion 42, with the round and smooth anchor ring 33 impelling axle portion 421 to extrude internal gear 3, as for the gear part 412 of this master gear 41, then in order to drive the gear part 422 of respectively this planetary pinion 42.If this is power delivery mode, does not namely have impractical radial clearance and produce, cause the eccentric rolling amount acting on internal gear 3 not enough to some extent, the actuation precision more really that order is overall.
Again as shown in Figures 5 and 6, designed with the specific embodiment of harmonic device 4 by above-mentioned internal gear 3, the power of motor can be inputted from master gear 41, the planetary pinion 42 of periphery is driven to rotate by master gear 41, pushing tow planetary pinion 42 simultaneously, planetary pinion 42 like this just can extrude internal gear 3 simultaneously, and drive internal gear 3 to rotate, and then make internal gear drive one of them rotation of the first outer shroud 1 or the second outer shroud 2, first outer shroud 1 or the second outer shroud 2 are depending on specific embodiment, when an outer shroud is rotating component, another outer shroud is then fixed block, so form first time gearing down effect by master gear 41 and planetary pinion 42, and internal gear 3 carries out second time gearing down again with the first outer shroud 1 and the second outer shroud 2, therefore the effect of high reduction speed ratio is reached.And under the condition setting of high reduction speed ratio, the tooth of each element is embodied as large modulus flute profile (as shown in the figure), to strengthen gear transmission load carrying capacity.Moreover, because large modulus flute profile has preferably load carrying capacity, this internal gear of the utility model 3 and the gear of harmonic device 4 can adopt that cost is lower, manufacturing speed faster engineering plastics make, more cost is saved than metal, and this first outer shroud 1 and the second outer shroud 2 also can select the metal material of the light weights such as aluminum alloy to implement, to reach overall light-weighted usefulness.
Again in the lump as shown in Figure 7 to 10, this internal gear 3 of the utility model is identical with the essential structure of harmonic device 4, but the first outer shroud 1 and the second outer shroud 2 can be embodied as other and construct, and above-mentioned roll piece 5 can not be implemented, as shown in the figure, can implement an outer sleeve 6 in addition, this outer sleeve 6 entangles the first outer shroud 1 and the second outer shroud 2, in order to prevent the first outer shroud 1 and the second outer shroud 2 axial separation; Therefore one end of this first outer shroud 1 has one first convex shoulder 16, makes the first axial block in convex shoulder 16 in a primary importance of outer sleeve 6, can be one end of outer sleeve 6 as shown in the figure; And this second outer shroud 2 has one second convex shoulder 25, this axial block in the second convex shoulder 25 is in a second place of this outer sleeve 6, one portion of class 61 of outer sleeve 6 inwall of such as icon, so reaches the effect preventing the first outer shroud 1 and the second outer shroud 2 axial separation.The outer ring surface of this first outer shroud 1 above-mentioned can be provided with the first interference part 17 again, such as illustrated outer latch, and the inner ring surface of this outer sleeve 6 can be provided with the second interference part 62, such as illustrated interior latch, therefore when this outer sleeve 6 entangles the first outer shroud 1, make above-mentioned first interference part 17 and the second interference part 62 form interference structure, reach the function preventing outer sleeve 6 from rotating.
For another example shown in Fig. 8 and Figure 10, this second outer shroud 2 of the utility model can implement an axis hole 26, the transmission spindle 413 of above-mentioned master gear 41 is made to be placed through axis hole 26, and more than one bearing 7 can be provided with between transmission spindle 413 and axis hole 26, play master gear 41 concentric function of rotating accurate with the second outer shroud 2.In addition, the utility model can adopt composite material to form, such as above-mentioned outer sleeve 6, first outer shroud 1 and the second outer shroud 2 can be the metal material of aluminum alloy, and the master gear 41 of this internal gear 3 and harmonic device 4 is engineering plastics material with planetary pinion 42 grade, reaches the light-weighted object of overall structure.
The above; be only preferred embodiment of the present utility model; not thereby scope of patent protection of the present utility model is limited, therefore the equalization change of such as using the utility model specification and accompanying drawing to do and modification, be all protection domain of the present utility model and contain.
Claims (7)
1. a multiple differential reducing drive bearing, it is characterized in that, comprising: one first outer shroud, one inner ring surface is provided with the first internal tooth; One second outer shroud, its rotationally group be located at one end of this first outer shroud, one inner ring surface is provided with the second internal tooth, and the number of teeth of this second internal tooth and this first internal tooth has number of teeth difference; One internal gear, it is arranged in this first outer shroud and this second outer shroud rotationally, and one outer ring surface is provided with the external tooth being engaged on this first internal tooth and this second internal tooth, and one inner ring surface is provided with the 3rd internal tooth; One harmonic device, it is arranged in this internal gear rotationally, it planetary pinion comprising a master gear and be engaged on around this master gear, this master gear drives this planetary pinion, this internal gear is pushed and driven to this planetary pinion, and this internal gear this external tooth is at least partially engaged in this first internal tooth and this second internal tooth.
2. differential reducing drive bearing again as claimed in claim 1, it is characterized in that, this first outer shroud has one first outer ring surface, one first inner ring surface and one second inner ring surface, the diameter of this first inner ring surface is greater than this second inner ring surface, this first inner ring surface is provided with one first roller groove, and this second inner ring surface is provided with this first internal tooth; This second outer shroud is embedded in the first inner ring surface of this first outer shroud rotationally, and it has one second outer ring surface and one the 3rd inner ring surface, and this second outer ring surface is arranged with one second roller groove, and the 3rd inner ring surface is provided with this second internal tooth; And most roll pieces, this roll piece spread configuration is between this first roller groove and this second roller groove.
3. differential reducing drive bearing again as claimed in claim 1, it is characterized in that, more comprise an outer sleeve, it entangles this first outer shroud and this second outer shroud; One end of this first outer shroud has one first convex shoulder, and the axial block in this first convex shoulder is in a primary importance of this outer sleeve; This second outer shroud has one second convex shoulder, and the axial block in this second convex shoulder is in a second place of this outer sleeve.
4. the multiple differential reducing drive bearing as described in claim 1,2 or 3, it is characterized in that, the inner ring surface of this internal gear has the round and smooth anchor ring that abuts the 3rd internal tooth, this planetary pinion comprises an axle portion and a gear part, this axle portion is resisted against this round and smooth anchor ring rolling, and this gear part is engaged on the 3rd internal tooth.
5. differential reducing drive bearing again as claimed in claim 4, it is characterized in that, this master gear comprises the gear part that an outer axial face and abuts against this outer axial face one end, and this outer axial face is resisted against this planetary axle portion rolling.
6. differential reducing drive bearing again as claimed in claim 5, it is characterized in that, the center of this master gear has a transmission spindle.
7. differential reducing drive bearing again as claimed in claim 6, it is characterized in that, this second outer shroud has an axis hole, and this transmission spindle is placed through this axis hole, is provided with more than one bearing between this transmission spindle and this axis hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420505130.6U CN204083080U (en) | 2014-09-03 | 2014-09-03 | Multiple differential reducing drive bearing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420505130.6U CN204083080U (en) | 2014-09-03 | 2014-09-03 | Multiple differential reducing drive bearing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204083080U true CN204083080U (en) | 2015-01-07 |
Family
ID=52175803
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420505130.6U Expired - Fee Related CN204083080U (en) | 2014-09-03 | 2014-09-03 | Multiple differential reducing drive bearing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204083080U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613134A (en) * | 2015-01-16 | 2015-05-13 | 苏州悍猛谐波机电有限公司 | Synchronous cycloid speed reducing device |
| CN106286762A (en) * | 2015-05-18 | 2017-01-04 | 锕玛科技股份有限公司 | Harmonic wave tooth difference speed change gear |
| CN107339390A (en) * | 2016-05-03 | 2017-11-10 | 健腾精密机电股份有限公司 | Combined speed reducer |
| CN110259891A (en) * | 2019-06-28 | 2019-09-20 | 深圳市优必选科技股份有限公司 | Planetary harmonic combined speed reducer |
-
2014
- 2014-09-03 CN CN201420505130.6U patent/CN204083080U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613134A (en) * | 2015-01-16 | 2015-05-13 | 苏州悍猛谐波机电有限公司 | Synchronous cycloid speed reducing device |
| CN106286762A (en) * | 2015-05-18 | 2017-01-04 | 锕玛科技股份有限公司 | Harmonic wave tooth difference speed change gear |
| CN107339390A (en) * | 2016-05-03 | 2017-11-10 | 健腾精密机电股份有限公司 | Combined speed reducer |
| CN110259891A (en) * | 2019-06-28 | 2019-09-20 | 深圳市优必选科技股份有限公司 | Planetary harmonic combined speed reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150107 Termination date: 20190903 |
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| CF01 | Termination of patent right due to non-payment of annual fee |