CN206144983U

CN206144983U - Harmonic speed reducer utensils multipoint attachment flexible bearing

Info

Publication number: CN206144983U
Application number: CN201621098828.6U
Authority: CN
Inventors: 赵联春; 赵思澄; 陈淑英
Original assignee: Shanghai F & S Bearing Tech Co Ltd
Current assignee: Shanghai F & S Bearing Tech Co Ltd
Priority date: 2016-09-29
Filing date: 2016-09-29
Publication date: 2017-05-03
Anticipated expiration: 2026-09-29

Abstract

The utility model provides a harmonic speed reducer utensils multipoint attachment flexible bearing, including the flexible ball bearing of three point contacts, the flexible ball bearing of four -point contact, the flexible roller bearing of line contact, single rolling element same outer lane promptly between with outer ring raceway the contact point more than two or two has between the flexbile gear interference fit spare, only there is a contact point to compare with prior art, the improvement outer lane has the set deformation precision of flexbile gear interference fit spare, the flexbile gear teeth of a cogwheel are with the accuracy of mesh of the circular spline teeth of a cogwheel, reduce and even avoid unnecessary additional deformation, reduce the contact stress of rolling element and raceway, the control rolling element slides, quality and technological advantages such as lubricated condition when improving bearing assembly condition with the operation, and finally improve flexible bearing, the operation precision and the military service life -span of flexbile gear and even whole harmonic speed reducer ware, has the actual meaning of extremely important engineering.

Description

A kind of harmonic speed reducer Multi-contact flexible bearing

Technical field

This utility model is related to extraordinary technical field of rolling bearings, and more particularly to a kind of harmonic speed reducer is soft with Multi-contact Property bearing and the low additional deformation wave producer-flexbile gear component of the flexbile gear gear teeth using the bearing.

Background technology

Harmonic gear reducer (lower abbreviation harmonic speed reducer) is a kind of advanced, accurate decelerator, because of small volume, quality Gently, return difference is little, positioning precision and transmission efficiency, be easily achieved the outstanding advantages such as accurate position control and in industrial machine The precision optical machinery fields such as people, high-grade car, Aero-Space, optical instrument, high-grade printer obtain extensively applies.With with industry The rise for the intelligence manufacture of core such as robot, harmonic speed reducer together, are received because of its intrinsic advance with RV decelerators To the extensive attention of countries in the world.

One flexbile gear component of wave producer is the Core Feature component in harmonic speed reducer, as shown in fig. 7, comprises wave producer And flexbile gear, wave producer includes cam-type, roller type and eccentric disc type, and wherein cam-type wave generator is the most commonly used, and it includes Cam and flexible bearing (or claiming harmonic rolling beering), cam are oval (correspondence double wave according to its Cross-section Design of the requirement of transmission Transmission), prismatic (correspondence three ripples transmission), the inner ring interference fit of cam and flexible bearing, the outer ring of flexbile gear and flexible bearing Interference fit.The flexbile gear gear teeth on wave producer-flexbile gear component are meshed with the firm wheel gear teeth, realize slowing down or step-up drive.

Harmonic speed reducer flexible bearing, its lasso wall thickness are only 0.01-0.025 times of bearing outside diameter, with cam shape ripple As a example by generator, during installation, the inner ring inner headed face of flexible bearing and the cam profile face interference fit of cam type wave producer are soft Property bearing outer ring periphery endoporus interference fit corresponding with flexbile gear gear tooth portions, after installation, bearing inner race be forced deformation For the shape of cam profile, the such as ellipticity of double wave transmission, and thus make rolling element in ellipticity distribution, outer ring is made together with soft Wheel is changed into ellipticity.When harmonic speed reducer works, inner ring-cam interference fit part rotation drives outer ring-flexbile gear interference fit part Rotation and the change of the position generating period of transverse and short axle, those the flexbile gear wheels near transverse end Tooth just has an opportunity to be meshed with the firm wheel gear teeth, so as to realize power output.As can be seen that flexible bearing is very special rolling Bearing, outstanding behaviours are very thin in wall thickness, and bearing is very narrow, and operation principle is very special；Wave producer-flexbile gear is very special group Part, both elastic conjunctions, the macroscopic deformation of the flexbile gear gear teeth are received wave producer type and are acted on outer ring-flexbile gear interference fit part The property of rolling element contact force together decide on.

Both at home and abroad long-term application practice shows, flexible bearing and flexbile gear are key component and rapid wear in harmonic speed reducer Part, is often preceded by other parts and precision failure and fatigue failure occurs.Existing flexible bearing is single-row shallow ridges radial ball bearing, is rolled Pearl and outer ring channel type raceway (under ditch type raceway is referred to as into raceway groove) and each only one of which contact point of bear inner ring grooved railway, so as to exist such as Lower problem：(1) outer ring-diastrophic external force of flexbile gear interference fit part generating period is forced to be ball with outer ring raceway Contact force, these power are in one of them along bearing outer ring width or the infinite multiple cross sections of flexbile gear gear teeth width On cross section, so there is two problems, one is that contact force required when there is set deformation is excessive, two be bearing outer ring and Flexbile gear inevitably occurs to become along the buckling deformation and distortion along the circumferential direction of bearing outer ring or flexbile gear gear teeth width Shape, so as to affect the accuracy of mesh and transmission efficiency of flexbile gear and firm wheel；(2) bearing is very low with angular rigidity vertically, once There is axial direction and azimuth component in outer load, bearing ring and ball will occur the non-flexible bearing function institute along the two directions The deformation for needing and displacement, reduce the transmission efficiency and transmission accuracy of harmonic speed reducer；(3) constraint of the raceway groove to ball is inadequate, Substantial amounts of slip component can be produced in ball moving, thus causes the scratch of bearing working face and the deterioration of bearing accuracy.Therefore, Flexible bearing in the urgent need to researching and developing the new structure of rolling element and the non-single contact point of outer ring raceway, to overcome existing flexible shaft Hold and limit to the above-mentioned principle technology existing for wave producer-flexbile gear Interference Fitted Assemblies and quality, so as to improve flexible shaft Hold or even the transmission accuracy of whole harmonic speed reducer, accuracy life and fatigue life.

Utility model content

The purpose of this utility model is to provide a kind of Multi-contact flexible bearing, with overcome the single-row shallow ridges of current art to Some principle technologies existing for bulbus cordis flexible bearing and quality limitation, such as, ball with ring raceways contact stress it is higher, The axial direction of bearing and angular stiffness are too low, force bearing outer ring and flexbile gear interference fit part to produce needed for necessary set deformation Ball be all in along one of cross section of bearing or flexbile gear wheel tooth width, so as to draw with the contact force of outer ring raceway Additional deformation is sent out, transmission accuracy, accuracy life and fatigue life of harmonic speed reducer etc. is affected.Another object of the present utility model Wave producer-flexbile gear component using Multi-contact flexible bearing is to provide just, so as to avoid the current art flexbile gear gear teeth from sending out The produced buckling deformation along facewidth direction and torsional deformation along the circumferential direction during raw set radial deformation, to improve harmonic wave The transmission accuracy and operational reliability of decelerator.

The purpose of this utility model is achieved by the following technical solution：

A kind of harmonic speed reducer Multi-contact flexible bearing, including thin-walled outer ring, thin-walled inner ring, embedded outer ring raceway and Rolling element between inner ring raceway and by the along the circumferential direction evenly spaced keeper of each rolling element, is characterized in that, single rolling Rolling element contact force in the presence of there is set radial direction to reduce thin-walled outer ring with outer ring raceway two-point contact or linear contact lay in body During deformation along outer ring width buckling deformation and/or the torsional deformation along outer ring circumferencial direction.

Described flexible bearing, is characterized in that, the raceway of outer ring is peach-shaped or elliptic arc ditch type raceway, and the raceway of inner ring is Single circular arc ditch type raceway, rolling element is ball, and single ball has two contact points with outer ring channel type raceway, is rolled with inner ring ditch type There is a contact point in road, and flexible bearing is three point contact flexible ball bearings.

Described flexible bearing, is characterized in that, the raceway of the raceway and inner ring of outer ring is peach-shaped or the rolling of elliptic arc ditch type Road, rolling element are ball, and single ball has two contact points with outer ring channel type raceway and inner ring ditch type raceway, and flexible bearing is 4 points of contact flexible ball bearings.

Described flexible bearing, is characterized in that, the micro raised curve line of all straight line or belts of raceway of two lassos Type raceway, rolling element are roller, single roller between inner ring line style raceway and outer ring line style raceway be linear contact lay, flexible bearing For linear contact lay flexible roller bearing.

Described three point contact and 4 points of contact flexible ball bearings, is characterized in that, ball material is that bearing steel or engineering are made pottery Porcelain.

Described three point contact and 4 points of contact flexible ball bearings, is characterized in that, ball is with the contact between ditch type raceway Angle is 5 degree to 40 degree.

Described linear contact lay flexible roller bearing, is characterized in that, including following structure：, without rib type, outer ring is without gear for inner ring Side type, inner ring and outer ring are with single block border and two ribs are not in the same side of bearing.

Described linear contact lay flexible roller bearing, is characterized in that, roller material is bearing steel or engineering ceramics, keeps equipment Expect for engineering plastics, sheet metal or steel band.

Described linear contact lay flexible roller bearing, is characterized in that, with micro raised curve, convex is loaarithmic curve, convex Amount is less than 300 microns.

A kind of harmonic speed reducer low additional deformation wave producer-flexbile gear component of the flexbile gear gear teeth, including wave producer and soft Wheel, when for cam-type wave generator (include cam and flexible bearing) when, the inner headed face interference fit of cam and bearing inner race is soft Wheel and the periphery interference fit of bearing outer ring, is characterized in that, flexible bearing is described three point contact flexible ball bearings or institute The 4 points of contact flexible ball bearings stated or described linear contact lay flexible roller bearing, the single rolling element in flexible bearing is with flexible Bearing outer ring and flexbile gear interference fit part form two-point contact or linear contact lay, to reduce during the flexbile gear gear teeth set radial deformation of generation Along buckling deformation and/or the torsional deformation along flexbile gear circumferencial direction in facewidth direction.

For change prior art radial ball flexible bearing rolling element with single lasso contact point number only one of which not Sharp situation, first from ball bearing be rolling element used by bearing for ball in the range of account for, for this purpose, prior art is flexible The channels cross-section shape of bearing changes into the peach-shaped raceway groove and variable curvature raceway groove of bicircular arcs docking from single circular arc raceway groove, The preferred elliptic arc raceway groove of variable curvature raceway groove, ball have two contact points with peach-shaped raceway groove and elliptic arc raceway groove.When a lasso The channel shape of (such as outer ring) is peach-shaped or ellipse arc, when the raceway groove of another lasso (inner ring) remains as circular arc, one Ball has three contact points with two lassos, and flexible bearing now is three point contact flexible bearing；When the ditch of two lassos When all peach-shapeds of road shape or ellipse arc, flexible bearing now is 4 points of contact flexible bearings.Due to ball and peach-shaped Raceway groove and elliptic arc raceway groove have two contact points, therefore, under same external load, reduce contact stress；Due to ball There is a contact angle being not zero with peach-shaped raceway groove and elliptic arc raceway groove, therefore, bearing has while with radial rigidity There is axial rigidity, contact angle is bigger, and axial rigidity is also bigger；It is when outer ring raceway is peach-shaped raceway groove and elliptic arc raceway groove, single Contact force on ball and outer ring-flexbile gear interference fit part, has two application points, the radial direction point of two power along ring width direction Amount is identical, and axial component is equal in magnitude in opposite direction, is conducive to preventing outer ring-flexbile gear interference fit part from completing set work of deformation The additional deformation occurred during energy and warpage, so as to improve the transmission accuracy and service life of decelerator.

For change prior art radial ball flexible bearing rolling element with single lasso contact point number only one of which not Sharp situation, jumps out the scope of ball bearing to consider, for this purpose, the ditch type groove-section shape of prior art flexible bearing is designed as Linear type raceway, rolling element are designed as roller i.e. roller from ball, and at this moment, prior art radial ball flexible bearing is just changed into roller Flexible bearing, the roller of roller bearing is linear contact lay with raceway, i.e., have infinite contact point along contact line direction.Roller bearing is excellent Cylinder roller bearing is selected, to avoid the stress concentration phenomenon of roller and raceway contact end, the operating of cylinder roller bearing is improved Lasso raceway is designed as the raceway with convexity or/and adopts the roller with convexity by performance.The single contact of linear contact lay flexible bearing Secondary contact stress is greatly lowered, and with high radial rigidity and angular stiffness, single roller is matched somebody with somebody with outer ring-flexbile gear interference Contact force on component, has infinite application point along ring width direction, is the even distributed force that width is equal to roller length, has very much Beneficial to the set deformation for realizing outer ring-flexbile gear interference fit part, and effectively prevent undesirable additional deformation, warpage and distortion Generation, so as to increase substantially the deformation precision of outer ring-flexbile gear interference fit part, and then significantly improve the transmission essence of decelerator Degree and service life.

Description of the drawings

Fig. 1 is current art flexible bearing profile；

Fig. 2 outer rings-flexbile gear interference fit part single-point stress diagram；

Fig. 3 outer rings-flexbile gear interference fit part two points stress schematic diagram；

Fig. 4 outer rings-infinite stress diagram of flexbile gear interference fit part；

Fig. 5 A balls are with ditch type raceway three point contact (1 point of septal fossula, 2 points of outer fissure) flexible ball bearings schematic diagram；

Fig. 5 B balls are with 4 points of contact (2 points of septal fossula, 2 points of outer fissure) flexible ball bearings schematic diagrams of ditch type raceway；

The infinite point contact inner ring of Fig. 6 A roller synteny raceways is without rib flexible roller bearing schematic diagram；

The infinite point contact outer ring of Fig. 6 B roller synteny raceways is without rib flexible roller bearing schematic diagram；

The infinite point contact inner ring of Fig. 6 C roller synteny raceways and outer ring heteropleural single block border flexible roller bearing schematic diagram；

Wave producer, flexbile gear, firm wheel relative position schematic diagram in Fig. 7 harmonic speed reducers；

The low additional deformation wave producer-flexbile gear component drawings of Fig. 8 flexbile gear gear teeth.

Specific embodiment

In figure, code name is illustrated.

Fig. 1 is current art flexible bearing profile, is radial ball bearing structure, and 11 is outer ring, 12 is inner ring, 13 is rolling Pearl, 14 are keeper, and outer ring 11 and inner ring 12 are single circular arc ditch type raceway, a ball and their each only one of which contacts Point (the black round dot shown in figure), and two lassos have 2 contact points.

Fig. 2 is outer ring-flexbile gear interference fit part single-point stress diagram, and 21 is the single circular arc ditch of current art flexible bearing Type raceway outer ring, rolling element are ball 22,23 is flexbile gear, 23 interference fit of outer ring 21 and flexbile gear, a ball and outer ring raceway Only one of which contact point (the black round dot shown in figure), so, a ball is applied to the power of outer ring-flexbile gear interference fit part For concentration power Q, application point is in bottom of trench.

Fig. 3 is outer ring-flexbile gear interference fit part two points stress schematic diagram, and 31 is this utility model flexible bearing outer ring, is Peach-shaped or elliptic arc ditch type raceway, rolling element are ball 32,33 is flexbile gear, 33 interference fit of outer ring 31 and flexbile gear, a ball There are two contact points (the black round dot shown in figure) with outer ring raceway, two contact points are symmetrically distributed in the both sides of bottom of trench, two The contact angle of individual contact point is equal, so, it is Q that ball is applied to the power of one flexbile gear interference fit part of outer ring₁And Q₂Two Power, the application point of two power is along the axial at a distance of L of interference fit part₂, L₂It is directly proportional to the size of contact angle.

Fig. 4 is outer ring-infinite stress diagram of flexbile gear interference fit part, and 41 is this utility model flexible bearing outer ring, For the micro raised Curve raceway of straight line or belt, rolling element is flexbile gear, outer ring 41 and flexbile gear 43 for roller (roller) 42,43 Interference fit, a roller and outer ring raceway have infinite contact point, so, a roller is applied to outer ring-flexbile gear interference and matches somebody with somebody The power of component be distributed force, respectively Q₁, Q₂..., Q_N-1, Q_N(wherein N is infinity), distributed force is along the axial direction of interference fit part Operating distance is L_N, L_N＞ L₂。

Fig. 5 A are ball with ditch type raceway three point contact (1 point of septal fossula, 2 points of outer fissure) flexible ball bearings schematic diagram, and 51A is this Utility model flexible bearing outer ring, 52A are inner ring, and 53A is ball, and 54A is keeper.Outer ring is made up of two semi arches Peach-shaped raceway groove, the center of two semi arches are respectively O_e1、O_e2, the center of ball is O, and ball has two contacts with outer ring raceway Point (the black round dot shown in figure), contact point form contact angle α not in trench bottom；Inner ring be single circular arc raceway groove, center For O_i, ball has single contact point with bear inner ring grooved railway, and in trench bottom, contact angle is 0 to contact point, and ball is with two ring raceways Have three contact points.

Fig. 5 B are that ball contacts (2 points of septal fossula, 2 points of outer fissure) flexible ball bearings schematic diagrams at 4 points with ditch type raceway, and 51B is this Utility model flexible bearing outer ring, 52B are inner ring, and 53B is ball, and 54B is keeper.Outer ring be elliptic arc raceway groove, elliptic arc The oval center of circle at place is O_e, on raceway groove, the curvature of each point changes with position, and the center of ball is O, is had with outer ring raceway Two contact points (the black round dot shown in figure), contact point form contact angle α not in trench bottom_e；Inner ring is also elliptic arc Raceway groove, the oval center of circle that elliptic arc is located are O_i, on raceway groove, the curvature of each point changes with position, and ball has with bear inner ring grooved railway Two contact points, contact point form contact angle α not in trench bottom_i, two ring raceways have four contact points to ball together.

In Fig. 5 A and Fig. 5 B, in order to show the curvature center of each contact surface, bearing one side entity is only depicted The shape in section, the position of center line without signing in bearing.

In Fig. 5 A and Fig. 5 B, rolling element is as shown in Figure 3 with the contact force of outer ring raceway.

Fig. 6 A are that the infinite point of roller synteny raceway contacts inner ring without rib flexible roller bearing schematic diagram, and 61A is this reality Novel flexible bearing outer ring is used, 62A is inner ring, and 63A is roller, and 64A is keeper.Outer ring is without convexity or with the straight of convexity Line style raceway, the double ribs of band, roller form contact in roller total length with outer ring raceway, have infinite contact point；Inner ring is not for With convexity or the linear type raceway with convexity, without rib, roller forms contact in roller total length with inner ring raceway, has infinite Individual contact point.In a whole set of bearing, as inner ring is without rib, therefore inner ring can be separated.

Fig. 6 B to Fig. 6 C, the code name meaning in figure are corresponding with Fig. 6 A consistent.When one of lasso band single block border or without During rib, this lasso is exactly separable lasso, dismounting to bearing, installs very convenient, to the axial limiting of the lasso by Shoulder, collar on harmonic speed reducer wave producer or flexbile gear etc. are realized.

From Fig. 6 A to Fig. 6 C, the general character of these flexible roller bearings is exactly that rolling element is distributed with the contact force of outer ring raceway As shown in Figure 4.

In Fig. 7 harmonic speed reducers, wave producer, flexbile gear, firm wheel relative position schematic diagram, illustrate that cam-type ripple in figure Generator, it includes cam and flexible bearing.The same flexible bearing of cam periphery with certain geometry borderline (such as oval) The inner headed face interference fit of inner ring, the periphery of wave producer are that the periphery of flexible bearing outer ring is corresponding with flexbile gear gear tooth portions Endoporus interference fit, the component of wave producer and flexbile gear interference fit is referred to as wave producer-flexbile gear component, above flexbile gear External tooth be meshed with the internal tooth above firm wheel, realize power transmission and speed change.Wave producer, flexbile gear, firm wheel three are concentrically Axis.

The low additional deformation wave producer-flexbile gear component of Fig. 8 flexbile gear gear teeth, illustrates that double wave driving cam Shi Bofa in figure Raw device, 81 is the cam with oval profile, and 82 is flexible bearing, 83 is flexbile gear.Wherein 811 is the installation endoporus table of cam Face, 812 is the oval profile of cam, and 831 is the gear teeth of flexbile gear.

Below in conjunction with accompanying drawing, this utility model is described in detail.

Embodiment 1, as shown in Figure 5A three point contact flexible ball bearings

In Fig. 5 A, 51A is bearing outer ring, and 52A is inner ring, and 53A is ball, and 54A is keeper, and 53A balls are embedded in 51A institutes Show in the middle of the raceway of inner ring shown in outer ring and 52A and the keeper shown in 54A by it is spaced apart in the circumferential direction.Outer ring 51A is The peach-shaped raceway groove being made up of two semi arches, the center of two semi arches is respectively O_e1、O_e2, the center of ball 53A is O, ball 53A has two contact points with outer ring 51A raceway grooves, and contact point forms contact angle α not in trench bottom；Inner ring 52A is single circular arc Raceway groove, center are O_i, ball 53A has single contact point with inner ring 52A raceway grooves, and in trench bottom, contact angle is 0 to contact point, rolling Pearl 53A has three contact points with two ring raceways.

Outer ring 51A and inner ring 52A materials adopt bearing steel, ball 53A materials to adopt bearing steel or silicon nitride ceramics, protect Holder 54A material adopts engineering plastics.The span of contact angle α is 5 to 40 degree, it can be seen that ball 53A is with outer ring 51A The trench bottom Fructus Persicae of peach-shaped raceway groove (i.e. point) not in contact with, but have a segment distance, contact angle is bigger, and this distance is also got over Greatly, it is meant that outer ring raceway is thinner to the wall thickness between the periphery of outer ring.Therefore, the wall thickness of flexible bearing outer ring 51A is thinner, Design contact angle α just should select less, and the distance between two contact points are also less, get over equivalent to the force scope to lasso It is narrow.

The three point contact flexible ball bearings, rolling element to the active force of outer ring-flexbile gear interference fit part as shown in Figure 3.

Embodiment 2, as shown in Figure 5 B 4 points of contact flexible ball bearings

In Fig. 5 B, 51B is bearing outer ring, and 52B is inner ring, and 53B is ball, and 54B is keeper, and 53B balls are embedded in 51B institutes Show in the middle of the raceway of inner ring shown in outer ring and 52B and the keeper shown in 54B by it is spaced apart in the circumferential direction.Outer ring 51B is Elliptic arc raceway groove, the elliptical center that the elliptic arc is located are O_e, on raceway groove, the curvature of each point changes with position, ball 53B Center be O, have two contact points with outer ring 51B raceway grooves, contact point forms contact angle α not in trench bottom_e；Inner ring 52B For elliptic arc raceway groove, the elliptical center that the elliptic arc is located is O_i, on raceway groove, the curvature of each point changes with position, ball 53B has two contact points with inner ring 52B raceway grooves, and contact point forms contact angle α not in trench bottom_i, ball 53B is with two sets Circle raceway groove has four contact points.

Outer ring 51B and inner ring 52B materials adopt bearing steel, ball 53B materials to adopt bearing steel or silicon nitride ceramics, keep Device 54B materials adopt engineering plastics.The span of contact angle α is 5 to 40 degree, it can be seen that ball 53B with outer ring 51B and The trench bottom of inner ring 52B not in contact with, but have a segment distance, contact angle is bigger, and this distance is also bigger, it is meant that outer ring Raceway groove between the periphery of outer ring, bear inner ring grooved railway it is thinner to the wall thickness between inner ring inner headed face.Therefore, flexible bearing lasso Wall thickness it is thinner, the ball of design just should select less with the contact angle of this ring raceways.

Elliptic arc raceway groove is the wherein sub-fraction that raceway groove is some ellipse, and the major axis of outer ring elliptic arc raceway groove is positioned at rolling On line of the pearl center of circle with outer ring raceway bottom, the major axis of inner ring elliptic arc raceway groove is located at the ball center of circle with bear inner ring grooved railway bottom On line.In Fig. 5 B, O_eFor the elliptical center that outer ring raceway elliptic arc is located, O_iIn the ellipse being located for bear inner ring grooved railway elliptic arc The heart.

This 4 points contact flexible ball bearings, rolling element to the active force of outer ring-flexbile gear interference fit part as shown in Figure 3.

The infinite point contact inner ring of embodiment 3, as shown in Figure 6A roller synteny raceway is without rib flexible roller bearing

In Fig. 6 A, 61A is outer ring, and 62A is inner ring, and 63A is embedded roller between outer ring raceway and inner ring raceway, 64A It is the keeper that each ball 63A is separated along bearing circumferencial direction.The double ribs of outer ring 61A bands, inner ring 62A is without rib, outer ring The bus of 61A raceways, inner ring 62A raceways and roller 63A is straight line, and roller 63A is with outer ring 61A raceways and inner ring 62A raceways Contact is formed in roller 63A total lengths, has an infinite contact point, the flexible bearing, due to inner ring 62A it is without rib therefore interior Circle 62A is separated type inner ring.

The outer ring 61A and inner ring 62A materials of the flexible roller bearing adopts bearing steel, roller 63A materials to adopt bearing steel Or engineering ceramics, keeper 64A is using plastics or metal stamping keeper.

After bearing is installed, the axial displacement or play of roller and keeper are limited by two ribs of outer ring.

The linear contact lay flexible roller bearing, rolling element to the active force of outer ring-flexbile gear interference fit part as shown in Figure 4.

The infinite point contact inner ring of embodiment 4, as shown in Figure 6 C roller synteny raceway and the flexible rolling of outer ring heteropleural single block border Sub- bearing

In Fig. 6 C, 61C is outer ring, and 62C is inner ring, and 63C is embedded roller between outer ring raceway and inner ring raceway, 64C It is the keeper that each roller 63C is separated along bearing circumferencial direction.Outer ring 61C and inner ring 62C band single block border but two lassos Rib not in the same side of bearing, the bus of outer ring 61C raceways, inner ring 62C raceways and roller 63C is loaarithmic curve, rolling Sub- 63C forms linear contact lay with outer ring 61C raceways and inner ring 62C raceways in roller 63C total lengths, has infinite contact point, and this is soft Property bearing, due to outer ring 61C and inner ring 62C band single block borders, therefore, two lassos are separable.

The outer ring 61C and inner ring 62C materials of the flexible roller bearing adopts bearing steel, roller 63C materials to adopt bearing steel Or engineering ceramics, keeper 64C is using plastics or metal stamping keeper.

After bearing is installed, the axial position of roller and keeper is limited by the single block border not in two lassos of bearing the same side Move or play.

The low additional deformation wave producer-flexbile gear component of embodiment 5, the flexbile gear gear teeth as shown in Figure 8

The wave producer illustrated in figure is double wave driving cam formula wave producer, and 81 is the cam with oval profile, 82 is flexible bearing, 83 is flexbile gear.Wherein 811 is the installation bore area of cam, and 812 is the oval profile of cam, and 831 are The gear teeth of flexbile gear.81 and 82 interference fit part is referred to as wave producer, and wave producer is claimed with the component after 83 interference fit of flexbile gear For wave producer-flexbile gear component.

Different from the prior art wave producer-flexbile gear component using single-row shallow ridges radial ball flexible bearing, the present embodiment Wave producer-flexbile gear component is using the rolling element described in embodiment 1 to embodiment 4 with outer ring raceway Multi-contact flexible bearing 82, the inner headed face interference fit of the outer ellipsoid of cam 81 with 82 inner ring of flexible bearing, 82 shape of cross section of flexible bearing is by filling It is forced to be changed into oval with circle before, the inner headed face of flexbile gear 83 is matched somebody with somebody with the outer ellipsoid interference of 82 outer ring of flexible bearing Close, circle of 83 shape of cross section of flexbile gear from before assembling also is forced to be changed into oval.

The present embodiment wave producer-flexbile gear component as a result of Multi-contact flexible bearing, the same flexbile gear of single rolling element- (line connects two (three point contact flexible ball bearings, contact flexible ball bearings) or infinite between the interference fit part of outer ring at 4 points Tactile flexible roller bearing) contact point, therefore, when harmonic speed reducer works, the gear teeth 831 of flexbile gear 83 are except generation is in diagram plane Set radial direction deformation outside, which is along the additional buckling deformation of flexbile gear gear teeth width or along the additional of flexbile gear gear teeth circumferencial direction Torsional deformation is controlled, and compares current art product very little or even never occurs, thus drastically increases harmonic wave and subtract The transmission accuracy of fast device, transmission efficiency and military service reliability.

Above-mentioned harmonic speed reducer Multi-contact flexible bearing, including three point contact flexible ball bearings, 4 points of contact flexibilities Ball bearing, linear contact lay flexible roller bearing, single rolling element between outer ring raceway be same outer ring-flexbile gear interference fit part between With two or infinite contact point, only have a contact point compared with technology and compare, the technology with many principles and matter Amount advantage, for the sake of directly perceived, will be this utility model technology and prior art contrast situation tabulated below.

Using the wave producer-flexbile gear component of this utility model Multi-contact flexible bearing have additional deformation it is little, transmission A series of technical quality advantages such as precision height.

By taking cam type wave producer as an example, it is assumed that the shape of cross section of cam outer face is ellipse, when flexible bearing passes through The interference fit of its internal circular surfaces and cam, the interference fit and cam of its outer round surface and flexbile gear and flexbile gear are installed and are integrated Afterwards, the distribution shape of bearing inner race cross section, each rolling element center in cross section, bearing outer ring cross section, flexbile gear cross section Be forced to therewith be changed into elliptical shape, be the accuracy of mesh for the flexbile gear gear teeth being improved with the firm wheel gear teeth, and then improve harmonic speed reducer Transmission accuracy, it is intended that, in the range of the flexbile gear gear teeth (with the firm wheel gear teeth) effectively length of action, the shape of each cross section It is preferably completely the same, be same ellipse, i.e., the warpage do not added along the width of bearing outer ring-flexbile gear interference fit part Deformation, the circumferencial direction along bearing outer ring-flexbile gear interference fit part do not have torsional deflection, but, prior art flexible bearing is Common centripetal spherical structure, single rolling element act on a bit (outer ring channel bottom) to what outer ring-flexbile gear interference fit part applied Concentration power, above-mentioned additional buckling deformation and torsional deflection are can hardly be avoided, the transmission accuracy and service life band to harmonic speed reducer Inevitably to negatively affect.This utility model three point contact flexible ball bearings and 4 points of contact flexible ball bearings, single rolling , with outer ring raceway with two contact points, two concentration powers, this two contact points are along bearing outer ring-flexbile gear interference fit part for kinetoplast Axial direction have a span, accordingly, it is capable to effectively reduce above-mentioned buckling deformation and torsional deformation；This utility model linear contact lay flexible roller Bearing, single rolling element have infinite contact point with outer ring raceway, and contact force is the distributed force along roller total length, accordingly, it is capable to Substantially reduce or even avoid above-mentioned buckling deformation and torsional deformation completely.

This utility model three point contact flexible ball bearings and 4 points of contact flexible ball bearings are compared with technology three point contact ball There is many differences in bearing and four-point contact ball, such as, prior art adopts three-point contact ball bearing and four-point contact ball Bearing mainly considers them in the radial and axial of bearing while (axial direction of general radial ball bearing is just with good rigidity Degree is very low), but this utility model is then to increase the same raceway groove of ball using three-point contact ball bearing and four-point contact ball In the contact points and the effect span of power of bearing axial direction, so as to improve the set deformation essence of outer ring-flexbile gear interference fit part Degree, and such as, the lasso wall thickness of flexible bearing is very thin, and raceway groove is very shallow and wall thickness of bottom of trench to periphery is also very thin, therefore, axle The contact angle for holding will take less value sometimes, such as 20 degree, and prior art three point contact and four-point contact ball, contact angle Typically all more than 35 degree.

This utility model linear contact lay flexible roller bearing there is also many differences compared with technology roller bearing, such as, existing There is technology using roller bearing typically all in order to improve the radial direction bearing capacity and radial rigidity of bearing, but this utility model It is not using roller bearing, this utility model mainly considers that the same outer ring of roller-flexbile gear interference fit part has infinite multiple vertically Contact point, is the distributed force along roller total length, accordingly, it is capable to the set deformation accuracy of outer ring-flexbile gear interference fit part is significantly improved, Again such as, not only wall is thin for flexible bearing, and very narrow, and when the double ribs of a lasso band, the intensity of rib is probably a ratio Larger problem, therefore, this utility model outer ring and inner ring respectively with single block border but are distributed in structure (the accompanying drawing 6C institutes of bearing heteropleural Show) just there is practical significance very much, for another example, same because of flexible bearing, not only wall is thin, and very narrow, and some products are had to From cylindrical roller of the draw ratio (roller length/roller diameter) less than 1, this is non-existent in the prior art, existing skill The minimum length of art cylinder roller bearing is exactly and its equal diameters.

Certainly, this utility model three point contact flexible ball bearings, 4 points of contact flexible ball bearings, linear contact lay flexible roller axles Hold decapacitation preferably to fulfil outside function of the flexible bearing in harmonic speed reducer, also with three-point contact ball bearing, 4 points of contacts Other advantages of ball bearing, roller bearing, these dominating parts have listed above table in.It is upper due to Multi-contact flexible bearing Advantage is stated, using the wave producer-flexbile gear component of Multi-contact flexible bearing, with the ripple of existing employing single-contact flexible bearing Generator-flexbile gear component is compared, and with the low outstanding advantage of flexbile gear gear teeth additional deformation, this is for the biography for improving harmonic speed reducer Dynamic precision, transmission efficiency and reliable operation degree have an important practical meaning in engineering, but due to industrial robot it is widely used humorous Ripple decelerator, therefore, in the intelligence manufacture epoch one of with industrial robot as outstanding feature, above-mentioned technical quality innovation and It is progressive that there is very important realistic meaning simultaneously.

One contact point of outer fissure that claim is covered, the three point contact flexible ball axle of two contact points of septal fossula Hold, as single ball has two contact points with septal fossula, the running stability of skidding, raising bearing to control ball is same With positive effect.

Disclosed above is only several specific embodiments of the application, but the application is not limited to this, any this area Technical staff can think change, should all fall in the protection domain of the application.

Claims

1. a kind of harmonic speed reducer Multi-contact flexible bearing, including thin-walled outer ring, thin-walled inner ring, embedded outer ring raceway and interior Circle raceway between rolling element and by the along the circumferential direction evenly spaced keeper of each rolling element, it is characterized in that, single rolling element With two-point contact or linear contact lay are designed between outer ring raceway, to reduce or avoid thin-walled outer ring in the effect of rolling element contact force Additional buckling deformation along outer ring width and/or the additional distortion along outer ring circumferencial direction during the set radial deformation of lower generation Deformation.

2. flexible bearing as claimed in claim 1, is characterized in that, the raceway of outer ring is peach-shaped or elliptic arc ditch type raceway, interior The raceway of circle is single circular arc ditch type raceway, and rolling element is ball, and single ball forms two contact points with outer ring channel type raceway, A contact point is formed with inner ring ditch type raceway, flexible bearing is three point contact flexible ball bearings.

3. flexible bearing as claimed in claim 1, is characterized in that, the raceway of the raceway and inner ring of outer ring is peach-shaped or ellipse Arc ditch type raceway, rolling element is ball, and single ball is respectively formed two contact points with outer ring channel type raceway and inner ring ditch type raceway, Flexible bearing is 4 points of contact flexible ball bearings.

4. flexible bearing as claimed in claim 1, is characterized in that, the micro projection of all straight line or belts of the raceway of two lassos Curve raceway, rolling element is roller, single roller between inner ring line style raceway and outer ring line style raceway formed line connect Touch, flexible bearing is linear contact lay flexible roller bearing.

5. the flexible bearing as described in claim 2 or claim 3, is characterized in that, ball material is that bearing steel or engineering are made pottery Porcelain.

6. the flexible bearing as described in claim 2 or claim 3, is characterized in that, ball is with the contact between ditch type raceway Angle is 5 degree to 40 degree.

7. flexible bearing as claimed in claim 4, is characterized in that, including following structure：, without rib type, outer ring is without rib for inner ring Type, inner ring and outer ring are with single block border and two ribs are not in the same side of bearing.

8. flexible bearing as claimed in claim 4, is characterized in that, roller material is bearing steel or engineering ceramics, keeps equipment Expect for engineering plastics, sheet metal or steel band.

9. flexible bearing as claimed in claim 4, is characterized in that, with micro raised curve, convex is loaarithmic curve, convex amount Less than 300 microns.

10. a kind of harmonic speed reducer low additional deformation wave producer-flexbile gear component of the flexbile gear gear teeth, including wave producer and soft Wheel, when for cam-type wave generator including cam and flexible bearing when, the inner headed face interference fit of cam and bearing inner race is soft Wheel and the periphery interference fit of bearing outer ring, is characterized in that, flexible bearing is the flexible bearing or right described in claim 2 Require the flexible bearing or the flexible bearing described in claim 4 described in 3, the same flexible bearing of single rolling element in flexible bearing Outer ring and flexbile gear interference fit part form two-point contact or linear contact lay, to reduce during the flexbile gear gear teeth set radial deformation of generation along tooth The buckling deformation of cross direction and/or the torsional deformation along flexbile gear circumferencial direction.