CN208024807U - A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave - Google Patents
A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave Download PDFInfo
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- CN208024807U CN208024807U CN201820293053.0U CN201820293053U CN208024807U CN 208024807 U CN208024807 U CN 208024807U CN 201820293053 U CN201820293053 U CN 201820293053U CN 208024807 U CN208024807 U CN 208024807U
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- steel wheel
- bearing
- flexbile gear
- speed reducer
- annular groove
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Abstract
The utility model discloses a kind of bearings and the integrated microminiature harmonic speed reducer of harmonic wave, including：Steel wheel a, steel wheel b, steel wheel c, flexbile gear, cam, flexible bearing, roller, end ring and mounting screw.Steel wheel a connects composition input steel wheel or output steel wheel with steel wheel b, and steel wheel c is as output steel wheel or input steel wheel.It is machined with 45 ° of chamferings on the inner wall of steel wheel a, forms V-type annular groove with 45 ° of chamferings of steel wheel b inwall processings, then square annular groove is cooperatively formed with the V-type annular groove of steel wheel c outer walls processing, roller is mounted in rectangular annular groove.For steel wheel a and steel wheel b as bearing outer ring, steel wheel c forms bearing and steel wheel integral structure as bearing inner race together with roller.Flexbile gear, flexible bearing and cam are sequentially set with.The design of the utility model makes harmonic wave weight lighter, and structure is simpler, effectively reduces the diameter and thickness of harmonic wave under identical parameters, improves usability.
Description
Technical field
The utility model is related to a kind of harmonic speed reducer, especially a kind of bearing subtracts with the integrated microminiature harmonic wave of harmonic wave
Fast device.
Background technology
Harmonic speed reducer has the characteristics that transmission efficiency, small, light-weight, stable drive, noise are small, extensive use
In robot field, especially it is widely used in cooperation shape mechanical arm, service robot etc..With robot technology
Development, the size of harmonic wave is required to be increasingly stringenter.
Traditional harmonic speed reducer is divided into three-major-items：Wave producer, flexbile gear and steel wheel, in order to meet harmonic wave to axial force,
The requirement of radial load, moment of flexure mostly uses crossed roller bearing to connect flexbile gear and steel wheel.
As the output par, c connection of flexbile gear is intersected needle bearing by green harmonic wave LCD series using the form of cup-shaped flexbile gear
Then steel wheel is connected to the inner ring of crossed roller bearing by outer shroud, the final cooperation for realizing flexbile gear external tooth and steel wheel internal tooth is formed
A kind of scheme of harmonic speed reducer, remaining same hat shape flexbile gear catenation principle thus.
As described above, the diameter of harmonic speed reducer is finally limited by crossed roller bearing, more than being needed on practical harmonic principle
The diameter asked.Simultaneously because the use of independent cross roller bearing needs other form of intermediate junctions, such as connecting flange, fastening
Screw etc. leads to the features such as retarder manufacture difficulty is big, volume and weight is big, poor on transmission accuracy.
Invention content
The utility model is according to joint of robot application present situation, for the design disadvantage of existing harmonic speed reducer, pass through by
It inputs steel wheel, output steel wheel and crossed roller bearing and carries out integrated design, propose that a kind of bearing and harmonic wave are integrated extra small
Type harmonic speed reducer has the characteristics that small size, light-weight, with high accuracy.
The utility model proposes a kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave, including：Steel wheel a, steel
Take turns b, steel wheel c, flexbile gear, cam, flexible bearing, roller, end ring and mounting screw.Steel wheel a and steel wheel b pass through mounting screw
It links together, composition input steel wheel or output steel wheel, steel wheel c is as output steel wheel or input steel wheel.
The inner ring of steel wheel a is relatively large in diameter and smaller two parts, 45 ° of chamferings is machined on being relatively large in diameter inner wall, with steel
45 ° of chamferings for taking turns b inwall processings form V-type annular groove, then cooperatively form square annular groove with the V-type annular groove of steel wheel c outer walls processing.Rolling
Son is mounted and limits in the rectangular annular groove.It is machined with internal tooth, the inner wall of steel wheel c on the smaller inner wall of diameter of steel wheel a
On be machined with internal tooth.Steel wheel a and steel wheel c is meshed by internal tooth with the external tooth of flexbile gear respectively.Flexbile gear, flexible bearing and cam are pressed
Sequence is set with.End ring is mounted on cam, for radially being limited to flexible bearing.
The steel wheel a and steel wheel b as bearing outer ring, steel wheel c as bearing inner race, formed together with roller bearing with
Steel wheel integral structure.
The internal tooth gear ratio of the steel wheel a and steel wheel c, when the flexbile gear external tooth number of teeth is fixed, with subtracting for harmonic speed reducer
Speed ratio is proportional.
The flexbile gear is tubular flexbile gear.
The advantages of the utility model, is with good effect：
(1) diameter of a diameter of steel wheel of the harmonic speed reducer of the utility model design, subtracts than same parameter harmonic wave in the market
Fast device form reduces the width of a bearer ring；
(2) bearing and steel wheel integrated design are reduced than traditional design and are tied by the harmonic speed reducer of the utility model design
The number of components, the weight for reducing structural thickness, alleviating bearing wall so that harmonic wave weight is lighter, and structure is simpler；
(3) use tubbiness flexbile gear form, steel wheel that can effectively reduce harmonic wave under identical parameters with bearing integrated design scheme
Diameter and thickness；
(4) bearing and steel wheel integrated design are increased the engaging width of flexbile gear and steel wheel, than similar production by the utility model
Product have higher bearing capacity under identical size；
(5) it is column structure in the harmonic speed reducer of identical parameters the utility model design, convenient for application, same
Cylindrical structure is kept in the case of class product same bearer, improves usability.
Description of the drawings
Fig. 1 is a kind of bearing of the utility model and the microminiature harmonic speed reducer front view of harmonic wave integrated design；
Fig. 2 is a kind of bearing of the utility model and the microminiature harmonic speed reducer rearview of harmonic wave integrated design；
Fig. 3 is a kind of bearing of the utility model and the microminiature harmonic speed reducer sectional view of harmonic wave integrated design；
Fig. 4 be the utility model harmonic speed reducer in steel wheel a structural schematic diagram；
Fig. 5 be the utility model harmonic speed reducer in steel wheel c structural schematic diagram；
In figure：
1- steel wheels a；2- steel wheels b；3- steel wheels c；4- flexbile gears；5- cams；6- flexible bearings；
7- rollers；8- end rings；9- mounting screws.
Specific implementation mode
Below in conjunction with drawings and examples, the utility model is described in further detail.
As shown in FIG. 1 to 3, a kind of bearing provided by the utility model and the microminiature harmonic wave of harmonic wave integrated design subtract
Fast device, including steel wheel a1, steel wheel b2, steel wheel c3, flexbile gear 4, cam 5, flexible bearing 6, roller 7, end ring 8 and mounting screw
9。
Steel wheel a1 and steel wheel b2 are linked together by mounting screw 9, composition input steel wheel or output steel wheel, correspondingly,
Steel wheel c3 is as output steel wheel or input steel wheel.The internal tooth of steel wheel a1 and steel wheel c3 are meshed with the external tooth of flexbile gear 4, and power passes through
Cam 5 inputs, and drives 6 rotational deformation of flexible bearing, and corresponding deformation occurs for flexbile gear 4 and flexible bearing 6, flexbile gear 4 and steel wheel a1 and
Steel wheel c3 is meshed, and realizes the transmission of power.When steel wheel a1 and steel wheel b2 assemblys are fixed or steel wheel c3 is fixed, in roller 7
Under cooperation, output is completed by steel wheel c3 or steel wheel a1 and steel wheel b2 assemblys.
Steel wheel a1 be metal material processing at annular rotary structure, as shown in Figure 4.Left side is front view in Fig. 4, right
Side is A-A sectional views.The inner ring of steel wheel a1 is relatively large in diameter and smaller two parts, has 45 ° of chamferings being relatively large in diameter inwall processing,
V-type annular groove is formed with 45 ° of chamferings of steel wheel b2 inwall processings, then square is cooperatively formed with the V-type annular groove of steel wheel c3 outer walls processing
Annular groove.Roller 7 is mounted and limits in the square annular groove.It is machined with internal tooth, steel on the smaller inner wall of diameter of steel wheel a1
It takes turns and is machined with internal tooth on the inner wall of c3.Steel wheel a1 and steel wheel c3 is meshed by internal tooth with the external tooth of flexbile gear respectively, realizes power
Transmission.It is threaded hole on steel wheel a1 structures, it is corresponding with the counter sink of steel wheel b2 processing, by mounting screw 9 by steel
Wheel a1 is fixedly connected with steel wheel b2.
Steel wheel b2 be metal material processing at annular rotary structure, inner wall side is machined with 45 ° of chamferings, with steel wheel
After a1 is fixedly mounted, inner side chamfering between the two forms V-type annular groove, provides the installation limit space of roller 7.Steel wheel b2 structures
Countersunk head through-hole is machined on body, for being fixed together by mounting screw 9 and steel wheel a1.
It is uniformly distributed along the circumference on the structure of steel wheel a1 and steel wheel b2 and is machined with through-hole, the perimeter throughbores and steel wheel of steel wheel a1
The perimeter throughbores of b2 are corresponding so that steel wheel a1 and steel wheel b2 assemblys realize that harmonic wave subtracts by standard screws in actual use
The fixed installation of fast device.
Steel wheel c3 be metal material processing at annular rotary structure, inwall processing has internal tooth, passes through internal tooth and flexbile gear 4
Outer tooth engagement realizes the transmission of power.As shown in figure 5, left side is the front view of steel wheel c3, right side is A-A sectional views.Steel wheel c3
Inner ring be machined with flexbile gear annular stop boss, realize the axial limiting of flexbile gear 4.3 outer wall of steel wheel is machined with annular V slot, is used for
The installation space of roller 7 and limit.Steel wheel 3 is threaded hole on structure, will by using connectors such as standard screws
Steel wheel 3 is fixed as the installation of output steel wheel or input steel wheel.It is realized and is connected by roller 7 between steel wheel b2 and steel wheel c3.
The steel wheel a1 and steel wheel b2 forms axis together as bearing outer ring, steel wheel c3 as bearing inner race, with roller 7
It holds and steel wheel integral structure.Relative to the existing structure for connecting flexbile gear and steel wheel using crossed roller bearing, this practicality
It is novel to be used directly as steel wheel by roller bearing inner ring and outer ring, it realizes and ensures to simplify structure in the case of performance requirement,
Reduce diameter and thickness.Meanwhile internal tooth is processed by steel wheel a1 and steel wheel c3 and is engaged with flexbile gear, increase bearing capacity.
The flexbile gear 4 is tubular flexbile gear.Flexbile gear 4 be metal material processing at annular rotary thin-wall structure, outer wall adds
Work has external tooth, 4 external tooth of flexbile gear to be engaged respectively with steel wheel a1 and steel wheel c3 internal tooths, is made in cam 5 and flexible bearing 6 by flexbile gear 4
Deformation under transmits transfer motion power for steel wheel.Flexbile gear 4 uses tubular form, under the conditions of same carrying, reduces harmonic wave and subtracts
Fast device size.
The internal tooth gear ratio of the steel wheel a and steel wheel c, when the 4 external tooth number of teeth of flexbile gear is fixed, with subtracting for harmonic speed reducer
Speed ratio is proportional.Under 4 external tooth number of teeth fixing situation of flexbile gear, by the number of teeth for changing the internal tooth of steel wheel a and the internal tooth of steel wheel c
Than the reduction ratio of harmonic speed reducer is adjusted.
Cam 5 be metal material processing at rotary structure, outer wall is oval structure, will be moved when exterior power inputs
Power is converted into the deformation of flexible bearing 6, and flexbile gear 4 deforms therewith, then realizes the transmission of power.5 outer shroud one end of cam is machined with
Annular convex platform, the other end are machined with annular groove, and annular groove is equipped with end ring 8, passes through annular convex platform and end ring 8
Realize the radial limit of flexible bearing 6.The inner ring of cam 5 is machined with through-hole, by using the connectors such as standard screws and power
Input shaft is attached.
Flexbile gear 4, flexible bearing 6 and cam 5 are sequentially set with.Flexible bearing is carried out by the boss and end ring 8 of cam 5
6 radial limit, 6 tight fit of flexbile gear 4 and flexible bearing.
Flexible bearing 6 is standard component, deforms the power-conversion of cam 5 for flexbile gear 4 by the deformation of itself, completes power
Transmission.
Roller 7 be metal material processing at cylindrical structure, intersect mounted on steel wheel a1 and steel wheel b2 assemblys and steel
In the rectangle annular groove for taking turns c3 compositions, laterally and radially carrying and input between steel wheel and output steel wheel for the utility model is realized
Power transmits.
End ring 8 is mounted on cam 5, for being limited to flexible bearing 6 is radial.End ring 8 adds for metal material
Work at split ring snap ring, may be mounted in 5 annular groove of cam by natural resiliency power.
Mounting screw 9 is standard component, realizes that the installation of steel wheel a1 and steel wheel b2 are fixed.
The utility model by the way that steel wheel a1, steel wheel b2, steel wheel c3 and roller 7 are combined into steel wheel assembly, by cam 5,
Flexible bearing 6, end ring 8 form wave producer, and the utility model is combined by steel wheel assembly, flexbile gear 4 and wave producer
Microminiature harmonic speed reducer.It will as the input of the utility model by the input axis connection in cam 5 and practical application
Steel wheel a1 realizes steel wheel c3 or steel wheel a1 as input terminal or using steel wheel c3 as input terminal, by the engagement of flexbile gear 4 and steel wheel
Output.Input power is passed to by cam 5, flexible bearing 6 deforms under the effect of cam 5 drives flexbile gear 4 to deform, and leads to
The transmission that inside and outside tooth engagement between flexbile gear 4 and steel wheel realizes power is crossed, the output of input power is completed.The utility model has knot
The features such as structure is simple, size is small, bearing capacity is big.
Claims (4)
1. a kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave, which is characterized in that including：Steel wheel a, steel wheel b, steel wheel
C, flexbile gear, cam, flexible bearing, roller, end ring and mounting screw；
Steel wheel a is fixedly connected with steel wheel b by mounting screw, and composition input steel wheel or output steel wheel, steel wheel c is as output steel wheel
Or input steel wheel；The inner ring of steel wheel a is relatively large in diameter and smaller two parts, and 45 ° of chamferings are machined on being relatively large in diameter inner wall, with
45 ° of chamferings of steel wheel b inwall processings form V-type annular groove, then cooperatively form square annular groove with the V-type annular groove of steel wheel c outer walls processing；
Roller is mounted and limits in the square annular groove；It is machined with internal tooth on the smaller inner wall of diameter of steel wheel a, steel wheel c's is interior
Internal tooth is machined on wall, steel wheel a and steel wheel c are meshed by internal tooth with the external tooth of flexbile gear respectively；Flexbile gear, flexible bearing and cam
Sequentially it is set with；End ring is mounted on cam, for radially being limited to flexible bearing.
2. microminiature harmonic speed reducer according to claim 1, which is characterized in that the steel wheel a and steel wheel b is as axis
Bearing outer-ring, steel wheel c form bearing and steel wheel integral structure as bearing inner race together with roller.
3. microminiature harmonic speed reducer according to claim 1 or 2, which is characterized in that the steel wheel a's and steel wheel c
Internal tooth gear ratio, it is proportional with the reduction ratio of harmonic speed reducer when the flexbile gear external tooth number of teeth is fixed.
4. microminiature harmonic speed reducer according to claim 1 or 2, which is characterized in that the flexbile gear is tubular flexbile gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820293053.0U CN208024807U (en) | 2018-03-01 | 2018-03-01 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820293053.0U CN208024807U (en) | 2018-03-01 | 2018-03-01 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208024807U true CN208024807U (en) | 2018-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820293053.0U Active CN208024807U (en) | 2018-03-01 | 2018-03-01 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
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| Country | Link |
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| CN (1) | CN208024807U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108343724A (en) * | 2018-03-01 | 2018-07-31 | 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 |
| CN110242710A (en) * | 2019-06-05 | 2019-09-17 | 南通振康机械有限公司 | A kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type |
-
2018
- 2018-03-01 CN CN201820293053.0U patent/CN208024807U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108343724A (en) * | 2018-03-01 | 2018-07-31 | 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 |
| CN108343724B (en) * | 2018-03-01 | 2019-06-11 | 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 |
| CN110242710A (en) * | 2019-06-05 | 2019-09-17 | 南通振康机械有限公司 | A kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type |
| CN110242710B (en) * | 2019-06-05 | 2022-05-10 | 南通振康机械有限公司 | Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings |
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