CN208041080U - 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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- CN208041080U CN208041080U CN201820558832.9U CN201820558832U CN208041080U CN 208041080 U CN208041080 U CN 208041080U CN 201820558832 U CN201820558832 U CN 201820558832U CN 208041080 U CN208041080 U CN 208041080U
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- steel wheel
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Abstract
The utility model discloses a kind of bearings and harmonic wave integrated microminiature harmonic speed reducer, including steel wheel a, steel wheel b, flexbile gear, cam, flexible bearing, roller, roller stop, end ring, mounting screw etc..Steel wheel a and roller stop connect composition input steel wheel or output steel wheel, and steel wheel b is as output steel wheel or input steel wheel.Steel wheel a internal diameters are machined with V-ring slot and the V-ring slot of steel wheel b outer walls processing cooperatively forms rectangle annular groove, it is also machined with scalloped recess on steel wheel a, roller is put by scalloped recess in rectangle annular groove, steel wheel a is as bearing outer ring, steel wheel b forms bearing and steel wheel integral structure as bearing inner race together with roller.The weight that the design of the utility model reduces structural member quantity, reduces structural thickness, alleviates bearing wall, realization is smaller, improves installation and operability.
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, while in order to avoid stress concentration, soft
The gear teeth connect with the transition of mounting disc and use thin-wall construction.
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.
Utility model content
The utility model is according to joint of robot application present situation, for the design disadvantage of existing harmonic speed reducer, using cylinder
Shape flexbile gear form, and integrated design is carried out by the way that steel wheel, output steel wheel and crossed roller bearing will be inputted, propose a kind of bearing
With the integrated microminiature harmonic speed reducer of harmonic wave, have the characteristics that small size, light-weight, precision is high, installation is convenient.
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, flexbile gear, cam, flexible bearing, roller, roller stop, end ring and mounting screw.Steel wheel a and roller stop pass through peace
Cartridge screw links together, composition input steel wheel or output steel wheel, correspondingly, steel wheel b 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 V-ring slot is machined on being relatively large in diameter inner wall, with steel
The V-ring slot of wheel b outer walls processing cooperatively forms rectangle annular groove.Steel wheel a and steel wheel b is mutually nibbled by the external tooth of internal tooth and flexbile gear respectively
It closes.Flexbile gear, flexible bearing and cam are sequentially set with.End ring is mounted on cam, for flexible bearing axial limiting.
Scalloped recess is machined on steel wheel a, scalloped recess is connected with the V-ring slot on steel wheel a internal diameters, and roller passes through fan
Connected in star is put into the rectangle annular groove；After by roller, installation is complete, roller stop is mounted on by mounting screw
In scalloped recess on steel wheel a.The steel wheel a is formed as bearing inner race together with roller as bearing outer ring, steel wheel b
Bearing and steel wheel integral structure.
The microminiature harmonic speed reducer further includes sealing ring a, sealing ring b and sealing ring c, in two end faces steel wheel a
It is machined with annular groove with the outer end face of steel wheel b, the mounting groove as sealing ring a, sealing ring b and sealing ring c.
The steel wheel a and steel wheel b, on it end face and outer shroud circumferentially on be uniformly threaded hole, as input
The mounting hole of steel wheel and output steel wheel, can be according to actual use demand selection end face installation or radially installed mode.
The steel wheel a and steel wheel b, it is fixed in the flexbile gear number of teeth, by the internal tooth for changing steel wheel a and steel wheel b
Gear ratio realizes harmonic speed reducer reduction ratio regulatory function.
The flexbile gear is tubular flexbile gear, changes the torque of harmonic speed reducer output by adjusting the width of flexbile gear.
The advantages of the utility model, is with good effect：
(1) 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；
(2) 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, and microminiature harmonic speed reducer structure is simpler, the size realized can
With smaller；
(3) 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；
(4) the utility model increases radially installed mode on the basis of conventional end face installation form, improves installation
And operability, it is applicable in more application scenarios；
(5) the utility model uses tubular flexbile gear form, under the conditions of same carrying, reduces harmonic speed reducer size；
(6) the utility model is fixed in the flexbile gear number of teeth, by changing the internal tooth gear ratio of steel wheel a and steel wheel b,
It realizes harmonic speed reducer reduction ratio regulatory function, reduction ratio more higher than same parameter harmonic speed reducer in the market can be reached；
(7) the utility model can pass through the tooth of the interior external tooth of adjusting engagement in the case where appearance and size is basically unchanged
Width reaches different torque output.
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 b structural schematic diagram；
In figure：
1- steel wheels a；2- steel wheels b；3- flexbile gears；4- cams；5- flexible bearings；6- rollers；7- roller stops；
8- end rings；9- mounting screws；10- sealing rings a；11- sealing rings b；12- sealing rings c.
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, flexbile gear 3, cam 4, flexible bearing 5, roller 6, roller stop 7, end ring 8 and installation
Screw 9.In addition, the harmonic speed reducer of the utility model further includes sealing ring a10, sealing ring b11 and sealing ring c12.
Steel wheel a1 and roller stop 7 are linked together by mounting screw 9, composition input steel wheel or output steel wheel, accordingly
, steel wheel b2 is as output steel wheel or input steel wheel.The inner ring of steel wheel a1 is relatively large in diameter and smaller two parts, is being relatively large in diameter
It is machined with V-ring slot on inner wall, cooperatively forms rectangle annular groove with the V-ring slot of steel wheel b2 outer walls processing, roller 6 is mounted on rectangle
In annular groove.Steel wheel a1 and steel wheel b2 is meshed by internal tooth with the external tooth of flexbile gear 3 respectively, and power is inputted by cam 4, is driven soft
Property 5 rotational deformation of bearing, corresponding deformation occurs for flexbile gear 3, and flexbile gear 3 is meshed with steel wheel a1 and steel wheel b2, realizes the transmission of power.
When steel wheel a1 or steel wheel b2 are fixed, under the cooperation of roller 6, power completes output by steel wheel b2 or steel wheel a1.
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, and the smaller inwall processing of diameter has interior in inner ring
Tooth realizes the transmission of power by internal tooth and 3 outer tooth engagement of flexbile gear, and being relatively large in diameter inwall processing has V-ring slot, with steel wheel b2's
V-ring slot cooperatively forms rectangle annular groove, provides 6 installation space of roller and position limiting structure.It is machined with scalloped recess on steel wheel a1, fans
Connected in star is connected with the V-ring slot on steel wheel a1 internal diameters, and roller 7 is put by scalloped recess in the rectangle annular groove.
It is threaded hole in scalloped recess, can be fixedly connected with roller stop 7 with steel wheel a1 by mounting screw 9.
Steel wheel b2 be metal material processing at annular rotary structure, inwall processing has internal tooth, passes through internal tooth and flexbile gear 3
Outer tooth engagement realizes the transmission of power.As shown in figure 5, left side is the front view of steel wheel b2, right side is A-A sectional views.Steel wheel b2
Inner ring be machined with flexbile gear annular stop boss, realize the axial limiting of flexbile gear 3.Steel wheel b2 outer walls are machined with annular V slot, are used for
The installation space of roller 6 and limit.
Steel wheel a1 and steel wheel b2, on it end face and outer shroud circumferentially on be uniformly threaded hole, as input steel wheel
It, can be according to actual use demand selection end face installation or radially installed mode, in actual use with the mounting hole of output steel wheel
The fixed installation of harmonic speed reducer is realized by standard screws.Outer end face in two end faces steel wheel a1 and steel wheel b2 is machined with
Annular groove, the mounting groove as sealing ring a10, sealing ring b11 and sealing ring c12.
It is realized and is connected by roller 6 between steel wheel a1 and steel wheel b2.Using steel wheel a1 as the outer ring of roller bearing, steel wheel b2
As inner ring, then two steel wheels and roller 6 form roller bearing and steel wheel integral structure.Relative to existing using friendship
Roller bearing is pitched to connect the structure of flexbile gear and steel wheel, the utility model is by roller bearing inner ring and outer ring directly as steel wheel
It uses, realizes and ensure to simplify structure in the case of performance requirement, reduce diameter and thickness.Meanwhile passing through steel wheel a1 and steel wheel
B2 processing internal tooths are engaged with flexbile gear, increase bearing capacity.
The internal tooth of steel wheel a1 and steel wheel b2 are identical as the height of 3 outer tooth contact of flexbile gear, ensure that the output of the utility model is turned round
Square.
Flexbile gear 3 be metal material processing at annular rotary thin-wall structure, outer wall is machined with external tooth, 3 external tooth of flexbile gear and steel
Wheel a1 and steel wheel b2 internal tooths engage respectively, by deformation of the flexbile gear 3 in the case where cam 4 and flexible bearing 5 act on, transmit and pass for steel wheel
Dynamic power.Under 3 number of teeth fixing situation of flexbile gear, by changing the gear ratio of the internal tooth of steel wheel a1 and the internal tooth of steel wheel b2, realize
Adjust reduction ratio function.Flexbile gear 3 uses tubular form, and the structure of wall thickness is waited not will produce stress concentration, in equally carrying condition
Under, reduce harmonic speed reducer size.
Cam 4 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 5, and flexbile gear 3 deforms therewith, then realizes the transmission of power.4 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 axial limiting of flexible bearing 5.The inner ring of cam 4 is machined with installation through-hole, by using the connectors such as standard screws with
Power input shaft is attached.
Flexible bearing 5 is made of inner ring, outer shroud and ball roller, is driven lower inner ring to be deformed in cam 4, is then passed through
Ball roller drives outer shroud deformation, finally drives the deformation for the flexbile gear 3 being connect with outer shroud, realizes that power transmits.
Flexbile gear 3, flexible bearing 5 and cam 4 are sequentially set with, and flexible bearing is carried out by the boss and end ring 8 of cam 4
5 axial limiting, 5 tight fit of flexbile gear 3 and flexible bearing.
Roller 6 be metal material processing at cylindrical structure, intersect the rectangle mounted on steel wheel a1 and steel wheel b2 compositions
In annular groove, realize that the power for laterally and radially carrying and inputting steel wheel and export between steel wheel of the utility model transmits.
Roller stop 7 be metal material processing at sector structure, side is machined with fan-shaped counter sink, passes through mounting screw
9 are mounted on roller stop 7 in the scalloped recess on steel wheel a1, are sealed to the rectangle annular groove.
End ring 8 be metal material processing at split ring snap ring, 5 ring of cam may be mounted to by natural resiliency power
In connected in star, the installation limit of flexible bearing 6 is realized.
Mounting screw 9 is standard component, realizes that the installation of steel wheel a1 and roller stop 7 are fixed.
Sealing ring a10, sealing ring b11, sealing ring c12 be process for un-metal material at loop configuration body, pass through installation
The sealing of the utility model is realized in the corresponding seal groove of steel wheel.
The harmonic speed reducer of the utility model design is column structure, in identical parameters, convenient for application, similar
Cylindrical structure is kept in the case of product same bearer, improves usability.
The utility model by steel wheel a1, steel wheel b2, roller 6 and roller stop 7 by being combined into steel wheel assembly, by cam
4, flexible bearing 5, end ring 8 form wave producer, and it is practical new to combine cost by steel wheel assembly, flexbile gear 3 and wave producer
The microminiature harmonic speed reducer of type.By the input axis connection in cam 4 and practical application, as the input of the utility model,
Using steel wheel a1 as input terminal or using steel wheel b2 as input terminal, steel wheel b2 or steel wheel are realized by the engagement of flexbile gear 3 and steel wheel
The output of a1.Input power is passed to by cam 4, flexible bearing 5 deforms under the effect of cam 4 drives flexbile gear 3 to deform,
The transmission that power is realized by inside and outside tooth engagement between flexbile gear 3 and steel wheel, completes the output of input power.Roller passes through steel wheel a1
Scalloped recess be packed into the rectangular recess of steel wheel a1 and steel wheel b2 compositions, after installation is complete, roller is kept off by mounting screw 9
Block 7 is installed to steel wheel a1, and the sealing of the utility model is realized by sealing ring a10, sealing ring b11, sealing ring c12, main to use
Between flexbile gear and steel wheel, between roller and steel wheel lubricant sealing.Microminiature harmonic speed reducer provided by the utility model
The size that structure is simpler, realizes can all may be used when increasing installation microminiature harmonic speed reducer in axial-radial with smaller
More scenes can be applicable in.
Claims (6)
1. a kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave, which is characterized in that including：It is steel wheel a, steel wheel b, soft
Wheel, cam, flexible bearing, roller, roller stop, end ring and mounting screw；Steel wheel a and roller stop pass through mounting screw
It links together, composition input steel wheel or output steel wheel, correspondingly, steel wheel b 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 V-ring slot is machined on being relatively large in diameter inner wall, and outside steel wheel b
The V-ring slot of wall processing cooperatively forms rectangle annular groove；Steel wheel a and steel wheel b is meshed by internal tooth with the external tooth of flexbile gear respectively；It is soft
Wheel, flexible bearing and cam are sequentially set with, and end ring is mounted on cam, for flexible bearing axial limiting；
Scalloped recess is machined on steel wheel a, scalloped recess is connected with the V-ring slot on steel wheel a internal diameters, and roller passes through fan-shaped recessed
Slot is put into the rectangle annular groove；After installation is complete by roller, roller stop is mounted on by steel wheel a by mounting screw
On scalloped recess in；The steel wheel a as bearing outer ring, steel wheel b as bearing inner race, formed together with roller bearing with
Steel wheel integral structure.
2. microminiature harmonic speed reducer according to claim 1, which is characterized in that the steel wheel a and steel wheel b, at it
Upper surface and outer shroud circumferentially on be uniformly threaded hole, as input steel wheel and the mounting hole of steel wheel is exported, with according to reality
Border use demand selection end face installation or radially installed mode.
3. microminiature harmonic speed reducer according to claim 1, which is characterized in that the harmonic speed reducer further includes close
Seal a, sealing ring b and sealing ring c, the outer end face in two end faces steel wheel a and steel wheel b is machined with annular groove, as close
The mounting groove of seal a, sealing ring b and sealing ring c.
4. microminiature harmonic speed reducer according to claim 1 or 2 or 3, which is characterized in that the steel wheel a and steel wheel
C, it is fixed in the flexbile gear number of teeth, by changing the internal tooth gear ratio of steel wheel a and steel wheel b, realize that harmonic speed reducer slows down
Compare regulatory function.
5. microminiature harmonic speed reducer according to claim 1 or 2 or 3, which is characterized in that the flexbile gear is that tubular is soft
Wheel changes the torque of harmonic speed reducer output by adjusting the width of flexbile gear.
6. microminiature harmonic speed reducer according to claim 1 or 2 or 3, which is characterized in that the steel wheel a and steel wheel b
The outer height of tooth contact of internal tooth and flexbile gear it is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820558832.9U CN208041080U (en) | 2018-04-18 | 2018-04-18 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820558832.9U CN208041080U (en) | 2018-04-18 | 2018-04-18 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
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| CN208041080U true CN208041080U (en) | 2018-11-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108374877A (en) * | 2018-04-18 | 2018-08-07 | 睿尔曼智能科技（北京）有限公司 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
-
2018
- 2018-04-18 CN CN201820558832.9U patent/CN208041080U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108374877A (en) * | 2018-04-18 | 2018-08-07 | 睿尔曼智能科技（北京）有限公司 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
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