CN210859728U - Harmonic reducer and manipulator - Google Patents
Harmonic reducer and manipulator Download PDFInfo
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- CN210859728U CN210859728U CN201920960360.4U CN201920960360U CN210859728U CN 210859728 U CN210859728 U CN 210859728U CN 201920960360 U CN201920960360 U CN 201920960360U CN 210859728 U CN210859728 U CN 210859728U
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 57
- 239000000463 material Substances 0.000 claims abstract description 18
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 229920006351 engineering plastic Polymers 0.000 claims description 5
- 239000002184 metal Substances 0.000 claims description 5
- 238000004080 punching Methods 0.000 abstract description 2
- 230000009467 reduction Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
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Abstract
The utility model provides a harmonic speed reducer ware and manipulator relates to reduction gear technical field. The flexible angular contact bearing comprises an inner ring, an outer ring and a plurality of rollers, wherein the rollers are arranged between the inner ring and the outer ring, and the inner ring and the outer ring are both made of deformable materials; the outer ring and the flexible gear are integrally arranged, and the inner ring and the wave generator are integrally arranged. The utility model provides a harmonic speed reducer ware adopts flexible angular contact bearing structure, and flexible angular contact bearing need not use the mode of punching press to assemble last roller when the assembly. During assembly, all the rollers and the outer ring can be assembled firstly, then the inner ring is assembled, and meanwhile, the flexible angular contact bearing can reduce the clearance by adjusting the relative axial positions of the inner ring and the outer ring, so that the efficiency of the harmonic reducer is improved.
Description
Technical Field
The utility model relates to a reduction gear field particularly, relates to a harmonic speed reducer ware and manipulator.
Background
The harmonic reducer is a commonly used reducer, and has the advantages of high transmission precision, large speed ratio, small volume, simple structure, wide application scene and the like. The harmonic reducer is mainly composed of three basic components, namely a rigid gear, a flexible gear and a wave generator. The flexible gear is sleeved in the rigid gear and meshed with the rigid gear, and the wave generator is sleeved in the flexible gear and used for driving the flexible gear to rotate. And a bearing is arranged between the flexible gear and the wave generator.
The efficiency of the existing harmonic reducer is usually less than 80%, and the factor which has the greatest influence on the efficiency of the harmonic reducer is the play of the flexible bearing (the clearance between the bearing roller and the inner ring and the outer ring of the bearing), and the larger the play is, the lower the efficiency is. When the conventional bearing is assembled, the last roller is assembled between the inner ring and the outer ring through stamping, the two inevitably generate a clearance to reduce the efficiency of the harmonic reducer, and the clearance cannot be reduced through a technical means.
SUMMERY OF THE UTILITY MODEL
The utility model provides a harmonic speed reducer ware and manipulator aims at improving the too big problem that leads to harmonic speed reducer ware efficiency to reduce of play of current harmonic speed reducer ware middle bearing.
The utility model discloses a realize like this:
a harmonic reducer comprises a flexible gear, a flexible angular contact bearing and a wave generator, wherein the flexible angular contact bearing comprises an inner ring, an outer ring and a plurality of rollers, the rollers are arranged between the inner ring and the outer ring, and the inner ring and the outer ring are both made of deformable materials; the outer ring is sleeved in the flexible gear and in interference fit with the flexible gear, and the wave generator is sleeved in the inner ring and in interference fit with the inner ring.
Further, in a preferred embodiment of the present invention, the inner ring and the outer ring are made of elastic metal or engineering plastic.
A harmonic reducer comprises a flexible gear, a flexible angular contact bearing and a wave generator, wherein the flexible angular contact bearing comprises an inner ring, an outer ring and a plurality of rollers, the plurality of rollers are arranged between the inner ring and the outer ring, the outer ring and the flexible gear are integrally arranged, and the outer ring and the flexible gear are both made of deformable materials; the inner ring and the wave generator are integrally arranged, and the inner ring and the wave generator are both made of rigid materials.
Further, in the preferred embodiment of the present invention, the flexible angular contact bearing further includes a retainer, the retainer is provided with a plurality of holes arranged at intervals, the retainer is disposed between the inner ring and the outer ring, and the plurality of rollers are correspondingly disposed in the holes.
Further, in a preferred embodiment of the present invention, the inner circumferential surface of the outer ring is provided with an outer raceway, the outer circumferential surface of the inner ring is provided with an inner raceway, and the plurality of rollers have contact angles and are rollably disposed between the outer raceway and the inner raceway.
Further, in a preferred embodiment of the present invention, an inner ring locking notch is formed on one axial side with respect to the inner raceway on the outer peripheral surface of the inner ring, and an inner ring groove shoulder is formed on the other axial side with respect to the inner raceway; an outer ring groove shoulder part is formed on the inner circumferential surface of the outer ring at one axial side relative to the outer raceway, and an outer ring locking notch is formed at the other axial side relative to the outer raceway; and the inner ring locking notch is opposite to the outer ring groove shoulder, and the outer ring locking notch is opposite to the inner ring groove shoulder.
Further, in the preferred embodiment of the present invention, the contact angle of the roller is 10 ° to 70 °.
Further, in the preferred embodiment of the present invention, the contact angle of the roller is 30 ° to 50 °.
Further, in a preferred embodiment of the present invention, the outer ring is made of elastic metal or engineering plastic.
A manipulator comprising a harmonic reducer according to any of the above.
The utility model has the advantages that: the utility model discloses a harmonic speed reducer ware that above-mentioned design obtained adopts flexible angular contact bearing, and flexible angular contact bearing need not use the mode of punching press to assemble last roller when the assembly. During assembly, all the rollers and the outer ring can be assembled firstly, then the inner ring is assembled, and meanwhile, the flexible angular contact bearing can reduce the clearance by adjusting the relative axial positions of the inner ring and the outer ring, so that the efficiency of the harmonic reducer is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a harmonic reducer provided in embodiment 1 of the present invention;
fig. 2 is a schematic view of a fitting relationship between an inner ring and an outer ring before adjusting a clearance in a harmonic reducer provided in embodiment 1 of the present invention;
fig. 3 is a schematic view of a fitting relationship between an inner ring and an outer ring after adjusting a clearance in a harmonic reducer provided in embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of a harmonic reducer according to embodiment 2 of the present invention.
Icon: a flexible gear 1; an outer ring 2; an outer ring locking notch 21; an outer race groove shoulder 22; an inner ring 3; an inner ring fore shaft 31; an inner ring groove shoulder 32; a roller 4; a wave generator 5; the clearance A.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example 1:
referring to fig. 1 to 3, the present embodiment provides a harmonic reducer, which includes a rigid gear, a flexible gear 1, a flexible angular contact bearing, and a wave generator 5. The rigid gear is provided with internal teeth, the flexible gear 1 is provided with external teeth, and the flexible gear 1 is arranged in the rigid gear and is mutually meshed with the rigid gear under the driving of the wave generator 5. The wave generator 5 is sleeved in the shaft hole of the flexible gear 1, and a flexible angular contact bearing is arranged between the wave generator and the flexible gear. The wave generator 5 is a cam, specifically an elliptical shape, and the length of the long axis of the cam is slightly larger than the inner diameter of the shaft hole of the flexible gear 1.
Specifically, the flexible angular contact bearing comprises an inner ring 3, an outer ring 2 and a plurality of rollers 4, wherein the plurality of rollers 4 are arranged between the inner ring 3 and the outer ring 2, and the inner ring 3 and the outer ring 2 are both made of deformable materials; during installation, the outer ring 2 is sleeved in the flexible gear 1 and is in interference fit with the flexible gear 1, and the wave generator 5 is sleeved in the inner ring 3 and is in interference fit with the inner ring 3. In this embodiment, the roller 4 is a steel ball. In other embodiments, cylindrical rollers may be used.
The outer ring 2 and the inner ring 3 are circular in a natural state. Because the cam is elliptical and the length of the long axis is greater than the inner diameter of the shaft hole of the flexible gear 1, after assembly, the inner ring 3 and the outer ring 2 made of deformable materials deform according to the contour of the cam. In a similar way, the flexible gear 1 deforms according to the profile of the cam under the action of the flexible angular contact bearing and the cam, and is meshed with the rigid gear. When the harmonic reducer works, the cam rotates to enable the flexible angular contact bearing and the flexible gear 1 to continue to deform, and transmission is completed through meshing of the flexible gear 1 and the rigid gear, so that the harmonic reducer can work normally.
The harmonic reducer provided by the embodiment adopts the flexible angular contact bearing, and when the flexible angular contact bearing is assembled, the last roller 4 is not required to be assembled in a stamping mode. During assembly, all the rollers 4 and the outer ring 2 can be assembled firstly, then the inner ring 3 is assembled, and meanwhile, the flexible angular contact bearing can reduce the clearance A by adjusting the relative position of the inner ring 3 and the outer ring 2, so that the efficiency of the harmonic reducer is improved.
The play a is specifically adjusted by fixing the outer ring 2 and then applying a force to the inner ring 3 in the mounting direction (i.e., the direction in which the inner ring 3 is pressed into the outer ring 2 when the assembly is performed, which may be the direction from right to left in fig. 2 and 3). Under this force, the inner ring 3 and the outer ring 2 can be pressed against the rollers 4 from both sides, thereby reducing the play a and improving the efficiency of the harmonic reducer. The specific mode can be that the inner ring 3 is applied with force by the cam by adjusting the connecting position of the cam and the motor.
Referring to fig. 2 and fig. 3, the harmonic reducer according to this embodiment can adjust the size of the clearance a by adjusting the relative positions of the inner ring 3 and the outer ring 2, so that the clearance a of the flexible angular contact bearing reaches zero clearance or even negative clearance (zero clearance refers to a state when the inner ring 3 and the outer ring 2 are just in contact with the rollers 4, and negative clearance refers to a state when the inner ring 3 and the outer ring 2 are in contact with the rollers 4 and press the rollers 4), thereby greatly improving the efficiency of the harmonic reducer.
When the harmonic reducer operates, the flexible angular contact bearing is subjected to axial force applied by other workpieces, relative displacement can occur between the flexible angular contact bearing and the flexible gear 1 and the cam, and when the relative displacement is too large, the reducer can be damaged and cannot work normally. In the harmonic reducer provided by the embodiment, the outer ring 2 is in interference fit with the flexible gear 1, and the wave generator 5 is in interference fit with the inner ring 3. The interaction force between the workpieces is increased, so that the relative displacement between the flexible angular contact bearing and the flexible gear 1 and the cam is avoided as much as possible.
The harmonic reducer has a service life, and the service life refers to the precision retention time of the harmonic reducer. Normally, the main failure (end of life) of the harmonic reducer is the loss of precision of the gears (internal and external) between the flexible gear 1 and the rigid gear due to abrasion, excluding the case of abnormal failure (the sample life is not reached due to external factors). According to the harmonic reducer provided by the embodiment, when the axial acting force is applied to the inner ring 3, the inner ring can form a radial acting force on the outer ring, and the outer ring is made of a deformable material, so that the outer ring can deform (is radially expanded) under the action of the inner ring, and the flexible gear 1 is driven to deform (is radially expanded), and finally, the outer teeth of the flexible gear 1 and the inner teeth of the rigid gear are meshed together more tightly, so that the influence of gear abrasion on the transmission precision is reduced, and the service life of the harmonic reducer is prolonged.
In the present embodiment, the cam is made of a rigid material, and reference may be made to the wave generator 5 of the conventional harmonic reducer. The flexible gear 1 is made of deformable materials, and can refer to the flexible gear of the existing harmonic reducer. Further, the inner ring 3 and the outer ring 2 may be made of the same material as the flexible gear 1.
Further, in the present embodiment, the inner ring 3 and the outer ring 2 are made of elastic metal or engineering plastic.
Further, in this embodiment, the flexible angular contact bearing further includes a retainer, the retainer is provided with a plurality of holes arranged at intervals, the retainer is disposed between the inner ring 3 and the outer ring 2, and the plurality of rollers 4 are correspondingly disposed in the holes. The retainer can keep the relative positions of the rollers 4 to keep the rollers always spaced from each other, so that the relative positions are prevented from changing when the rollers rotate to influence the performance of the flexible angular contact bearing. The retainer is made of a deformable material.
Further, referring to fig. 2 and 3, in the present embodiment, an outer raceway is provided on an inner circumferential surface of the outer ring 2, an inner raceway is provided on an outer circumferential surface of the inner ring 3, and the plurality of rollers 4 have contact angles and are rollably disposed between the outer raceway and the inner raceway. When the inner ring 3 and the outer ring 2 rotate, the rollers 4 can rotate along the raceways formed by the inner raceway and the outer raceway together, and are prevented from being separated during movement.
Further, referring to fig. 2 and 3, in the present embodiment, on the outer peripheral surface of the inner ring 3, an inner ring locking notch 31 is formed on one side in the axial direction with respect to the inner raceway, and an inner ring groove shoulder 32 is formed on the other side in the axial direction with respect to the inner raceway; an outer ring groove shoulder 22 is formed on the inner peripheral surface of the outer ring 2 on one axial side with respect to the outer raceway, and an outer ring locking notch 21 is formed on the other axial side with respect to the outer raceway; and the inner race lock notch 31 is opposite the outer race groove shoulder 22 and the outer race lock notch 21 is opposite the inner race groove shoulder 32. The inner race groove shoulder 32 and the outer race groove shoulder 22 can secure the rollers 4 from both directions when assembled. When adjusting the play a, a negative play is also achieved by the inner race shoulder 32 and the outer race shoulder 22 pressing against the roller 4.
Further, in the present embodiment, in order to ensure the transmission accuracy of the roller 4, the contact angle of the roller 4 is 10 ° to 70 °. Further, the contact angle of the roller 4 is 30 ° to 50 °.
The embodiment also provides a manipulator, which comprises the harmonic reducer.
Example 2:
referring to fig. 4, the present embodiment provides a harmonic reducer, which includes a rigid gear, a flexible gear 1, a flexible angular contact bearing, and a wave generator 5. The rigid gear is provided with internal teeth, the flexible gear 1 is provided with external teeth, and the flexible gear 1 is arranged in the rigid gear and is mutually meshed with the rigid gear under the driving of the wave generator 5. The wave generator 5 is sleeved in the shaft hole of the flexible gear 1, and a flexible angular contact bearing is arranged between the wave generator and the flexible gear. The wave generator 5 is a cam, specifically an elliptical shape, and the length of the long axis of the cam is slightly larger than the inner diameter of the shaft hole of the flexible gear 1.
Specifically, the flexible angular contact bearing comprises an inner ring 3, an outer ring 2 and a plurality of rollers 4, wherein the plurality of rollers 4 are arranged between the inner ring 3 and the outer ring 2, the outer ring 2 and the flexible gear 1 are integrally arranged, and the outer ring 2 and the flexible gear 1 are both made of deformable materials; the inner ring 3 and the wave generator 5 are integrally provided, and both the inner ring 3 and the wave generator 5 are made of a rigid material.
As can be seen from the description of embodiment 1, this embodiment is different from embodiment 1 in that the interference fit between the inner race 3 and the wave generator 5 is replaced by one, and similarly, the interference fit between the outer race 2 and the flexspline 1 is replaced by one. And in the embodiment, the inner ring 3 is integrally arranged with the wave generator 5, so that the material of the inner ring 3 is changed from a flexible material to a rigid material. Except for the above differences, other configurations may adopt the same technical solution as in embodiment 1, and details are not repeated herein.
The working principle of the harmonic reducer provided in this embodiment is the same as that of embodiment 1, and the above contents may be referred to therebetween. And the flexible angular contact bearing is also used, so that the clearance A can be adjusted, and the efficiency of the harmonic reducer is improved.
In addition, in the harmonic reducer provided in this embodiment, because the inner ring 3 and the wave generator 5 are integrally arranged, and the outer ring 2 and the flexible gear 1 are integrally arranged, the relative displacement between the inner ring 3 and the wave generator 5 and the relative displacement between the outer ring 2 and the flexible gear 1 are fundamentally avoided, the stability of the harmonic reducer during operation is enhanced, and the harmonic reducer cannot be damaged due to the sliding of the flexible angular contact bearing.
Further, in the present embodiment, the outer ring 2 is made of elastic metal or engineering plastic.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A harmonic reducer is characterized by comprising a flexible gear, a flexible angular contact bearing and a wave generator, wherein the flexible angular contact bearing comprises an inner ring, an outer ring and a plurality of rollers, the rollers are arranged between the inner ring and the outer ring, the outer ring and the flexible gear are integrally arranged, and the outer ring and the flexible gear are both made of deformable materials; the inner ring and the wave generator are integrally arranged, and the inner ring and the wave generator are both made of rigid materials.
2. The harmonic reducer of claim 1, wherein the compliant angular contact bearing further comprises a retainer having a plurality of spaced holes, the retainer is disposed between the inner ring and the outer ring, and a plurality of rollers are correspondingly disposed in the holes.
3. The harmonic reducer according to claim 1, wherein an outer raceway is provided on an inner peripheral surface of the outer ring, an inner raceway is provided on an outer peripheral surface of the inner ring, and a plurality of rollers having contact angles and rollably disposed between the outer raceway and the inner raceway.
4. The harmonic reducer of claim 3, wherein an inner ring-lock notch is formed on an outer peripheral surface of the inner ring on one axial side with respect to the inner raceway, and an inner ring-groove shoulder is formed on the other axial side with respect to the inner raceway; an outer ring groove shoulder part is formed on the inner circumferential surface of the outer ring at one axial side relative to the outer raceway, and an outer ring locking notch is formed at the other axial side relative to the outer raceway; and the inner ring locking notch is opposite to the outer ring groove shoulder, and the outer ring locking notch is opposite to the inner ring groove shoulder.
5. A harmonic reducer as claimed in claim 3 in which the contact angle of the roller is between 10 ° and 70 °.
6. A harmonic reducer as claimed in claim 5 in which the contact angle of the roller is between 30 ° and 50 °.
7. The harmonic reducer of claim 1 wherein the outer race is made of a resilient metal or an engineering plastic.
8. A manipulator, characterized in that it comprises a harmonic reducer according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920960360.4U CN210859728U (en) | 2019-06-24 | 2019-06-24 | Harmonic reducer and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920960360.4U CN210859728U (en) | 2019-06-24 | 2019-06-24 | Harmonic reducer and manipulator |
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| Publication Number | Publication Date |
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| CN210859728U true CN210859728U (en) | 2020-06-26 |
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| CN201920960360.4U Active CN210859728U (en) | 2019-06-24 | 2019-06-24 | Harmonic reducer and manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110388439A (en) * | 2019-06-24 | 2019-10-29 | 珠海格力电器股份有限公司 | Harmonic reducer and manipulator |
| CN113417986A (en) * | 2021-04-26 | 2021-09-21 | 浙江博盟精工轴承有限公司 | Wave generator bearing |
-
2019
- 2019-06-24 CN CN201920960360.4U patent/CN210859728U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110388439A (en) * | 2019-06-24 | 2019-10-29 | 珠海格力电器股份有限公司 | Harmonic reducer and manipulator |
| CN113417986A (en) * | 2021-04-26 | 2021-09-21 | 浙江博盟精工轴承有限公司 | Wave generator bearing |
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