CN214534346U

CN214534346U - Wave generator subassembly and have its harmonic speed reducer ware

Info

Publication number: CN214534346U
Application number: CN202120175669.XU
Authority: CN
Inventors: 王恺; 谷甲甲; 王大号; 程中甫
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2021-10-29
Anticipated expiration: 2031-01-21

Abstract

The utility model provides a wave generator subassembly and have its harmonic speed reducer ware, wherein, the wave generator subassembly, include: a compliant bearing; the cam, flexible bearing cover is established on the cam, is provided with the spacing groove on the mating surface of cam, and the spacing groove is sunken towards the middle part of cam, and flexible bearing's at least part is installed in the spacing groove, and the spacing groove extends along the circumferential direction of cam, and the cell wall through the spacing groove is spacing to flexible bearing. The utility model provides a harmonic speed reducer ware among the prior art problem that became invalid easily in the use.

Description

Wave generator subassembly and have its harmonic speed reducer ware

Technical Field

The utility model relates to a harmonic speed reducer ware field particularly, relates to a wave generator subassembly and have its harmonic speed reducer ware.

Background

The speed reducer is a core component of an industrial robot, in the use of the harmonic speed reducer, the condition of failure often occurs due to the separation of a flexible bearing and a cam, when the speed reducer fails, the problem of sudden load unloading occurs due to the fact that a load end still bears torque and an input end idles, and major accidents of staff and property loss are caused; in the operation process of the robot, if the speed reducer fails, the mechanical fault cannot ensure the safety through other measures, so that the operation life cycle of the speed reducer is ensured to be very important.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a wave generator subassembly and have its harmonic speed reducer ware to solve the problem that the harmonic speed reducer ware among the prior art became invalid easily in the use.

In order to achieve the above object, according to an aspect of the present invention, there is provided a wave generator assembly including: a compliant bearing; the cam, flexible bearing cover is established on the cam, is provided with the spacing groove on the mating surface of cam, and the spacing groove is sunken towards the middle part of cam, and flexible bearing's at least part is installed in the spacing groove, and the spacing groove extends along the circumferential direction of cam, and the cell wall through the spacing groove is spacing to flexible bearing.

Further, the wave generator assembly further comprises: the first limiting portion is arranged on the matching end face of the cam, protrudes towards the direction far away from the matching end face, and is provided with a first limiting face which is a first groove wall face of the limiting groove.

Furthermore, the first limiting part is a limiting protrusion, a first step structure is arranged between the limiting protrusion and the matching end face, the first step structure is provided with a first step end face, and at least part of the first step end face is a first groove wall face of the limiting groove.

Further, the wave generator assembly further comprises: the second limiting part is arranged on the side of the cam and connected with the cam, at least part of the second limiting part extends out of the matching end face of the cam, the second limiting part is provided with a second limiting face, and the second limiting face is a second groove wall face of the limiting groove.

Furthermore, a first connecting hole is formed in the second limiting portion, a second connecting hole is formed in the cam, and at least part of the connecting piece sequentially penetrates through the first connecting hole and the second connecting hole to enable the second limiting portion to be connected with the cam.

Furthermore, the second limiting part is a flange part, and the outer diameter of the flange part is larger than that of the cam.

Further, the wave generator assembly comprises: the first limiting part is arranged on the matching end face of the cam, the first limiting part is a limiting protrusion, at least part of the end face of the limiting protrusion is a first groove wall face of the limiting groove, the thickness of the limiting protrusion is X5, and X5 is larger than 5 mm.

Further, the wave generator assembly comprises: the second limiting part is arranged on the side of the cam and connected with the cam, the second limiting part comprises a second limiting part, at least part of the second limiting part extends out of the matching end face of the cam, the second limiting part is provided with a second limiting face, the second limiting face is a second groove wall face of the limiting groove, the thickness of the second limiting part is X1, and X1 is larger than 5 mm.

Furthermore, the width of the limiting groove is X3, the width of the inner ring of the flexible bearing is X2, and X2 is larger than X3.

Further, the flexible bearing is in interference fit with the cam, and the interference magnitude of the interference fit is 5-10 μm.

According to the utility model discloses an on the other hand provides a harmonic speed reducer ware, including the wave generator subassembly, the wave generator subassembly is above-mentioned wave generator subassembly.

Use the technical scheme of the utility model, wave generator subassembly include flexible bearing and cam, and the flexible bearing cover is established on the cam, is provided with the spacing groove on the terminal surface of cam, and the spacing groove is sunken towards the middle part of cam, and flexible bearing's at least part is installed at the spacing groove, and the spacing groove extends along the circumference direction of cam, and the cell wall through the spacing groove is spacing in the face of flexible bearing. The arrangement can limit the flexible bearing in the axial direction of the cam through the limiting groove, the problem that the harmonic reducer fails due to the fact that the flexible bearing and the cam are separated from each other is avoided, and the service life of the harmonic reducer can be prolonged.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

figure 1 shows a schematic structural view of a first perspective of an embodiment of a wave generator assembly according to the present invention;

figure 2 shows a schematic structural view of a second perspective of an embodiment of a wave generator assembly according to the present invention;

figure 3 shows a schematic structural view of a third perspective of an embodiment of a wave generator assembly according to the present invention; and

fig. 4 shows a schematic structural view of a second limit portion of a wave generator assembly according to the present invention.

Wherein the figures include the following reference numerals:

1. a compliant bearing; 2. a cam; 20. a limiting groove; 3. a first limiting part; 4. a second limiting part; 40. a first connection hole; 21. and a second connection hole.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The utility model provides a wave generator subassembly please refer to fig. 1 to 4, include: a flexible bearing 1; cam 2, flexible bearing 1 cover is established on cam 2, is provided with spacing groove 20 on the mating surface of cam 2, and spacing groove 20 is sunken towards the middle part of cam 2, and flexible bearing 1's at least part is installed in spacing groove 20, and spacing groove 20 extends along cam 2's circumferential direction, and the cell wall through spacing groove 20 is spacing to flexible bearing 1.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

According to the utility model provides a wave generator subassembly, including flexible bearing 1 and cam 2, the 1 cover of flexible bearing is established on cam 2, is provided with spacing groove 20 on cam 2's the counterface, and spacing groove 20 is sunken towards the middle part of cam 2, and flexible bearing 1's at least part is installed in spacing groove 20, and spacing groove 20 extends along cam 2's circumferential direction, and the cell wall through spacing groove 20 is spacing in the face of flexible bearing 1. The arrangement can limit the flexible bearing 1 in the axial direction of the cam 2 through the limiting groove 20, the problem that the harmonic reducer fails due to the fact that the flexible bearing 1 and the cam 2 are separated from each other is avoided, and the service life of the harmonic reducer can be prolonged.

Specifically, the wave generator assembly further includes: the first limiting portion 3 is arranged on the matching end face of the cam 2, the first limiting portion 3 protrudes towards the direction far away from the matching end face, the first limiting portion 3 is provided with a first limiting face, and the first limiting face is a first groove wall face of the limiting groove 20. This is provided to limit the first side of the flexible bearing 1 by the first limiting portion 3.

In the embodiment provided by the present invention, the first limiting portion 3 is a limiting protrusion, a first step structure is provided between the limiting protrusion and the mating end surface, the first step structure has a first step end surface, and at least part of the first step end surface is the first groove wall surface of the limiting groove 20. The structure that sets up like this is simple, through directly set up spacing arch on the mating surface of cam 2 can.

In an embodiment of the present invention, the wave generator component further includes: the second limiting part 4 is arranged on the side of the cam 2 and connected with the cam 2, at least part of the second limiting part 4 extends out of the matching end face of the cam 2, the second limiting part 4 is provided with a second limiting face, and the second limiting face is a second groove wall face of the limiting groove 20. Mutually support through first spacing portion 3 and spacing portion 4 of second, carry on spacingly respectively to the both sides of flexible bearing 1 to avoid flexible bearing 1 and cam 2 to break away from each other, and for the convenience of installing flexible bearing 1, set up the side of cam 2 with spacing portion 4 of second, like this, in the installation, flexible bearing 1 installs the location through first spacing portion 3, later is connected spacing portion 4 of second and cam 2.

In order to facilitate the connection of the second limiting part 4 and the cam 2, the second limiting part 4 is provided with a first connecting hole 40, the cam 2 is provided with a second connecting hole 21, and the second limiting part 4 is connected with the cam 2 by at least partially penetrating through the first connecting hole 40 and the second connecting hole 21 in sequence through a connecting piece. The structure of the arrangement is simple and convenient to implement.

Preferably, the second stopper portion 4 is a flange member having an outer diameter larger than that of the cam 2. It should be noted here that the outer diameter of the cam 2 is the maximum outer diameter of the cam 2, so that the limiting effect of the flange part on the flexible bearing 1 can be ensured.

In another embodiment provided by the present invention, as shown in fig. 2, a wave generator assembly includes: the first limiting part 3 is arranged on the matching end face of the cam 2, the first limiting part 3 is a limiting protrusion, at least part of the end face of the limiting protrusion is a first groove wall face of the limiting groove 20, the thickness of the limiting protrusion is X5, and X5 is larger than 5 mm.

Specifically, the wave generator assembly includes: the second limiting part 4 is arranged on the side of the cam 2 and connected with the cam 2, the second limiting part 4 comprises a second limiting part, at least part of the second limiting part extends out of the matching end face of the cam 2, the second limiting part is provided with a second limiting surface, the second limiting surface is a second groove wall face of the limiting groove 20, the thickness of the second limiting part is X1, and X1 is larger than 5 mm.

The width of the limiting groove 20 is X3, the width of the inner ring of the flexible bearing 1 is X2, and X2 is more than X3. It should be noted here that the width of the inner ring of the flexible bearing 1 is the size of the inner ring of the flexible bearing 1 in the axial direction of the flexible bearing 1.

Specifically, the flexible bearing 1 is in interference fit with the cam 2, and the interference of the interference fit is 5 to 10 μm. This avoids the occurrence of the compliant bearing 1 under the action of small axial forces.

In specific implementation, as shown in fig. 2, the outer diameter of the first limiting part is Φ 3, the length of the long axis of the cam 2 is Φ 2, and in order to ensure that the first limiting part does not interfere with the wave generator holder or the balls, 0< Φ 3- Φ 2< (thickness of the inner ring of the flexible bearing +2 mm); the outer diameter of the second limiting part is phi 1, and 0< phi 1-phi 2< (the thickness of the inner ring of the flexible bearing is +2 mm); the second limiting part is a flange part, the aperture of the inner hole of the flange part is phi 4, the aperture of the inner hole of the cam 2 is phi 5, and the phi 4 is more than phi 5 in order to ensure that the second limiting part does not interfere with the motor when the harmonic reducer is assembled with the motor; in order to ensure that the cam 2 and the flange part meet the strength requirement, the strength sigma needs to be larger than the product of the axial force F borne by the wave generator and the safety factor a, sigma is larger than F & a.

The utility model also provides a harmonic speed reducer ware, including the wave generator subassembly, the wave generator subassembly is the wave generator subassembly of above-mentioned embodiment.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

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

1. A wave generator assembly, comprising:

a flexible bearing (1);

cam (2), flexible bearing (1) cover is established on cam (2), be provided with spacing groove (20) on the cooperation terminal surface of cam (2), spacing groove (20) orientation the middle part of cam (2) is sunken, at least part of flexible bearing (1) is installed in spacing groove (20), spacing groove (20) are followed the circumferential direction of cam (2) extends, through the cell wall of spacing groove (20) is faced flexible bearing (1) is spacing.

2. The wave generator assembly of claim 1, further comprising:

first spacing portion (3), set up on the fitting surface of cam (2), first spacing portion (3) orientation is kept away from fitting surface's direction protrusion, first spacing portion (3) have first spacing face, first spacing face is the first groove wall face of spacing groove (20).

3. Wave generator assembly according to claim 2, wherein the first stop portion (3) is a stop protrusion, wherein a first step structure is provided between the stop protrusion and the mating end surface, wherein the first step structure has a first step end surface, wherein at least part of the first step end surface is a first groove wall surface of the stop groove (20).

4. The wave generator assembly of claim 1, further comprising:

the second limiting part (4) is arranged on the side of the cam (2) and connected with the cam (2), at least part of the second limiting part (4) extends out of the matching end face of the cam (2), the second limiting part (4) is provided with a second limiting face, and the second limiting face is the second groove wall face of the limiting groove (20).

5. The wave generator assembly according to claim 4, characterized in that the second limit stop (4) is provided with a first connection hole (40) and the cam (2) is provided with a second connection hole (21), the second limit stop (4) being connected to the cam (2) by at least part of a connection piece passing through the first connection hole (40) and the second connection hole (21) in sequence.

6. Wave generator assembly according to claim 4, characterised in that the second stop portion (4) is a flange part having an outer diameter greater than the outer diameter of the cam (2).

7. The wave generator assembly of claim 1, comprising:

first spacing portion (3), set up on the terminal surface of cooperation of cam (2), first spacing portion (3) are spacing arch, spacing bellied at least partial terminal surface is the first groove wall face of spacing groove (20), spacing bellied thickness is X5, and X5 > 5 mm.

8. The wave generator assembly of claim 1, comprising:

the second limiting part (4) is arranged on the side of the cam (2) and connected with the cam (2), the second limiting part (4) comprises a second limiting part, at least part of the second limiting part extends out of the matching end face of the cam (2), the second limiting part is provided with a second limiting face, the second limiting face is the second groove wall face of the limiting groove (20), the thickness of the second limiting part is X1, and X1 is larger than 5 mm.

9. Wave generator assembly according to any one of claims 1 to 8, characterized in that the width of the limiting groove (20) is X3, the width of the inner ring of the flexible bearing (1) is X2, X2 > X3.

10. The wave generator assembly according to any one of claims 1 to 8, characterized in that the flexible bearing (1) is in interference fit with the cam (2), the interference fit having an interference of 5 to 10 μm.

11. A harmonic reducer comprising a wave generator assembly, wherein the wave generator assembly is as claimed in any one of claims 1 to 10.