CN220748811U - Rotary connecting piece and differential rotary power device - Google Patents
Rotary connecting piece and differential rotary power device Download PDFInfo
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- CN220748811U CN220748811U CN202322565730.3U CN202322565730U CN220748811U CN 220748811 U CN220748811 U CN 220748811U CN 202322565730 U CN202322565730 U CN 202322565730U CN 220748811 U CN220748811 U CN 220748811U
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- 238000005096 rolling process Methods 0.000 claims abstract description 53
- 230000009467 reduction Effects 0.000 claims description 39
- 238000007789 sealing Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 15
- 230000009471 action Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 10
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 244000309464 bull Species 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of differential rotation power devices, and particularly relates to a rotation connecting piece and a differential rotation power device. The technical proposal is as follows: the rotary connecting piece comprises an outer ring, an inner ring is sleeved in the outer ring, an annular groove is formed in the outer wall of the inner ring, an open groove is formed in the inner wall of the outer ring, a plurality of rolling bodies are arranged between the annular groove and the open groove, a tightening ring is connected to the open side of the open groove of the outer ring, and the tightening ring is sleeved on the inner ring. The utility model provides a rotary connecting piece and a differential rotary power device which save installation space and are convenient to install.
Description
Technical Field
The utility model belongs to the technical field of differential rotation power devices, and particularly relates to a rotation connecting piece and a differential rotation power device.
Background
Bearings are an important component in contemporary mechanical devices. Its main function is to support the mechanical rotator, reduce the friction coefficient in the course of its movement and ensure its rotation accuracy.
After the rear outer ring of the inner ring is connected with the bearing, the outer ring can rotate relative to the inner ring. However, the bearing itself has a bearing inner ring, a bearing outer ring, rolling elements and a cage, and in the case of space limitation, the bearing occupies too much space, which is disadvantageous for the arrangement of the outer ring. And in order to ensure reliable connection, the inner ring and the outer ring are respectively in interference fit with the bearing, which makes installation difficult.
Disclosure of Invention
In order to solve the above problems in the prior art, the present utility model aims to provide a rotary connecting piece and a differential rotary power device which save installation space and are convenient to install.
The technical scheme adopted by the utility model is as follows:
the rotary connecting piece comprises an outer ring, an inner ring is sleeved in the outer ring, an annular groove is formed in the outer wall of the inner ring, an open groove is formed in the inner wall of the outer ring, a plurality of rolling bodies are arranged between the annular groove and the open groove, a tightening ring is connected to the open side of the open groove of the outer ring, and the tightening ring is sleeved on the inner ring.
The inner side of the outer ring is provided with the open groove, so that the inner ring with the rolling bodies in the annular groove can be inserted into the outer ring from one side. And the tightening ring is sleeved into the inner ring and then connected with the outer ring, so that the outer ring, the inner ring and the rolling body are assembled quickly. The rolling bodies are limited in the area surrounded by the annular groove, the open groove and the end face of the tightening ring, so that the rolling bodies are prevented from falling off. The rolling bodies limit the inner ring, so that the inner ring and the outer ring only rotate relatively, and the inner ring cannot be separated from the outer ring. The utility model does not need to be assembled in an interference fit way, and is simple and efficient to assemble. Only rolling bodies are arranged between the inner ring and the outer ring, so that other structures of the bearing are omitted, space can be saved, and the size of the outer ring is convenient to control. The utility model can save space by arranging the rolling bodies, and can be applied to a speed reducer at the joint of the robot.
As a preferred embodiment of the present utility model, the tightening ring is screwed with the outer ring. After the inner ring, the outer ring and the rolling bodies are assembled, the tightening ring is in threaded connection with the outer ring, and therefore the rolling bodies and the inner ring can be rapidly positioned relative to the outer ring.
As a preferable scheme of the utility model, the inner wall of the outer ring is provided with a guide groove, one side of the tightening ring, which is close to the rolling body, is provided with a guide ring, and the guide ring is inserted into the guide groove. In the process of connecting the tightening ring with the outer ring, the guide ring is inserted into the guide groove, so that the tightening ring is reliably guided, and the tightening ring is conveniently and accurately connected with the outer ring.
As a preferred embodiment of the present utility model, the rolling elements are balls or rollers.
As a preferable scheme of the utility model, a sealing groove is arranged on the inner side of the tightening ring, and a sealing ring tightly pressed with the inner ring is arranged in the sealing groove.
A differential rotation power device comprises an outer ring, wherein harmonic speed reducing motors are arranged on two sides of the outer ring; the harmonic speed reduction motor comprises a central shaft, a motor stator is connected to the central shaft, a motor rotor is sleeved on the motor stator, the motor rotor is connected with a harmonic speed reduction unit, and the output end of the harmonic speed reduction unit is fixed with the central shaft; the output end of the harmonic speed reduction unit is meshed with an inner ring, the inner ring is sleeved in the outer ring, an annular groove is formed in the outer wall of the inner ring, an open groove is formed in the inner wall of the outer ring, a plurality of rolling bodies are arranged between the annular groove and the open groove, a tightening ring is connected to the open side of the open groove of the outer ring, and the tightening ring is sleeved on the inner ring; the inner ring is fixed with a large gear, the outer ring is rotationally connected with a small gear, and the small gears are respectively meshed with the large gears on two sides.
The rotating speed of the output end of the harmonic speed reduction unit is greatly reduced relative to the rotating speed of the cam, so that the output end of the harmonic speed reduction motor is stable and outputs at a low speed. The harmonic speed reduction unit is meshed with the inner ring teeth, so that the output end of the harmonic speed reduction motor has higher transmission precision relative to the cam. The output end of the harmonic reduction unit is fixed with the central shaft, so that the motor stator is fixed, and the motor rotor can rotate stably relative to the motor stator.
The output ends of the harmonic speed reducing motors at the two sides are connected with action ends, and the pinion is connected with a fixed end. When the motors on two sides rotate in the same direction and the rotating speeds are the same, the pinion and the large gear piece do not rotate relatively, and the action end tilts by taking the central shaft as a rotating shaft. When the motors at the two sides turn reversely and rotate at the same speed, the big gears at the two sides are respectively meshed with the pinion for transmission, the pinion only rotates, and the action end rotates by taking the shaft of the pinion as a rotating shaft. And under other working conditions, the action end performs compound movement. The speed reducer can realize two movements in mutually perpendicular directions, can simulate human joints, has a compact structure, and can be applied to joint parts of robots.
As a preferable scheme of the utility model, the harmonic speed reduction unit comprises a cam, the cam is fixed on a motor rotor, a flexible bearing is arranged on the cam, a flexible wheel is sleeved on the outer ring of the flexible bearing and meshed with the inner ring teeth, the number of teeth of the flexible wheel is smaller than that of the inner ring teeth, an output flange is fixed on the flexible wheel, and the flexible wheel is fixed with a central shaft.
When the motor is electrified, the motor rotor rotates relative to the motor stator, the motor rotor drives the cam to rotate, and the cam drives the flexible wheel to be meshed with the inner ring through the flexible bearing for transmission. If the number of teeth of the flexible gear is less than the number of teeth of the inner ring by N, when the cam rotates for one circle, the flexible gear rotates for N teeth relative to the inner ring, so that an output flange connected to the flexible gear is greatly decelerated, stable output force is ensured, and transmission precision is ensured through tooth transmission.
As a preferable mode of the utility model, the inner side of the cam is connected with the central shaft through a rolling bearing. The central shaft is used for reliably supporting the cam, and the central shaft and the cam can rotate relatively.
As a preferable scheme of the utility model, the large gear is rotationally connected with the output end of the harmonic speed reduction unit. The output end of the harmonic speed reduction unit can reliably support the large gear, and the output end of the harmonic speed reduction unit can rotate relative to the large gear.
As a preferable scheme of the utility model, the central shaft is provided with a wiring hole, and wiring of the motor stator passes through the wiring hole. The wiring is worn out from the wiring hole, and wiring is conveniently carried out on the wiring. The rotation speed of the central shaft is low, the rotation angle is not large, and the central shaft can return, so that wiring cannot interfere with other structures after penetrating out of the wiring hole.
The beneficial effects of the utility model are as follows:
the inner side of the outer ring is provided with the open groove, so that the inner ring with the rolling bodies in the annular groove can be inserted into the outer ring from one side. And the tightening ring is sleeved into the inner ring and then connected with the outer ring, so that the outer ring, the inner ring and the rolling body are assembled quickly. The rolling bodies are limited in the area surrounded by the annular groove, the open groove and the end face of the tightening ring, so that the rolling bodies are prevented from falling off. The rolling bodies limit the inner ring, so that the inner ring and the outer ring only rotate relatively, and the inner ring cannot be separated from the outer ring. The utility model does not need to be assembled in an interference fit way, and is simple and efficient to assemble. Only rolling bodies are arranged between the inner ring and the outer ring, so that other structures of the bearing are omitted, space can be saved, and the size of the outer ring is convenient to control. The utility model can save space by arranging the rolling bodies, and can be applied to a speed reducer at the joint of the robot.
Drawings
FIG. 1 is a schematic view of a rotational coupling;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a schematic structural view of an outer race;
FIG. 4 is a schematic view of the structure of the inner race, rolling elements and tightening ring;
FIG. 5 is a schematic structural view of a differential rotational power device;
FIG. 6 is a cross-sectional view of a differential rotational power device;
FIG. 7 is a partial enlarged view at B in FIG. 6;
fig. 8 is a partial structural view of the harmonic reduction unit.
In the figure: 1-an outer ring; 2-a central axis; 3-a motor stator; 4-a motor rotor; a 5-harmonic reduction unit; 6-an inner ring; 7-a large gear; 8-pinion gears; 9-rolling elements; 11-rotating the connector; 12-end caps; 13-open slots; 14-tightening the ring; 15-a guide groove; 21-a rolling bearing; 51-cam; 52-flexible bearings; 53-flexible gear; 54-an output flange; 61-ring grooves; 62-crossed roller bearings; 141-guide ring.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.
Example 1:
as shown in fig. 1 to 4, the rotary connecting piece of the embodiment comprises an outer ring 1, an inner ring 6 is sleeved in the outer ring 1, an annular groove 61 is arranged on the outer wall of the inner ring 6, an open slot 13 is arranged on the inner wall of the outer ring 1, a plurality of rolling bodies 9 are arranged between the annular groove 61 and the open slot 13, a tightening ring 14 is connected to the open side of the open slot 13 of the outer ring 1, and the tightening ring 14 is sleeved on the inner ring 6. The rolling elements 9 are balls or rollers.
The inner ring 6 with the rolling elements 9 installed in the ring groove 61 can be inserted into the outer ring 1 from one side by providing the open groove 13 on the inner side of the outer ring 1. And the tightening ring 14 is sleeved into the inner ring 6 and then connected with the outer ring 1, so that the outer ring 1, the inner ring 6 and the rolling bodies 9 are assembled quickly. The rolling elements 9 are limited in the area surrounded by the annular groove 61, the open groove 13 and the end face of the tightening ring 14, so that the rolling elements 9 are prevented from falling out. The rolling bodies 9 limit the inner ring 6, so that the inner ring 6 and the outer ring 1 only rotate relatively, and the inner ring 6 cannot be separated from the outer ring 1. The utility model does not need to be assembled in an interference fit way, and is simple and efficient to assemble. Only the rolling bodies 9 are arranged between the inner ring 6 and the outer ring 1, so that other structures of the bearing are omitted, space can be saved, and the size of the outer ring 1 is convenient to control. By arranging the rolling bodies 9 to save space, the utility model can be applied to a speed reducer at the joint of a robot.
Wherein the tightening ring 14 is in threaded connection with the outer ring 1. After the inner ring 6 is assembled with the outer ring 1 and the rolling bodies 9, the tightening ring 14 is in threaded connection with the outer ring 1, so that the rolling bodies 9 and the inner ring 6 can be rapidly positioned relative to the outer ring 1.
The inner wall of the outer ring 1 is provided with a guide groove 15, one side of the tightening ring 14, which is close to the rolling bodies 9, is provided with a guide ring 141, and the guide ring 141 is inserted into the guide groove 15. In the process of connecting the tightening ring 14 with the outer ring 1, the guide ring 141 is inserted into the guide groove 15, so that the tightening ring 14 is reliably guided, and the tightening ring 14 is conveniently and accurately connected with the outer ring 1.
The inner side of the tightening ring 14 is provided with a sealing groove, and a sealing ring tightly pressed with the inner ring 6 is arranged in the sealing groove.
Example 2:
as shown in fig. 5 to 8, the differential rotary power device of the present embodiment includes an outer ring 1, and harmonic speed reduction motors are disposed on both sides of the outer ring 1; the harmonic speed reduction motor comprises a central shaft 2, a motor stator 3 is connected to the central shaft 2, a motor rotor 4 is sleeved on the motor stator 3, the motor rotor 4 is connected with a harmonic speed reduction unit 5, and the output end of the harmonic speed reduction unit 5 is fixed with the central shaft 2; the output end of the harmonic speed reduction unit 5 is meshed with an inner ring 6, the inner ring 6 is sleeved in the outer ring 1, an annular groove 61 is formed in the outer wall of the inner ring 6, an open groove 13 is formed in the inner wall of the outer ring 1, a plurality of rolling bodies 9 are arranged between the annular groove 61 and the open groove 13, a tightening ring 14 is connected to the open side of the open groove 13 of the outer ring 1, and the tightening ring 14 is sleeved on the inner ring 6; the inner ring 6 is fixedly provided with a large gear 7, the outer ring 1 is rotatably connected with a small gear 8, and the small gears 8 are respectively meshed with the large gears 7 on two sides.
The rotational speed of the output end of the harmonic speed reduction unit 5 of the present utility model is greatly reduced with respect to the rotational speed of the cam 51, so that the output end of the harmonic speed reduction motor is stably and low-speed output. The harmonic speed reduction unit 5 is in tooth engagement with the inner ring 6, so that the output end of the harmonic speed reduction motor has higher transmission precision relative to the cam 51. The output end of the harmonic reduction unit 5 is fixed with the central shaft 2, so that the motor stator 3 is fixed, and the motor rotor 4 can rotate stably relative to the motor stator 3.
The action end is connected between the output ends of the harmonic speed reducing motors at the two sides, and the pinion gear 8 is connected with the fixed end. When the motors on two sides rotate in the same direction and the rotating speeds are the same, the small gear 8 and the large gear 7 do not rotate relatively, and the action end tilts by taking the central shaft 2 as a rotating shaft. When the motors at the two sides turn reversely and rotate at the same speed, the large gears 7 at the two sides are respectively meshed with the small gears 8 for transmission, the small gears 8 only rotate, and the action end rotates by taking the shaft of the small gears 8 as a rotating shaft. And under other working conditions, the action end performs compound movement. The speed reducer can realize two movements in mutually perpendicular directions, can simulate human joints, has a compact structure, and can be applied to joint parts of robots.
The inner ring 6 with the rolling elements 9 installed in the ring groove 61 can be inserted into the outer ring 1 from one side by providing the open groove 13 on the inner side of the outer ring 1. And the tightening ring 14 is sleeved into the inner ring 6 and then connected with the outer ring 1, so that the outer ring 1, the inner ring 6 and the rolling bodies 9 are assembled quickly. The rolling elements 9 are limited in the area surrounded by the annular groove 61, the open groove 13 and the end face of the tightening ring 14, so that the rolling elements 9 are prevented from falling out. The rolling bodies 9 limit the inner ring 6, so that the inner ring 6 and the outer ring 1 only rotate relatively, and the inner ring 6 cannot be separated from the outer ring 1. The utility model does not need to be assembled in an interference fit way, and is simple and efficient to assemble. Only the rolling bodies 9 are arranged between the inner ring 6 and the outer ring 1, so that other structures of the bearing are omitted, space can be saved, and the size of the outer ring 1 is convenient to control. By arranging the rolling bodies 9 to save space, the utility model can be applied to a speed reducer at the joint of a robot.
Specifically, as shown in fig. 8, the harmonic speed reduction unit 5 includes a cam 51, the cam 51 is fixed on the motor rotor 4, a flexible bearing 52 is mounted on the cam 51, an outer ring 1 of the flexible bearing 52 is sleeved with a flexible gear 53, the flexible gear 53 is meshed with the inner ring 6, the number of teeth of the flexible gear 53 is smaller than that of the inner ring 6, an output flange 54 is fixed on the flexible gear 53, and the flexible gear 53 is fixed with the central shaft 2. The cam 51 and the flexible bearing 52 are both elliptical in shape, and the flexible gear 53 is engaged with the inner ring 6 at two positions. The flexible bearing 52 pushes the flexible gear 53 to be meshed with the inner ring 6 from two positions for transmission, so that stable transmission of the flexible gear 53 and the inner ring 6 is ensured.
The motor stator 3 and the electronic rotor 4 are arranged in the flexible gear 53, so that the space can be effectively utilized, the volume of the harmonic speed reduction motor is reduced, and the structure is simplified.
The principle of deceleration of the harmonic speed reduction motor is to utilize the relative motion of the flexible gear 53, the inner ring 6 and the cam 51, and mainly realize motion and power transmission by the controllable elastic deformation of the flexible gear 53. The elliptical cam 51 rotates in the flexspline 53, deforming the flexspline 53. When the gear teeth of the flexible gear 53 at both ends of the major axis of the elliptical cam 51 and the gear teeth of the inner ring 6 enter into engagement, the gear teeth of the flexible gear 53 at both ends of the minor axis are disengaged from the gear teeth of the inner ring 6. For the teeth between the major and minor axes of the cam 51, the semi-engaged state in which they gradually enter engagement is called meshing in different sections along the circumference of the flexspline 53 and the inner race 6. In a gradually disengaged half-engaged state: called out of engagement. When the cam 51 continuously rotates, the flexible gear 53 continuously deforms, so that the original working states of the gear teeth of the two gears are continuously changed in the processes of meshing, meshing out and disengaging, staggered tooth movement is generated, and the movement transmission of the cam 51 and the flexible gear 53 is realized. The harmonic speed reducing motor has stable transmission, low noise, high motion precision and back clearance less than 10 angular seconds.
When the motor is electrified, the motor rotor 4 rotates relative to the motor stator 3, the motor rotor 4 drives the cam 51 to rotate, and the cam 51 pushes the flexible wheel 53 to be meshed with the inner ring 6 through the flexible bearing 52 for transmission. The flexible bearing 52 is also elliptical, and the flexible bearing 52 rotates synchronously with the cam 51. The flexible gear 53 is made of flexible material and is sleeved on the flexible gear. When the flexible bearing 52 rotates, the flexible gear 53 slides on the flexible bearing 52 because the teeth of the inner ring 6 block the teeth of the flexible gear 53. The meshing position of the flexspline 53 with the inner race 6 is continuously changed due to the pressing action of the flexspline 52. Since the number of teeth of the flexible gear 53 is smaller than that of the inner ring 6, the engagement position of the flexible gear 53 and the inner ring 6 does not change by one turn when the cam 51 rotates by one turn. If the number of teeth of the flexible gear 53 is N less than the number of teeth of the inner ring 6, when the cam 51 rotates one turn, the flexible gear 53 rotates N teeth relative to the inner ring 6, so that the output flange 54 connected to the flexible gear 53 is greatly decelerated, stable output force is ensured, and transmission precision is ensured by tooth transmission. In fig. 8, the number of teeth of the flexible gear 53 is two teeth less than the number of teeth of the inner ring 6, and when the cam 51 rotates one turn, the flexible gear 53 rotates two teeth, and the output flange 54 rotates by a corresponding angle along with the cam 51.
In order to support the cam 51, the inner side of the cam 51 is connected to the center shaft 2 through the rolling bearing 21. The central shaft 2 reliably supports the cam 51, and the central shaft 2 and the cam 51 can rotate relatively.
In order to support the bull gear 7, the harmonic speed reduction motor 5 further comprises a crossed roller bearing 62, wherein an inner ring of the crossed roller bearing 62 is integrally formed or fixedly connected with the output flange 54, and an outer ring of the crossed roller bearing 62 is integrally formed or fixedly connected with the bull gear 7.
The large gear 7 is rotationally connected with the output end of the harmonic speed reduction unit 5. The output end of the harmonic reduction unit 5 can reliably support the large gear 7, and the output end of the harmonic reduction unit 5 can rotate relative to the large gear 7.
In order to facilitate connection and wiring, a wiring hole is formed in the central shaft 2, and wiring of the motor stator 3 penetrates out of the wiring hole. The wiring is worn out from the wiring hole, and wiring is conveniently carried out on the wiring. The rotation speed of the central shaft 2 is low, the rotation angle is not large, and the central shaft can return, so that wiring cannot interfere with other structures after penetrating out of the wiring hole.
In order to further reduce the occupied space, the pinion gear 8 and the large gear 7 are bevel gears, so that the outline of the speed reducer is more similar to a sphere, and the speed reducer is convenient to install at the joint of the humanoid simulation robot.
The flexible gear 53 and the output flange 54 are provided with bolt holes at the same position, and the connecting bolts respectively penetrate through the flexible gear 53 and the output flange 54 and then are connected with the action end, so that the connection stability of the output end is further improved. The flexible wheel 53 is fixedly connected with the central shaft 2, so that the central shaft 2 can stably support the motor stator 3, and the motor rotor 4 can reliably rotate relative to the motor stator 3.
Further, two positions on the outer ring 1, which are 180 degrees apart, are provided with rotating connectors 11, and the pinion 8 is connected with the outer ring 1 through one of the rotating connectors 11. The fixed ends can be respectively connected with the two rotary connectors 11, so that the stability of the differential rotary power device provided by the utility model after being mounted on the fixed ends is ensured.
As shown in fig. 7, the rotary joint 11 includes a protruding joint post provided on the outer race 1, on which balls or bearings are mounted. Pinion 8 is connected with one of them spliced pole through ball or bearing, and one of them connector of stiff end is connected with pinion 8 through the bolt, and another connector of stiff end is connected through ball or bearing with the spliced pole of offside.
In order to ensure the limit, an end cover 12 for limiting is fixed on the rotary connector 11. The end cover 12 is used for limiting the fixed end, so as to prevent the differential rotation power device from separating from the fixed end.
The utility model is not limited to the above-described alternative embodiments, and any person who may derive other various forms of products in the light of the present utility model, however, any changes in shape or structure thereof, all falling within the technical solutions defined in the scope of the claims of the present utility model, fall within the scope of protection of the present utility model.
Claims (10)
1. A rotary joint, characterized in that: the novel rolling bearing comprises an outer ring (1), wherein an inner ring (6) is sleeved in the outer ring (1), an annular groove (61) is formed in the outer wall of the inner ring (6), an open groove (13) is formed in the inner wall of the outer ring (1), a plurality of rolling bodies (9) are arranged between the annular groove (61) and the open groove (13), a tightening ring (14) is connected to the open side of the open groove (13) of the outer ring (1), and the tightening ring (14) is sleeved on the inner ring (6).
2. A rotary joint according to claim 1, wherein: the tightening ring (14) is in threaded connection with the outer ring (1).
3. A rotary joint according to claim 1, wherein: the inner wall of the outer ring (1) is provided with a guide groove (15), one side, close to the rolling bodies (9), of the tightening ring (14) is provided with a guide ring (141), and the guide ring (141) is inserted into the guide groove (15).
4. A rotary joint according to claim 1, wherein: the rolling bodies (9) are balls or rollers.
5. A rotary joint according to claim 1, wherein: the inner side of the tightening ring (14) is provided with a sealing groove, and a sealing ring tightly pressed with the inner ring (6) is arranged in the sealing groove.
6. A differential rotation power device, characterized in that: the motor comprises an outer ring (1), wherein both sides of the outer ring (1) are provided with harmonic speed reduction motors; the harmonic speed reduction motor comprises a central shaft (2), a motor stator (3) is connected to the central shaft (2), a motor rotor (4) is sleeved on the motor stator (3), the motor rotor (4) is connected with a harmonic speed reduction unit (5), and the output end of the harmonic speed reduction unit (5) is fixed with the central shaft (2); the output end of the harmonic speed reduction unit (5) is meshed with an inner ring (6), the inner ring (6) is sleeved in the outer ring (1), an annular groove (61) is formed in the outer wall of the inner ring (6), an open slot (13) is formed in the inner wall of the outer ring (1), a plurality of rolling bodies (9) are arranged between the annular groove (61) and the open slot (13), a tightening ring (14) is connected to the open side of the open slot (13) of the outer ring (1), and the tightening ring (14) is sleeved on the inner ring (6); the inner ring (6) is fixedly provided with a large gear (7), the outer ring (1) is rotationally connected with a small gear (8), and the small gears (8) are respectively meshed with the large gears (7) on two sides.
7. A differential rotary power device according to claim 6, wherein: the harmonic speed reduction unit (5) comprises a cam (51), the cam (51) is fixed on a motor rotor (4), a flexible bearing (52) is arranged on the cam (51), a flexible wheel (53) is sleeved on an outer ring (1) of the flexible bearing (52), the flexible wheel (53) is meshed with an inner ring (6) in a tooth mode, the number of teeth of the flexible wheel (53) is smaller than that of the inner ring (6), an output flange (54) is fixed on the flexible wheel (53), and the flexible wheel (53) is fixed with a central shaft (2).
8. A differential rotary power device according to claim 7, wherein: the inner side of the cam (51) is connected with the central shaft (2) through a rolling bearing (21).
9. A differential rotary power device according to claim 6, wherein: the large gear (7) is rotationally connected with the output end of the harmonic speed reduction unit (5).
10. A differential rotary power device according to claim 6, wherein: the central shaft (2) is provided with a wiring hole, and wiring of the motor stator (3) penetrates out of the wiring hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322565730.3U CN220748811U (en) | 2023-09-20 | 2023-09-20 | Rotary connecting piece and differential rotary power device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322565730.3U CN220748811U (en) | 2023-09-20 | 2023-09-20 | Rotary connecting piece and differential rotary power device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220748811U true CN220748811U (en) | 2024-04-09 |
Family
ID=90566436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322565730.3U Active CN220748811U (en) | 2023-09-20 | 2023-09-20 | Rotary connecting piece and differential rotary power device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220748811U (en) |
-
2023
- 2023-09-20 CN CN202322565730.3U patent/CN220748811U/en active Active
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Address after: 621000 No. 10, south section of Huoju West Street, high tech Zone, Mianyang City, Sichuan Province Patentee after: Sichuan Tianlian Robotics Co.,Ltd. Country or region after: China Address before: No. 10, South Section of Huohuxi Street, High tech Zone, Mianyang City, Sichuan Province, 621050 Patentee before: SICHUAN FUDE ROBOT Co.,Ltd. Country or region before: China |