TWI572788B - Speed-reduction transmission bearing - Google Patents

Description

Reducer drive bearing

The invention relates to a reduction transmission bearing, in particular to a transmission component design which can be stably supported by a transmission mechanism and has a variable transmission effect.

The conventional bearing is used as a rotating component of the rotating shaft, and can provide radial and axial support of the rotating shaft, which is used to maintain the center position of the shaft, and improve the sliding property of the rotating shaft and reduce the frictional force. In addition, the general bearing is No other features. Therefore, when the bearing is used in a mechanism of a reduction transmission, for example, if the motor is to be driven to reduce the rotation of a transmission shaft, the above-mentioned bearings cannot be used to achieve the function of deceleration; the general practice can only be connected by a shifting device (such as a gearbox). Between the motor and the drive shaft, the power of the motor shaft is first input into the shifting device, and after being decelerated by a plurality of gears in the shifting device, the drive shaft at the other end of the shifting device is driven; therefore, the volume of the overall transmission mechanism cannot be effectively reduced, which is difficult It is used on precision machines (such as robotic arms) or on machines with limited installation space.

In addition, a harmonic transmission device (Harmonic drive), for example, U.S. Patent Nos. 4,625,582, US 566, 2008, US Pat. No. 7,552,664, U.S. Patent No. 4,909,098, etc., and European Patent No. EP 0514829, etc., mainly have a steel ring, and the inner ring surface of the steel ring is provided with internal teeth; a cup-shaped soft wheel, outside the soft wheel The wall is provided with external teeth, and the flexible wheel is disposed in the steel wheel; and a harmonic device includes a cam and a set of flexible bearings disposed on the cam, and the flexible bearing is extended by the cam to make the flexible bearing elliptical It abuts against the inner surface of the flexible wheel, and thus the external teeth of the flexible wheel mesh with the internal teeth of the steel ring. However, the cup-shaped flexible wheel of the harmonic transmission device is not easy to be manufactured, and the external teeth cannot be completely meshed with the internal teeth of the steel ring when the external teeth are opened, and the overall axial length is large, and it is not easy to be applied to the precision with limited space. machine.

In addition, there is also a harmonic transmission device, which does not use a cup-shaped flexible wheel. For example, U.S. Patent No. US20130081587, which comprises two steel rings side by side, the inner ring surface of the steel ring is provided with internal teeth; The outer wall of the inner ring is provided with external teeth, and the flexible wheel is disposed in the steel wheel; and a harmonic device opens the inner ring so that the outer teeth of the inner ring mesh with the inner teeth of the two steel rings. However, the two steel rings are in a side-by-side configuration, and axial separation occurs. Therefore, it is necessary to install other members such as the outer casing to prevent the two steel rings from being axially separated, thereby resulting in a large overall structure and a manufacturing cost. Higher.

To this end, how to combine the reduction gear and the bearing to form a simple reduction gear bearing, which can be directly loaded into the mechanical product (such as the robot arm), and the bearing has the function of reducing transmission, and in terms of volume and weight. Both have great improvements and are the technologies that are actively disclosed in the present invention.

SUMMARY OF THE INVENTION The object of the present invention is to provide a reduction drive bearing that transmits internal teeth of two outer sleeves that are sleeved, an external tooth of an inner ring that meshes with internal teeth, and a harmonic structure design that drives the inner ring to achieve Volume reduction, knot The structure is simplified and has the purpose of reducing transmission and bearing function.

In order to achieve the above object, a preferred technical content of the reduction transmission bearing of the present invention includes: a first outer ring having a first outer ring surface, a first inner ring surface and a second inner ring surface, the first inner portion The diameter of the toroid is larger than the diameter of the second inner annular surface. The first inner annular surface is concavely provided with a first roller groove, and the second inner annular surface is provided with a first inner tooth. a second outer ring rotatably embedded in the first inner ring surface of the first outer ring, having a second outer ring surface and a third inner ring surface, the second outer ring surface being recessed a second roller groove, the third inner ring surface is provided with a second internal tooth, and the number of teeth of the second internal tooth and the first internal tooth has a difference in the number of teeth. A plurality of first rolling members are arranged between the first roller groove of the first outer ring and the second roller groove of the second outer ring. An inner ring is rotatably disposed in the first outer ring and the second outer ring, and has a third outer ring surface and a fourth inner ring surface, and the third outer ring surface is provided with external teeth. And a harmonic device rotatably disposed in the inner ring, supported by the fourth inner annular surface of the inner ring, and the outer teeth of the at least one meshing portion of the inner ring are engaged with the first inner tooth and The second internal tooth.

The reduction transmission bearing of the above preferred embodiment, wherein the inner ring is a soft metal ring, and the external teeth of the two opposite engagement portions of the inner ring that push the inner ring are engaged in the first inner a tooth and the second internal tooth.

The reduction transmission bearing of the above preferred embodiment, wherein the inner ring is a rigid metal ring, and the external teeth of the meshing portion of the inner ring of the inner ring are engaged with the first inner tooth and The second internal tooth.

a reduction drive bearing according to the above preferred embodiment, The first rolling member is a roller or a ball.

The reduction drive bearing of the above preferred embodiment, wherein the harmonic device comprises a cam and a plurality of second rolling members, the cam has a cam surface around the cam, and the second rolling member is disposed on the cam surface. And abut against the fourth inner annulus of the inner ring.

The reduction transmission bearing of the above preferred embodiment, wherein the harmonic device comprises a retaining ring sleeved on a cam surface of the cam, and the second rolling member is disposed on the retaining ring.

A reduction transmission bearing according to the above preferred embodiment, wherein the second rolling member is a roller or a ball.

The reduction drive bearing of the above preferred embodiment, wherein the harmonic device comprises a cam and a plurality of third rolling members, wherein the cam is provided with a plurality of fulcrums, and the third rolling member is coupled to the fulcrum Up and against the fourth inner annulus of the inner ring.

A reduction transmission bearing according to the above preferred embodiment, wherein the third rolling member is a bearing.

The reduction transmission bearing of the present invention can transmit power to the cam of the harmonic device, and when the cam of the harmonic device rotates, the second or third rolling member is rolled against the fourth inner annular surface of the inner ring, Further, the external teeth of the inner ring are engaged with the first inner teeth and the second inner teeth. Since the first inner teeth and the second inner teeth have a difference in the number of teeth, when the first outer ring is fixed, the second outer ring is placed inside. The ring drive forms a decelerating rotation, thereby achieving the effect of both the reduction drive and the bearing. In particular, the first outer ring and the second outer ring of the present invention are sleeved together, and the first rolling member catches the first outer ring and the second outer ring, so that the reduction can be shortened. The axial width of the speed transmission bearing reduces the frictional force between the first outer ring and the second outer ring, and improves the stability of the sockets, thereby effectively preventing the first outer ring from being axially disengaged from the second outer ring. No need for other housing components, it can achieve volume reduction and structural simplicity.

1‧‧‧First outer ring

11‧‧‧First outer annulus

12‧‧‧First inner annulus

13‧‧‧Second inner annulus

14‧‧‧First roller groove

15‧‧‧First internal tooth

16‧‧‧Connecting Department

161‧‧‧ screw holes

2‧‧‧ Second outer ring

21‧‧‧Second outer annulus

22‧‧‧ Third inner annulus

23‧‧‧Second roller groove

24‧‧‧Second internal tooth

25‧‧‧Connecting Department

251‧‧‧ screw holes

3‧‧‧First rolling parts

31‧‧‧ Roller

4‧‧‧ Inner Ring

41‧‧‧ Third outer annulus

42‧‧‧4th inner torus

43‧‧‧ external teeth

44‧‧‧Meshing parts

5‧‧‧harmonic

51, 51’‧‧‧ cam

511‧‧‧ cam surface

512‧‧‧ fulcrum

513‧‧‧ long axis

52‧‧‧Second rolling parts

521‧‧‧roller

522‧‧‧ balls

53‧‧‧ retaining ring

531‧‧‧ Positioning Department

10‧‧‧ motor

101‧‧‧ shaft

20‧‧‧ drive shaft

The first figure is a schematic view of a first exploded state of the first preferred embodiment of the present invention.

The second figure is a first exploded state of the first preferred embodiment of the present invention. Figure.

The third figure is a schematic cross-sectional view of a combined state of the first preferred embodiment of the present invention.

Figure 4 is a cross-sectional view showing the combined state of the first preferred embodiment of the present invention.

Figure 5 is a schematic view showing the meshing state of the first preferred embodiment of the present invention.

Figure 6 is a cross-sectional view showing another embodiment of the first rolling member of the present invention.

Figure 7 is a cross-sectional view showing another embodiment of the harmonic device in the first preferred embodiment of the present invention.

Figure 8 is a side elevational view of another embodiment of a harmonic device in a first preferred embodiment of the present invention.

The ninth figure is an application state reference diagram of the first preferred embodiment of the present invention.

Figure 11 is a first schematic view of the reduction transmission action of the first preferred embodiment of the present invention.

Figure 11 is a second schematic view of the reduction transmission action of the first preferred embodiment of the present invention.

Figure 12 is a cross-sectional view showing a second preferred embodiment of the present invention.

Figure 13 is a side elevational view of a second preferred embodiment of the present invention.

The structural features and other functions and objects of the present invention will be described in detail below with reference to the accompanying drawings. As shown in the first, second and third figures, the first preferred embodiment of the reduction drive bearing of the present invention is preferred. The embodiment includes a first outer ring 1, a second outer ring 2, a plurality of first rolling members 3, an inner ring 4 and a harmonic device 5, wherein: the first outer ring 1 is a torus , having a first outer annular surface 11 , a first inner annular surface 12 and a second inner annular surface 13 , the diameter of the first inner annular surface 12 being larger than the diameter of the second inner annular surface 13 , so that the first outer ring 1 is formed into a class-shaped inner hole. The first inner annular surface 12 is recessed with a first roller groove 14 and the second inner annular surface 13 is provided with a first inner tooth 15 . In addition, the first outer ring 1 may be provided with a connecting portion 16 connected to a motor or other member, and the connecting portion 16 may be a plurality of screw holes 161 provided at one end face.

The second outer ring 2 is also a ring body which is rotatably disposed in the first inner ring surface 12 of the first outer ring 1 (as shown in the third and fourth figures) to shorten the reduction drive bearing. Axial width. The second outer ring 2 has a second outer ring surface 21 and a third inner ring surface 22, the second outer ring surface 21 is recessed with a second roller groove 23, and the third inner ring surface is provided with a second inner tooth. 24, the number of teeth of the second internal tooth 24 and the first internal tooth 15 has a difference in the number of teeth, for example, the total number of the second internal teeth 24 is At 60 teeth, the total number of first internal teeth 15 may be 62 teeth, which has a difference in the number of teeth of 2 teeth (the specific difference in the number of teeth depends on the manufacturing requirements of the reduction ratio). In addition, the second outer ring 2 may be provided with a connecting portion 25 connected to a transmission shaft or other members, and the connecting portion 25 may be a plurality of screw holes 251 provided at one end surface.

The first rolling members 3 are arranged between the first roller groove 14 and the second roller groove 23 (as shown in the fourth figure), so that the first rolling member 3 serves as the first outer ring 1 and the second The connection of the outer ring 2 and the constrained elements prevent axial separation from each other, while also reducing the frictional force of the first outer ring 1 and the second outer ring 2 when rotating.

The inner ring 4 is an elastically deformable metal ring rotatably disposed in the first outer ring 1 and the second outer ring 2 (as shown in the third and fourth figures), the width of which is equal to the first internal tooth 15 and the total width of the second internal tooth 24, which has a third outer annular surface 41 and a fourth inner annular surface 42, the third outer annular surface 41 is provided with external teeth 43, the number of teeth of the external teeth 43 and the second inner The number of teeth of the teeth 24 is the same in the first preferred embodiment.

The harmonic device 5 is rotatably disposed in the inner ring 4 (as shown in the fourth figure). In the first preferred embodiment, it supports the fourth inner annular surface 42 of the inner ring 4, pushing the inner ring. 4 the outer teeth of the at least two opposing meshing portions 44 are engaged with the first inner teeth 15 and the second inner teeth 24 (as shown in the fifth figure), so that when the harmonics 5 continues to rotate, even the second outer ring 2 Deceleration and rotation.

As shown in the first and fourth figures, the first rolling element 3 is preferably a roller 31 or a ball. When the first rolling element 3 is implemented as a cylindrical roller 31, the first roller groove The groove 14 and the second roller groove 23 are V-shaped grooves, and the rollers 31 are staggered at 90 degrees in the first roller groove 14 and the second roller. Between the sub-grooves 23 (as shown in the third figure), the first outer ring 1 and the second outer ring 2 can be prevented from axially detaching, and the mutual socket stability is improved, and the radial and axial directions are simultaneously provided. Supporting action, and reducing the frictional force of the first outer ring 1 and the second outer ring 2 with each other.

As shown in the first, second and fourth figures, the harmonic device 5 preferably includes a cam 51 and a plurality of second rolling members 52. The cam 51 can be a long axis and a short axis of a positive elliptical cam having a cam surface 511 around it. The second rolling members 52 are preferably arranged in a row or two rows on the cam surface 511 and the second rolling member 52 abuts against the fourth inner annular surface 42 of the inner ring 4, so that when the cam 51 rotates The second rolling members 52 can be synchronously rolled. As shown in the fifth figure, the inner ring 4 is pushed to engage the outer teeth of the at least two opposing engaging portions 44 with the first inner teeth 15 and the second inner teeth 24.

As shown in the first, second and fourth figures, the harmonic device 5 preferably further includes a retaining ring 53. The retaining ring 53 has a plurality of positioning portions 531 on both sides thereof, and the retaining ring 53 The cam surface 511 of the cam 51 is sleeved so that the second rolling member 52 is disposed between the positioning portions 531 of the retaining ring 53, so that the second rolling members 52 are arranged in the cam surface 511. The second rolling member 52 is preferably a roller 521 or a ball 522 (as shown in the sixth figure).

In addition, as shown in the seventh and eighth figures, in the first preferred embodiment, the harmonic device 5 preferably includes a cam 51 and a plurality of third rolling members 54 instead. The cam 51 can be a long axis and a short axis elliptical cam with a plurality of axial fulcrums 512 disposed about the cam 51. The third rolling member 54 is a bearing 541, such as a ball bearing or a needle bearing, etc., so that the third rolling member 54 is coupled to the support shaft 512 and abuts against the fourth inner annular surface of the inner ring 4. 42. The same function can be achieved in this way, and the external teeth of the at least two opposing meshing portions 44 of the inner ring 4 are engaged with the first inner teeth 15 and the second inner teeth 24.

As shown in the ninth figure, when the present invention is used, the rotating shaft 101 of the motor 10 can be coupled to the cam 51 of the harmonic device 5, and the first outer ring 1 can be coupled to the motor 10 by the screw hole 161 of the connecting portion 16. The flange end or other fixing member makes the first outer ring 1 a fixed end that cannot be rotated. The second outer ring 2 can be coupled to the transmission shaft 20 (output shaft) or other member by the screw hole 251 of the connecting portion 25, so that the second outer ring 2 serves as the output rotating end. Further, as shown in the tenth and eleventh diagrams, when the cam 51 of the harmonic device 5 is rotated by the motor 10, the long axis 513 of the cam 51 continues to rotate and pushes the outer teeth 43 of the inner ring 4. The meshing portion 44 is changed, thereby causing the second outer ring 2 to be decelerated and rotated. Each time the cam 51 is rotated, since the first inner tooth 15 and the second inner tooth 24 have a difference in the number of teeth, only the second outer ring 2 is rotated by one. The pitch, so that a very high reduction ratio is achieved.

Further, as shown in the twelfth embodiment, in the second preferred embodiment of the present invention, the inner ring 4 can be changed to a rigid metal ring and rotatably disposed on the first outer ring 1 and the second outer ring. 2 inside. The preferred embodiment of the harmonics 5 includes a cam 51' and a plurality of third rolling members 54, the cam 51' being a circular eccentric, the third rolling member 54 being a ball and arranged It is disposed between the cam surface of the cam 51' and the inner ring 4. Further, as shown in Fig. 13, when the cam 51' of the harmonic device 5 is rotated, the third rolling member 54 is abutted against the inner ring 4, and the external teeth 43 of an engaging portion 44 of the inner ring 4 are engaged. For the first inner tooth 15 and the second inner tooth 24, the same rotation cam 51' rotates once, because the first inner tooth 15 and the second inner tooth 24 have the difference in the number of teeth, only the second outer ring 2 is rotated. With a pitch, it is also possible to achieve a high reduction ratio.

In summary, the reduction drive bearing of the present invention has practicality and progress, and the application of the technical means is also novel and undoubted, and the effect is in line with the design purpose, and has been said to be reasonably improved. To this end, the invention patent application was filed according to law, but the bureau was requested to give a detailed examination, and the patent was granted as a prayer.

1‧‧‧First outer ring

11‧‧‧First outer annulus

12‧‧‧First inner annulus

13‧‧‧Second inner annulus

14‧‧‧First roller groove

15‧‧‧First internal tooth

16‧‧‧Connecting Department

161‧‧‧ screw holes

2‧‧‧ Second outer ring

21‧‧‧Second outer annulus

22‧‧‧ Third inner annulus

23‧‧‧Second roller groove

24‧‧‧Second internal tooth

25‧‧‧Connecting Department

251‧‧‧ screw holes

3‧‧‧First rolling parts

31‧‧‧ Roller

4‧‧‧ Inner Ring

41‧‧‧ Third outer annulus

42‧‧‧4th inner torus

43‧‧‧ external teeth

5‧‧‧harmonic

51‧‧‧ cam

511‧‧‧ cam surface

52‧‧‧Second rolling parts

521‧‧‧roller

53‧‧‧ retaining ring

531‧‧‧ Positioning Department

Claims (10)

A reduction transmission bearing includes: a first outer ring having a first outer annular surface, a first inner annular surface and a second inner annular surface, the first inner annular surface having a larger diameter than the second inner surface a diameter of the torus, the first inner annular surface is concavely provided with a first roller groove, the second inner annular surface is provided with a first inner tooth; and a second outer ring is rotatably embedded in the first outer ring The first inner annular surface of the ring has a second outer annular surface and a third inner annular surface, and the second outer annular surface is recessed with a second roller groove, and the third inner annular surface is provided a second internal tooth having a tooth number difference between the second internal tooth and the first internal tooth; a plurality of first rolling elements arranged in the first roller groove of the first outer ring Between the second roller grooves of the second outer ring; an inner ring rotatably disposed in the first outer ring and the second outer ring, having a third outer ring surface and a fourth inner portion a toroidal surface, the third outer annular surface is provided with external teeth; and a harmonic device rotatably disposed in the inner ring, supported on the fourth inner annular surface of the inner ring, pushing the inner ring at least One meshing part The external teeth are engaged with the first internal teeth and the second internal teeth; wherein: the harmonic device comprises a cam and a plurality of third rolling members, the cam is provided with a plurality of fulcrums around the cam, and the third rolling elements are combined On the fulcrum, and against the fourth inner annulus of the inner ring. The reduction transmission bearing of claim 1, wherein the inner ring is an elastically deformable metal ring, and the external gear of the harmonic device pushing the two opposite meshing portions of the inner ring is engaged a first internal tooth and the second internal tooth. The reduction transmission bearing of claim 1, wherein the inner ring is a rigid metal ring, and the outer teeth of the meshing portion of the inner ring of the inner ring are engaged with the first inner tooth And the second internal tooth. The reduction drive bearing of claim 1, wherein the first rolling member is a roller or a ball. The reduction drive bearing of claim 1, wherein the third rolling member is a bearing. A reduction transmission bearing includes: a first outer ring having a first outer annular surface, a first inner annular surface and a second inner annular surface, the first inner annular surface having a larger diameter than the second inner surface a diameter of the torus, the first inner annular surface is concavely provided with a first roller groove, the second inner annular surface is provided with a first inner tooth; and a second outer ring is rotatably embedded in the first outer ring The first inner annular surface of the ring has a second outer annular surface and a third inner annular surface, and the second outer annular surface is recessed with a second roller groove, and the third inner annular surface is provided a second internal tooth having a tooth number difference between the second internal tooth and the first internal tooth; a plurality of first rolling elements arranged in the first roller groove of the first outer ring Between the second roller grooves of the second outer ring; An inner ring rotatably disposed in the first outer ring and the second outer ring, having a third outer ring surface and a fourth inner ring surface, the third outer ring surface being provided with external teeth; a harmonic device rotatably disposed in the inner ring, supported by the fourth inner annular surface of the inner ring, the outer teeth of the at least one engaging portion of the inner ring being engaged with the first inner tooth and the a second internal tooth; wherein: the inner ring is a rigid metal ring, and the external teeth of the meshing portion of the inner ring that the harmonic device pushes engage the first inner tooth and the second inner tooth. The reduction drive bearing of claim 6, wherein the first rolling member is a roller or a ball. The reduction gear bearing of claim 6, wherein the harmonic device comprises a cam and a plurality of second rolling members, the cam has a cam surface around the cam, and the second rolling member is disposed on the cam surface. And abuts against the fourth inner annulus of the inner ring. The reduction transmission bearing of claim 8, wherein the harmonic device comprises a retaining ring sleeved on a cam surface of the cam, and the second rolling member is disposed on the retaining ring. The reduction drive bearing of claim 9, wherein the second rolling member is a roller or a ball.