TWI694218B - Reduced speed bearing - Google Patents

Abstract

A deceleration transmission bearing, especially a composite bearing design with deceleration transmission function, which includes a flexible inner bearing and a rigid outer bearing; the outer ring surface of the flexible inner bearing is formed with a ring of external teeth, and is in the axial direction of the outer ring The extension is provided with a plurality of elastic slots and a radial flange. The inner ring of the flexible inner bearing provides a harmonic cam inlay for power input; the inner ring surface of the rigid outer bearing is formed with a ring of internal teeth and internal teeth It is engaged with the external teeth of the flexible inner bearing; thereby, the outer ring of the rigid outer bearing can be selected for deceleration output connection. When the flexible inner bearing is rotated by the power input harmonic cam, the flexible inner bearing is rigid and rigid The outer bearings produce a reduction transmission effect between each other.

Description

Reduced speed bearing

The invention relates to a deceleration transmission bearing, in particular to a deceleration mechanism with a composite bearing configuration. The flexible inner bearing and the rigid outer bearing of the deceleration transmission bearing directly form a transmission state in which tooth difference meshes, so that the deceleration transmission bearing has a more concise structure.

The traditional harmonic reduction gearbox (harmonic reducer) is mainly composed of a rigid external gear ring, a flexible internal gear ring and a harmonic cam. The internal ring surface of the rigid external gear ring is provided with internal teeth and the flexible internal gear ring The outer ring surface is provided with external teeth, and the flexible internal ring is set in the rigid external ring, and the harmonic cam is set in the flexible internal ring, so that the harmonic cam abuts the flexible internal ring, resulting in the flexible internal ring Part of the external teeth meshes with the internal teeth of the rigid external ring. When it is installed and used, the motor output power shaft is connected to the harmonic cam. Through the rotation action of the harmonic cam, the flexible inner ring is driven to rotate in the rigid outer ring, so that the flexible inner ring is converted into a low-speed power output. In this way, the harmonic reduction gearbox can be applied to the fields of high load and low speed requirements, such as the joints of each axis of the robot arm.

However, the power transmission mode in which these motors and the harmonic reduction reducer are connected in series is bound to cause the overall axial length to be too long, so that the installation space of the motor and the harmonic reduction reducer needs a larger size to accommodate, which is unfavorable for the mechanism planning. To this end, there is the case of the rotary actuator proposed by Taiwan Invention Patent Publication No. 201626696. It is hoped that the hollow type harmonic gear device will be used to accommodate the motor in order to reduce the axial size of the rotary actuator. However, the tooth width of the tooth transmission of the harmonic gear device disclosed in the above case is limited by the structural factors of the flexible flexible harmonic reduction drive tooth structure, and there is no better power transmission, resulting in no torque output value of the rotary actuator. For better performance, the load capacity is less.

The inventor adheres to the spirit of excellence in research and development, and expects that harmonic reduction bearings can also have excellent performance in torque output under the condition of reducing the axial size, making the overall application of harmonic reduction bearings more extensive. The technology to be actively disclosed.

The purpose of the present invention is to provide a deceleration transmission bearing, which is composed of a simple composite bearing meshing, to achieve more complete meshing of internal and external teeth to transmit power, direct power transmission and more simplified overall structure.

In order to achieve the above object, the deceleration transmission bearing of the present invention includes: a flexible inner bearing and a rigid outer bearing that are rotatably axially sleeved with each other. The flexible inner bearing and the rigid outer bearing each have an outer ring , An inner ring, and a plurality of rollers disposed between each of the outer ring and the inner ring; the outer ring of the outer ring of the flexible inner bearing has a ring of external teeth, and one end of the outer ring of the flexible inner bearing It has an axially extending ring and a radial flange extending radially from the end of the axially extending ring. The axially extending ring is provided with a plurality of slots, and the flexible inner bearing is formed between the slots An elastic deformation of the radial flange; the inner ring of the inner ring of the rigid outer bearing has a ring of inner teeth that mesh with the outer teeth of the flexible inner bearing; and the inner ring of the flexible inner bearing There is a harmonic cam in the middle embedded group, and the rotation of the harmonic cam causes the flexible inner bearing and the rigid outer bearing to produce a deceleration transmission effect between each other.

In the above-mentioned reduction transmission bearing, the number of external teeth of the flexible inner bearing is smaller than the number of internal teeth of the rigid outer bearing.

In the above deceleration transmission bearing, the slot is a strip-shaped slot extending along the circumferential direction of the axially extending ring, and two ends of the strip-shaped slot are respectively formed with holes.

In the above deceleration transmission bearing, the outer ring of the rigid outer bearing and the radial flange are respectively provided with perforations capable of penetrating the fixing element.

In the above-mentioned reduction transmission bearing, the roller of the flexible inner bearing is a ball.

In the above deceleration transmission bearing, the rollers of the rigid outer bearing are rollers, and the axes of the outer rollers are arranged in a crossed arrangement at a vertical angle.

The deceleration transmission bearing of the present invention is composed of deceleration transmission bearings meshed with simple composite bearings to achieve more complete meshing of internal and external teeth to transmit power, enabling direct power transmission and more simplified overall structure.

In order to fully understand the purpose, features and effects of the present invention, the structural features, other functions and purposes of the present invention are described in detail in accordance with the embodiments of the accompanying drawings as follows:

Referring to FIG. 1, FIG. 2 and FIG. 3, the deceleration transmission bearing of the present invention is a deceleration transmission bearing having the functions of a deceleration transmission and a bearing supporting a power input shaft or a power output shaft, and its preferred specific embodiments mainly include : A flexible inner bearing 10 and a rigid outer bearing 20, the flexible inner bearing 10 and the rigid outer bearing 20 have an outer ring 11, 21, an inner ring 12, 22, and the outer ring 11, 21 and the majority of rollers 13, 23 between the inner rings 12, 22, the diameter of the outer ring 11 of the flexible inner bearing 10 is smaller than the diameter of the inner ring 22 of the rigid outer bearing 20, so that the flexible inner bearing 10 and the The rigid outer bearings 20 are rotatably axially fitted to each other.

As shown in FIGS. 2 to 4, the flexible inner bearing 10 is made of a flexible material with an outer ring 11 and an inner ring 12. The outer ring surface of the outer ring 11 of the flexible inner bearing 10 is implemented with a ring of external teeth. 14. An end of the flexible inner bearing 10 is implemented with an axially extending ring 15 and a radial flange 16 extending radially from the end of the axially extending ring 15; the axially extending ring 15 is provided with A plurality of slots 17, one of the preferred embodiments of the slots 17, is a strip-shaped slot 171 extending along the circumferential direction of the axially extending ring 15, and two ends of the strip-shaped slot 171 are respectively formed with holes 172, thereby forming an elastic deformation portion 18 connecting the outer ring 11 and the radial flange 16 between the cut grooves 17.

Referring to FIGS. 2 to 4, the rigid outer bearing 20 is made of a rigid material, and its outer ring 21 and inner ring 22 have a diameter larger than that of the outer ring 11 of the flexible inner bearing 10. The diameter of the surface makes the rigid outer bearing 20 axially fit on the outer ring surface of the flexible inner bearing 10, and the inner ring surface of the rigid outer bearing 20 implements a ring of internal teeth 24 corresponding to the external teeth 14, thereby passing The driving of a harmonic cam (not shown) provided in the flexible inner bearing 10 causes the outer teeth 14 of the flexible inner bearing 10 to mesh with the inner teeth 24 of the rigid outer bearing 20 (as shown in FIG. 5) Shown), and the number of teeth of the external teeth 14 of the flexible inner bearing 10 is smaller than the number of teeth of the internal teeth 24 of the rigid outer bearing 20, thereby achieving the function of deceleration transmission.

Referring again to FIGS. 2 to 4, the outer ring 21 of the rigid outer bearing 20 and the radial flange 16 of the flexible inner bearing 10 are respectively provided with perforations 211 and 161 through which fixing elements (screws, etc.) can pass. Fixed together. The roller 13 of the flexible inner bearing 10 described above is a spherical ball, and may also be implemented as rollers or needles arranged in parallel. The rollers 23 of the rigid outer bearing 20 are preferably implemented as rollers, and the axes of the rollers 23 (rollers) are arranged in a cross at a vertical angle, so that the outer ring 21 and the inner ring of the rigid outer bearing 20 22 will not disengage axially.

In the present invention, the flexible inner bearing 10 serves as a power input element, and the rigid outer bearing 20 serves as a power output element after deceleration. When using it, refer to FIG. 4 and FIG. 5. The power input shaft drives a harmonic cam (not shown) to rotate. The structure of the slot 17 and the elastic deformation portion 18 of the flexible inner bearing 10 allows the flexible inner The bearing 10 is more easily spread by the harmonic cam, so that its external teeth 14 fully mesh with the internal teeth 24 of the rigid external bearing 20. In addition, the number of teeth of the external teeth 14 of the flexible inner bearing 10 of the present invention is smaller than the number of teeth of the internal teeth 24 of the rigid outer bearing 20. Therefore, the rigid outer bearing 20 can be decelerated to output power to achieve the effects of high reduction ratio and direct transmission. Furthermore, the overall structure of the present invention is more streamlined, which is more beneficial to the convenience of manufacturing and assembly.

In summary, the rotary actuator of the present invention is indeed practical and creative. The use of its technical means is also undoubtedly novel, and its efficiency and design purpose are in line with each other. Therefore, an application for a patent for invention was filed in accordance with the law, but I urged Jun Bureau to benefit from the detailed examination and granted the patent as a prayer.

10: Flexible inner bearing

11: Outer ring

12: inner ring

13: roller

14: external tooth

15: Axial extension ring

16: Radial flange

161: Piercing

17: Grooving

171: Strip groove

172: Hole

18: Elastic deformation part

20: rigid outer bearing

21: outer ring

211: Piercing

22: inner ring

23: roller

24: internal tooth

FIG. 1 is a schematic perspective view of the combined structure of the reduction transmission bearing of the present invention. 2 is a schematic perspective view of the exploded structure of the reduction transmission bearing of the present invention. 3 is a schematic perspective view of another exploded structure of the reduction transmission bearing of the present invention. 4 is a schematic cross-sectional view of the combined structure of the reduction transmission bearing of the present invention. 5 is a schematic front view of the combined structure of the reduction transmission bearing of the present invention.

10: Flexible inner bearing

11: Outer ring

12: inner ring

13: roller

14: external tooth

15: Axial extension ring

16: Radial flange

161: Piercing

17: Grooving

171: Strip groove

172: Hole

18: Elastic deformation part

20: rigid outer bearing

21: outer ring

211: Piercing

22: inner ring

23: roller

24: internal tooth

Claims (5)

A deceleration transmission bearing, comprising: a flexible inner bearing and a rigid outer bearing rotatably axially sleeved together, the flexible inner bearing and the rigid outer bearing each have an outer ring, an inner ring, and A plurality of rollers arranged between each of the outer ring and the inner ring; the outer ring of the outer ring of the flexible inner bearing has a ring of external teeth, and one end of the outer ring of the flexible inner bearing has an axially extending ring , And a radial flange extending radially from the end of the axially extending ring, the axially extending ring is provided with a plurality of cut grooves, and the flexible inner bearing and the radial flange are formed between each cut groove The elastic deformation of the inner ring of the rigid outer bearing; the inner ring of the inner ring of the rigid outer bearing has a ring of inner teeth that mesh with the outer teeth of the flexible inner bearing; and the inner ring of the flexible inner bearing embeds a harmonic Cam, the harmonic cam rotation causes the flexible inner bearing and the rigid outer bearing to produce a deceleration transmission effect between each other; wherein the slot is a strip-shaped slot extending along the circumferential direction of the axially extending ring, the strip-shaped slot A hole is formed at each end of the. The reduction transmission bearing according to claim 1, wherein the number of teeth of the external teeth of the flexible inner bearing is smaller than the number of teeth of the internal teeth of the rigid outer bearing. The reduction transmission bearing according to claim 1, wherein the outer ring of the rigid outer bearing and the radial flange are respectively provided with perforations capable of penetrating the fixing element. The reduction transmission bearing according to claim 1, wherein the roller of the flexible inner bearing is a ball. The reduction transmission bearing according to claim 1, wherein the rollers of the rigid outer bearing are rollers, and the axes of the outer rollers are arranged in a cross arrangement at a vertical angle.

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