WO2020062122A1 - 针齿摆线减速器、传动滚柱和轴承 - Google Patents

针齿摆线减速器、传动滚柱和轴承 Download PDF

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Publication number
WO2020062122A1
WO2020062122A1 PCT/CN2018/108535 CN2018108535W WO2020062122A1 WO 2020062122 A1 WO2020062122 A1 WO 2020062122A1 CN 2018108535 W CN2018108535 W CN 2018108535W WO 2020062122 A1 WO2020062122 A1 WO 2020062122A1
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Prior art keywords
hollow roller
roller
hollow
support column
transmission
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PCT/CN2018/108535
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English (en)
French (fr)
Inventor
彭学云
郑美珠
孙子建
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昆山光腾智能机械有限公司
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Priority to PCT/CN2018/108535 priority Critical patent/WO2020062122A1/zh
Publication of WO2020062122A1 publication Critical patent/WO2020062122A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/34—Rollers; Needles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion

Definitions

  • the invention relates to the technical field of speed reducers, in particular to a pinion cycloid speed reducer having both flexibility and strength, a transmission roller, and a bearing having the same.
  • transmission rollers are often used in transmissions such as pinion cycloid reducers and bearings.
  • Traditional transmission rollers are solid rollers.
  • the operating environment of the transmission device is relatively harsh, and overload problems may often occur, so Solid rollers are also subject to unnecessary additional loads, causing abnormal wear and even damage. This is also a common problem with transmission devices.
  • the newly assembled new machine has good accuracy. Soon after use, the accuracy is greatly reduced, the lubricant is quickly blackened, and the accuracy retention time is too short, which is far from meeting the requirements.
  • An object of the present invention is to provide a transmission roller having both flexibility and strength, a pinion cycloid reducer and a bearing having the transmission roller.
  • the present invention provides a needle-tooth cycloid reducer, which includes a cycloid disk, a needle-gear casing surrounding the outside of the cycloid disk, and a transmission component clamped between the cycloid-disk and the needle-gear casing.
  • the transmission assembly includes a plurality of transmission rollers evenly distributed along the inner circumferential direction of the needle tooth shell. At least part of the transmission rollers are configured to include hollow rollers and a supporting structure provided in cooperation with the hollow rollers.
  • the supporting structure includes A support column protruding into the inner side of the hollow roller, a floating gap for elastic deformation of the hollow roller is provided between the inner wall surface of the hollow roller and the outer wall surface of the support column, and the entire support structure is provided as follows:
  • the pin tooth cycloid reducer works, at least part of the structure of the support column is always aligned with the ends of the two ends of the hollow roller in the radial direction to maintain the elasticity of the ends of the two ends of the hollow roller. support.
  • the total length of the support column is not less than the total length of the hollow roller, so that the entire hollow roller can be supported by the support column as a whole.
  • the support structure further includes a cap connected to the support column, the cap is located outside the end of the hollow roller, and has a blocking surface directly connected to the support column and facing the hollow roller, An outer diameter of the blocking surface is larger than an inner diameter of the hollow roller.
  • the maximum outer diameter of the cap is not greater than the outer diameter of the hollow roller.
  • the support column includes a pair of support column units, each support column unit is connected to the cap, and a pair of the support column units protrude into the hollow from opposite ends of the hollow roller.
  • the rollers are arranged inside and adjacent to each other in the axial direction, and a pair of the caps are located outside the two ends of the hollow roller.
  • the length of each of the support column units is half of the total length of the hollow roller.
  • the difference between the inner diameter of the hollow roller and the outer diameter of the support column is 0.005 to 0.015 times the outer diameter of the hollow roller.
  • the hollow roller is formed by spirally winding a steel belt or a steel wire, and when the two ends of the hollow roller distributed along the axial direction are squeezed, the length of the hollow roller does not change.
  • the present invention also provides a transmission roller for a transmission device, characterized in that the transmission roller includes a hollow roller and a supporting structure provided in cooperation with the hollow roller, and the supporting structure It includes a support column protruding into the inner side of the hollow roller. A floating gap for elastic deformation of the hollow roller is provided between the inner wall surface of the hollow roller and the outer wall surface of the support column.
  • the support structure is arranged as follows: Transmission is always performed. In the radial direction, at least part of the structure of the support column is always aligned with the ends of the two ends of the hollow roller to maintain elastic support to the ends of the two ends of the hollow roller.
  • the total length of the support column is not less than the total length of the hollow roller, so that the entire hollow roller can be supported by the support column as a whole.
  • the support structure further includes a cap connected to the support column, the cap is located outside the end of the hollow roller, and has a blocking surface facing the hollow roller, the outer surface of the blocking surface The diameter is larger than the inner diameter of the hollow roller.
  • the maximum outer diameter of the cap is not greater than the outer diameter of the hollow roller.
  • the support column includes a pair of support column units, each support column unit is connected to the cap, and a pair of the support column units protrude into the hollow from opposite ends of the hollow roller.
  • the rollers are arranged inside and adjacent to each other in the axial direction, and a pair of the caps are located outside the two ends of the hollow roller.
  • the length of each of the support column units is half of the total length of the hollow roller.
  • the difference between the inner diameter of the hollow roller and the outer diameter of the support column is 0.005 to 0.015 times the outer diameter of the hollow roller.
  • the hollow roller is formed by spirally winding a steel belt or a steel wire, and when the two ends of the hollow roller distributed along the axial direction are squeezed, the length of the hollow roller does not change.
  • the present invention also provides a bearing, which includes an outer bearing ring, an inner bearing ring, and a plurality of transmission rollers which are arranged between the outer bearing ring and the inner bearing ring and are evenly arranged.
  • the transmission roller is provided as the aforementioned transmission roller.
  • the beneficial effect of the present invention is that the needle-tooth cycloid reducer of the present invention has a support post inside the hollow roller, and at least a part of the structure of the support post can always keep the opposite position during the working process of the needle-tooth cycloid reducer.
  • the elastic support at the ends of the two ends of the hollow roller can make the end of the hollow roller prone to problems to obtain effective elasticity and strength, and improve the service life.
  • FIG. 1 is a schematic diagram of deformation of an end portion of a conventional hollow roller under pressure
  • FIG. 2 is a schematic cross-sectional view of a first preferred embodiment of a pinion cycloid reducer according to the present invention
  • FIG. 3 is an enlarged view of a circled part in FIG. 2;
  • FIG. 4 is a schematic axial sectional view of a transmission roller in FIG. 2;
  • FIG. 5 is a schematic cross-sectional view of another preferred embodiment of a transmission roller in the present invention.
  • FIG. 6 is a schematic cross-sectional view of another preferred embodiment of a driving roller in the present invention.
  • FIG. 7 is a transverse sectional view of a second preferred embodiment of the pinion cycloid reducer according to the present invention.
  • Fig. 8 is a schematic sectional view of a bearing in the present invention.
  • the pinion cycloid reducer has been widely used as a transmission device for industrial robots.
  • the pinion cycloid reducer represented by the RV type reducer has become the most important part of robot systems due to its compact structure and strong transmission capacity.
  • the pinion cycloid reducer 100 includes an input shaft (not shown) located in the middle to connect a servo motor (not shown), an input gear (not shown) integrally formed at the end of the input shaft, and an input gear meshed with the input gear.
  • a crankshaft fixed to the planetary gears 1 Surrounding planetary gears (not shown), a crankshaft fixed to the planetary gears 1, a cycloid disk 2 cooperating with the crank shaft 1, a bearing 3 interposed between the crank shaft 1 and the cycloid disk 2, and a needle A toothed shell 4, a transmission assembly 5 clamped between the cycloid disc 2 and the needle toothed shell 4, and an output element 6 provided in cooperation with the cycloid disc 2.
  • the cycloid disc 2 is provided with a through hole 21 for receiving the crank shaft 1 and the bearing 3.
  • the transmission assembly 5 includes a plurality of transmission rollers 51 evenly distributed along the inner circumferential direction of the needle tooth shell 4. At least part of the transmission roller 51 is configured to include a hollow roller 52 and a supporting structure 53 provided in cooperation with the hollow roller 52.
  • the support structure 53 includes a support post 531 protruding into the inside of the hollow roller 52.
  • a floating gap 54 is provided between the inner wall surface of the hollow roller 52 and the outer wall surface of the support column 531 for elastic deformation of the hollow roller 52.
  • elastic support refers to the ability to provide auxiliary strength support to the hollow roller 52 through the support column 531 when the elastic deformation of the hollow roller 52 is moderate, and to ensure that the hollow roller 52 has sufficient elasticity.
  • the strength can also be guaranteed; that is, the support column 531 always provides backup support for the two ends of the hollow roller 52 at all times.
  • all the transmission rollers 51 in this embodiment are provided to include the hollow roller 52 and the support structure 53.
  • the transmission rollers 51 may be set to include the hollow rollers 52 and the support structure 53, and the other transmission rollers 51 are provided in a conventional solid roller structure, and
  • the aforementioned two types of transmission rollers 51 are staggered, as long as it can ensure that the accuracy of the transmission rollers 51 meets the relevant requirements, can achieve effective transmission within the required time, and have sufficient buffering.
  • FIG. 3 is an enlarged view of a circled part in FIG. 2.
  • this figure and the deformed part of the driving roller 51 in the present invention are schematically shown in exaggeration.
  • the floating gap 54 in the driving roller 51 at B in FIG. 3 is in a normal state, and the hollow roller 52 works normally; the hollow roller 52 at A undergoes elastic deformation at the floating gap 54 after being squeezed.
  • the transmission roller 51 receives a reasonable pressure from the needle tooth housing 4 and the cycloid disk 2, and the hollow roller 52 at A or B can work normally.
  • the pressure will greatly increase, for example, when it is more than five times the normal value, the hollow roller 52 may be deformed excessively, especially the end of the hollow roller 52, because of its Compared with the middle position, the bearing capacity is weaker, so it is easy to break.
  • the hollow roller 52 is squeezed and pressed directly against the support column 531, the effective support of the support column 531 can resist the strong overload impact.
  • the hollow roller 52 is effectively prevented from being damaged by excessive compression deformation.
  • the hollow roller 52 and the support column 531 are made of a wear-resistant and high-strength steel or high-molecular carbon fiber material.
  • the hollow roller 52 may be excessively deformed and destroyed, and it may be too small to compensate. After a large number of calculations, experiments, and tests, it is set that the difference between the inner diameter of the hollow roller 52 and the outer diameter of the support column 531 (that is, the size of the floating gap 54) is 0.005 to 0.015 Times.
  • the support post 531 needs to maintain elastic support for both ends of the hollow roller 52 at all times.
  • the total length of the support post 531 is It is set to be not less than the total length of the hollow roller 52 so that the entire hollow roller 52 can be supported by the support column 531 as a whole.
  • the support column 531 may also be set in a multi-stage type, and the total length may be slightly shorter than the total length of the hollow roller 52, as long as the ends of the two ends of the hollow roller 52 and adjacent positions of the two ends are obtained. Effective elastic support is sufficient.
  • the support structure 53 in the present invention is configured to further include a cap 532 connected to the support post 531.
  • the cap 532 is located outside the end of the hollow roller 52 and has a blocking surface 5321 directly connected to the support column 531 and facing the hollow roller 52.
  • the blocking surface 5321 has an outer diameter larger than that of the hollow roller 52. the inside diameter of.
  • the blocking surface 5321 and the end surface of the hollow roller 52 are smooth contact surfaces to reduce friction between the two.
  • the supporting column 531 includes a pair of supporting column units 5311, and each supporting column unit 5311 is connected to one of the caps 532. That is, it includes two supporting units each consisting of a cap 532 and a supporting column unit 5311. The two supporting units are arranged opposite to each other, so that the two supporting column units 5311 protrude from both ends of the hollow roller 52 toward each other.
  • the hollow rollers 52 are arranged inside and adjacent to each other in the axial direction, and a pair of the caps 532 are respectively located outside the two ends of the hollow rollers 52.
  • the total length of the two support column units 5311 may be set to be close to or equal to the total length of the hollow roller 52.
  • the two supporting units are set to the same structure and size, which is convenient for installation and does not need to be specifically identified.
  • the cap 532 of one of the supporting units is supported below the hollow roller 52, and the hollow roller 52 abuts against the blocking surface 5321 of the cap 532 by virtue of its gravity;
  • a cap 532 of a supporting unit is overlapped on the upper end of the hollow roller 52 by its own gravity, so that the supporting column unit 5311 connected to the two caps 532 can directly adjoin the ends and both ends of the hollow roller 52, respectively.
  • An elastic support is formed at the position, and it is ensured that the elastic support is continuously performed to avoid a break at the end of the hollow roller 52.
  • the outer diameter of the cap 532 is larger than the outer diameter of the support post 531, so that the support post 531 can also be effectively supported and maintain its position; in addition, the cap 532 can also prevent foreign objects from entering the floating gap 54 at the same time.
  • each supporting column unit 5311 is set to half the length of the hollow roller 52.
  • the length of each supporting column unit 5311 can also be set to be slightly shorter than half the length of the hollow roller 52, so that a small part of the intermediate position of the hollow roller 52 is not elastically supported, which can also achieve the purpose of the invention. .
  • the support column units 5311 of the two support units may also be set to different lengths as long as the total length thereof is close to or equal to the total length of the hollow roller 52.
  • one supporting post 531 may be provided, and the length is not less than the length of the hollow roller 52.
  • the cap 532 at one end of the support post 531 may be configured to be integrally formed with the support post 531, and the cap 532 at the other end is configured as a nut structure that is fixedly connected to the other end of the support post 531 with a thread.
  • the caps at both ends of the support post 531 can also be set as nut structures that are screw-connected to both ends of the support post 531, which can also achieve the purpose of the present invention.
  • the maximum outer diameter of the cap 532 is not larger than the outer diameter of the hollow roller 52. In this way, the transmission work of the entire transmission roller 51 is not affected, and the transmission roller 51 in the present invention can be applied to all existing transmission devices, which include a conventional pin-tooth cycloid reducer; thus, the present invention
  • the invention also relates to a transmission roller 51 provided with the above structure.
  • the thickness of the cap 532 in the axial direction of the hollow roller 52 is set as small as possible to ensure the effective transmission length of the hollow roller 52.
  • the hollow roller 52 ′ may also be formed by spirally winding a steel strip 521 ′ or a steel wire 521 ′′.
  • the steel strip 521 ′ or the steel wire 521 ′′ is spirally wound without gaps.
  • the supporting structure 53 'provided on the hollow roller 52' is the same as that described above, and will not be described in detail later.
  • the hollow roller 52 ′ in this embodiment due to its own structural design, makes it difficult to break the end of its own structure when subjected to external pressure, and even if the end Damaged parts, and the fracture will not extend to the middle during use, which makes the service life of the entire pin-tooth cycloid reducer or transmission roller increase.
  • the hollow roller 52 ′ formed by spirally winding the steel strip 521 ′ or the steel wire 521 ′′ in the present invention when pressure is applied to a position similar to the hollow roller in FIG. 1, the hollow roller 52 ′ in this embodiment One or two turns of the steel strip 521 'or the steel wire 521 "at the end part will be partially elastically deformed.
  • the elastically deformed steel strip 521 ′ or steel wire 521 ′′ in this section does not have much restraint in the length direction, it is not easy to break and has a long service life.
  • this type of hollow roller is compared with a general integral hollow roller The column is able to withstand greater deformation.
  • the thickness and width of the steel strip 521 ′ are not limited, and the cross section of the steel wire 521 ′′ may be round or irregular, as long as the hollow roller 52 ′ having the rigidity required by the transmission roller 51 ′ can be formed in a compact and dense winding manner. Just fine.
  • the outer periphery of the hollow roller 52 ′ may be ground to ensure a suitable outer diameter size and necessary Finish.
  • the thickness of the tube wall of the hollow roller 52 ' is between 1/4 to 1/6 of the outer diameter of the hollow roller 52'.
  • the above-mentioned various transmission rollers 51 and 51 ′ of the present invention can also be used in the bearing 3.
  • it is applied to the bearing 3 between the crank shaft 1 and the cycloid disc 2 in the pinion cycloid reducer 100 of the present invention.
  • the bearing 3 generally includes an outer bearing ring 31 and an inner bearing ring 32 spaced apart, and a plurality of rollers 33 arranged between the outer bearing ring 31 and the inner bearing ring 32 and arranged uniformly.
  • the rollers in the bearing are all solid and inelastic rollers. Due to processing errors and other reasons, such as the roller part, the number of rollers that actually participate in the load in the prior art is relatively small, and the rollers are easy. Damaged, the same is true for the inner and outer bearing rings in the bearing. Therefore, in this embodiment, the roller 33 of the bearing 3 is also set with reference to the aforementioned various embodiments of the transmission rollers 51 and 51 ′.
  • the bearing 3 can also be configured as the above-mentioned transmission rollers 51 and 51 ′. Some of the load factors are effectively guaranteed to avoid damage and prolong the service life. At the same time, the manufacturing accuracy of its bearing 3 can be reduced. In addition, the bearing 3 in the present invention can also be applied to other products (not shown) that need to be provided with a bearing.
  • the bearing 3 is provided with the outer bearing ring 31 and the inner bearing ring 32 to form the outer raceway and the inner raceway of the roller 33 respectively; and the bearing 3 is applied to the pin gear of the present invention
  • the outer bearing ring 31 and the inner bearing ring 32 may also be directly composed of the cycloid disk 2 and the crank shaft 1, that is, the inner wall of the perforation 21 on the cycloid disk 2 is directly formed as the outer roller.
  • the outer surface of the cam of the crankshaft 1 is formed as an inner raceway, so that the roller 33 can be clamped and disposed between the inner wall of the perforation 21 and the outer surface of the cam of the crankshaft 1.
  • the cost on the one hand, parts and components can be reduced.
  • the cost on the other hand, can also reduce the stacking of errors, so that the manufacturing error between the cycloid disc 2 and the crank shaft 1 or the roller 33 itself can be offset directly by the elastic setting of the roller 33, and the bearing effect of the roller 33 can be made. better.
  • the diameter of the roller 33 is set to be slightly larger than the gap between the inner and outer raceways, so that in a stationary state, the outer hollow rollers 52 and 52 ′ of the roller 33 are flattened slightly.
  • the oval shape is in a pre-stressed state. There will be no gap between the inner and outer raceways, so that no individual rollers 33 will be damaged due to overload. At the same time, the inner and outer raceway surfaces are also obtained. Effective protection.
  • the pin-tooth cycloid reducer 100 of the present invention provides support pillars 531 in the hollow rollers 52 and 52 ′, so that at least part of the structure of the support pillars 531 can always maintain the hollow rollers during operation.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Friction Gearing (AREA)

Abstract

一种针齿摆线减速器、传动滚柱和轴承，针齿摆线减速器（100）包括摆线盘（2）、针齿壳（4）和夹持在摆线盘（2）和针齿壳（4）之间的传动组件（5），传动组件（5）包括若干传动滚柱（51），至少部分所述传动滚柱（51）设置为包括空心滚柱（52）及支撑结构（53），所述支撑结构（51）包括突伸入空心滚柱（52）内侧的支撑柱（531），空心滚柱（52）与支撑柱（531）之间设置有浮动间隙（54），所述支撑结构（51）整体设置为：于所述针齿摆线减速器（100）工作时，所述支撑柱（531）的至少部分结构始终保持对空心滚柱（52）两端端部的弹性支撑。

Description

针齿摆线减速器、传动滚柱和轴承 技术领域
本发明涉及减速器技术领域，尤其涉及一种兼具柔性和强度的针齿摆线减速器、传动滚柱、具有该传动滚柱的轴承。
背景技术
在机械领域，针齿摆线减速器、轴承等传动装置中经常会用到传动滚柱，传统的传动滚柱为实心滚柱，传动装置的使用环境较为恶略，可能经常出现超载问题，因此实心滚柱也会受到不必要的额外负载，使磨损异常地增加，甚至会被破坏。这也是目前传动装置比较普遍存在的通病。刚装配好的新机精度良好，使用不久，精度大大降低，润滑油迅速发黑，精度保持时间太短，这远不能满足要求。
为解决这种窘境，目前国内所采取的主要措施是进一步提高加工精度和装配精度，争取全面向进口原装靠拢。而提高精度的主要措施是使用更高级的，主要是进口的加工设备。但事实证明，单纯这样做并不能完全达到目的，而由此带来的生产成本昂贵，也使人怀疑将来能不能真正商品化，从而达到与国外产品竞争的能力。
另外，也有人提出在传动装置中引入具有弹性的空心滚柱代替传统的实心滚柱，通过弹性补偿来弥补由于加工误差，工作磨损等原因引起不良问题。实践证明，空心滚柱在承压时能略变形收缩，从而使传动装置的部件之间不致因加工误差或装配不准确引起过分的过盈配合，或使磨损引起的过大间隙得到补偿；因此弹性补偿确实能降低加工精度的要求，减少磨损，明显地延长传动装置的使用寿命、保持精度。
然而，考虑到传动装置的工作条件可能非常恶劣，经常有超载冲击等情况发生，并且，经过实践发现，如图1所示，当有压力P作用于空心滚柱端部时，其端部会发生变形。具体地，端部的管壁在压力P的作用下会向内凹陷，并在周围形成如图中CDE所包围的一个凹坑。此凹坑在端口处最深，而在距离端口处最远的D处最浅，如果压力过大，则在空心滚柱端口位置处很容易出现破裂现象，破裂后的裂纹在后续的使用过程中会继续向中间延伸，进而导致空心滚柱失效。
因此，有必要提供一种改进的针齿摆线减速器以克服上述问题。
发明内容
本发明的目的在于提供一种兼具柔性和强度的传动滚柱、具有该传动滚柱的针齿摆线减速器和轴承。
为实现上述发明目的，本发明提供了一种针齿摆线减速器，包括摆线盘、环绕于摆线盘外侧的针齿壳和夹持在摆线盘和针齿壳之间的传动组件，所述传动组件包括若干沿针齿壳内侧圆周方向均匀分布的传动滚柱，至少部分所述传动滚柱设置为包括空心滚柱及与空心滚柱 配合设置的支撑结构，所述支撑结构包括突伸入空心滚柱内侧的支撑柱，所述空心滚柱的内壁面与支撑柱的外壁面之间设置有供空心滚柱发生弹性变形的浮动间隙，所述支撑结构整体设置为：于所述针齿摆线减速器工作时，在径向方向上，所述支撑柱的至少部分结构始终保持与空心滚柱的两端端部相对齐，以保持对空心滚柱两端端部的弹性支撑。
作为本发明的进一步改进，所述支撑柱的总长不小于所述空心滚柱的总长，使得所述空心滚柱整体均可得到支撑柱的支撑。
作为本发明的进一步改进，所述支撑结构还包括连接所述支撑柱的盖帽，所述盖帽位于所述空心滚柱端部外侧，并且具有与支撑柱直接连接并朝向空心滚柱的阻挡面，所述阻挡面的外径大于所述空心滚柱的内径。
作为本发明的进一步改进，所述盖帽的最大外径不大于所述空心滚柱的外径。
作为本发明的进一步改进，所述支撑柱包括一对支撑柱单元，每一支撑柱单元连接一个所述盖帽，一对所述支撑柱单元自所述空心滚柱的两端相向突伸入空心滚柱内，并且沿轴向相邻设置，一对所述盖帽位于空心滚柱的两端外侧。
作为本发明的进一步改进，每一所述支撑柱单元的长度为空心滚柱总长的一半。
作为本发明的进一步改进，所述空心滚柱的内径与支撑柱外径之间的差值为空心滚柱外径的0.005至0.015倍。
作为本发明的进一步改进，所述空心滚柱由钢带或钢丝螺旋密绕形成，所述空心滚柱沿其轴向分布的两端受到挤压时，所述空心滚柱的长度不变。
为实现上述发明目的，本发明还提供了一种传动滚柱，用于传动装置，其特征在于：所述传动滚柱包括空心滚柱及与空心滚柱配合设置的支撑结构，所述支撑结构包括突伸入空心滚柱内侧的支撑柱，所述空心滚柱的内壁面与支撑柱的外壁面之间设置有供空心滚柱发生弹性变形的浮动间隙，所述支撑结构整体设置为：在传动工作的始终，在径向方向上，所述支撑柱的至少部分结构始终保持与空心滚柱的两端端部相对齐，以保持对空心滚柱两端端部的弹性支撑。
作为本发明的进一步改进，所述支撑柱的总长不小于所述空心滚柱的总长，使得所述空心滚柱整体均可得到支撑柱的支撑。
作为本发明的进一步改进，所述支撑结构还包括连接所述支撑柱的盖帽，所述盖帽位于所述空心滚柱端部外侧，并且具有朝向空心滚柱的阻挡面，所述阻挡面的外径大于所述空心滚柱的内径。
作为本发明的进一步改进，所述盖帽的最大外径不大于所述空心滚柱的外径。
作为本发明的进一步改进，所述支撑柱包括一对支撑柱单元，每一支撑柱单元连接一个所述盖帽，一对所述支撑柱单元自所述空心滚柱的两端相向突伸入空心滚柱内，并且沿轴向相邻设置，一对所述盖帽位于空心滚柱的两端外侧。
作为本发明的进一步改进，每一所述支撑柱单元的长度为空心滚柱总长的一半。
作为本发明的进一步改进，所述空心滚柱的内径与支撑柱外径之间的差值为空心滚柱外径的0.005至0.015倍。
作为本发明的进一步改进，所述空心滚柱由钢带或钢丝螺旋密绕形成，所述空心滚柱沿其轴向分布的两端受到挤压时，所述空心滚柱的长度不变。
为实现上述发明目的，本发明还提供了一种轴承，所述轴承包括间隔设置的外轴承环、内轴承环、设置于外轴承环和内轴承环之间且均匀设置的若干传动滚柱，所述传动滚柱如前述的传动滚柱设置。
本发明的有益效果是：本发明的针齿摆线减速器，通过在空心滚柱内设置支撑柱，并且使得支撑柱在针齿摆线减速器的工作过程中，至少部分结构能够始终保持对空心滚柱两端端部的弹性支撑，由此可使空心滚柱容易出现问题的端部得到有效的弹性保障和强度保障，提高使用寿命。
附图说明
图1是现有一种空心滚柱在受压时端部发生变形的示意图；
图2是本发明针齿摆线减速器第一较佳实施例的剖视示意图；
图3是图2中圈出部位的放大图；
图4是图2中传动滚柱的轴向剖视示意图；
图5是本发明中传动滚柱的另一较佳实施例的剖视示意图；
图6是本发明中传动滚柱的又一较佳实施例的剖视示意图；
图7是本发明中针齿摆线减速器的第二较佳实施例的横向剖视图；
图8是本发明中轴承的剖视示意图。
具体实施方式
以下将结合附图所示的各实施方式对本发明进行详细描述。但这些实施方式并不限制本发明，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。
针齿摆线减速器目前已广泛作为工业机器人的传动装置进行应用，尤其以RV型减速器为代表的针齿摆线减速器以其结构紧凑、传动能力强，成为机器人系统最重要的部件。
请参照图2至图8所示为本发明中针齿摆线减速器100的较佳实施方式。所述针齿摆线减速器100包括位于中间以连接伺服电动机(未图示)的输入轴(未图示)、一体形成在输入轴末端的输入齿轮(未图示)、啮合设置在输入齿轮周围的行星齿轮(未图示)、与行星齿轮相固定的曲柄轴1、与曲柄轴1配合设置的摆线盘2、配合设置在曲柄轴1和摆线盘2之间的轴承3、针齿壳4、夹持在摆线盘2和针齿壳4之间的传动组件5以及与摆线盘2相配合设置的输出元件6。所述摆线盘2上设置有收容所述曲柄轴1和轴承3的穿孔21。
其中，请参照图2和图3所示，所述传动组件5包括若干沿针齿壳4内侧圆周方向均匀分布的传动滚柱51。至少部分所述传动滚柱51设置为包括空心滚柱52及与空心滚柱52配合设置的支撑结构53。所述支撑结构53包括突伸入空心滚柱52内侧的支撑柱531。所述空心滚柱52的内壁面与支撑柱531的外壁面之间设置有供空心滚柱52发生弹性变形的浮动间隙54。于所述针齿摆线减速器100工作时，在径向方向上，所述支撑柱531至少部分结构始终保持与空心滚柱52的两端端部相对齐，进而始终保持对空心滚柱52两端端部的弹性支撑。
上述所指“弹性支撑″，指的是能够在空心滚柱52发生适度的弹性变形时，通过支撑柱531对空心滚柱52提供辅助的强度支撑，在保证空心滚柱52具有足够弹性的基础上，强度也可得到保障；即支撑柱531始终做好对空心滚柱52两端端部的备用支撑保障。
如图2所示，作为本发明的第一较佳实施例，本实施例中所有传动滚柱51均设置为包括所述空心滚柱52和所述支撑结构53。当然，也可如图7所示，仅将部分传动滚柱51设置为包括所述空心滚柱52和所述支撑结构53，而其他传动滚柱51为常规的实心滚柱结构设置，并将前述两种传动滚柱51错开设置，只要能够保证在传动滚柱51精度达到相关需求，能够在需求时间内实现有效传动，并且具有足够的缓冲即可。
图3为图2中圈出部分的放大图，为了能说明清楚，本图以及本发明中有关传动滚柱51的形变部分都是夸大示意地表示出来的。其中，图3中B处的传动滚柱51中浮动间隙54为正常状态，空心滚柱52正常工作；A处空心滚柱52受到挤压后在浮动间隙54处进行弹性变形。在正常工作状态下，传动滚柱51受到一个合理的来自针齿壳4和摆线盘2的压力，无论是A处或B处的空心滚柱52均可以正常地工作。
而当外界有强大的超载冲击时，该压力会极大地增加，譬如说达到正常值的五倍以上时，可能会使空心滚柱52过分变形，特别是空心滚柱52的端部，因其承载能力相较中间位置较弱，从而容易破裂；而此时，在空心滚柱52被挤压而压到直接贴靠支撑柱531时，可通过支撑柱531的有效支撑抵抗强大的超载冲击，有效地避免空心滚柱52被过分挤压变形而损坏。即，在外界施加非常强大的冲击载荷时，只要能够保证有支撑柱531的辅助支撑，并且支撑柱531能够支撑得住，空心滚柱52便不会被破坏，整个传动滚柱51也就可以安全无恙。
优选地，本发明中空心滚柱52和支撑柱531采用耐磨且具有高强度钢或高分子碳纤维材料制成。进一步地，对于所述浮动间隙54的设置，设置得过大容易导致空心滚柱52过分变形而被破坏，太小又起不到补偿的作用。经过大量的计算、实验及测试后设置为，所述空 心滚柱52的内径与支撑柱531外径之间的差值(即浮动间隙54的大小)为空心滚柱52外径的0.005至0.015倍。
进一步地，在本发明中，如上述，所述支撑柱531需要始终保持对空心滚柱52两端端部的弹性支撑，作为本发明的一较佳实施例，将所述支撑柱531的总长设置为不小于所述空心滚柱52的总长，使得所述空心滚柱52整体均可得到支撑柱531的支撑。当然，也可将所述支撑柱531设置为多段式，总长可稍短于所述空心滚柱52的总长，只要保证空心滚柱52的两端端部及两端相邻位置处均能够得到有效的弹性支撑即可。
优选地，如图4所示，为使得两端端部的弹性支撑得到保证，本发明中所述支撑结构53设置为还包括连接所述支撑柱531的盖帽532。所述盖帽532位于所述空心滚柱52端部外侧，并且具有与支撑柱531直接连接并朝向空心滚柱52的阻挡面5321，所述阻挡面5321的外径大于所述空心滚柱52的内径。另外，优选地，所述阻挡面5321和空心滚柱52端面之间为平滑接触面，减少两者之间的摩擦。
本实施方式中，所述支撑柱531包括一对支撑柱单元5311，每一支撑柱单元5311连接一个所述盖帽532。即包括两个分别由一个盖帽532和一个支撑柱单元5311组成的支撑单元，两个支撑单元相向设置，使得两个所述支撑柱单元5311自所述空心滚柱52的两端相向突伸入空心滚柱52内，并且沿轴向相邻设置，而一对所述盖帽532分别位于空心滚柱52的两端外侧。
在该种情况下，两个支撑柱单元5311的总长可设置为接近或等于所述空心滚柱52的总长。
优选地，将两个所述支撑单元设置为相同结构和尺寸，如此方便安装，不用特意识别。在该种情况下，其中一支撑单元的盖帽532支撑于空心滚柱52的下方，空心滚柱52依靠其重力向下抵接在盖帽532的阻挡面5321上；而沿轴向位于上方的另一支撑单元的盖帽532依靠其自身重力搭接在空心滚柱52的上端，从而使得与两个盖帽532分别连接的支撑柱单元5311可直接对空心滚柱52两端端部和两端相邻位置处形成弹性支撑，并且保证该种弹性支撑持续进行，避免空心滚柱52端部位置处的破裂。另外，所述盖帽532的外径大于支撑柱531的外径，使得支撑柱531也能够得到有效支撑，保持其位置；此外，所述盖帽532同时还可防止异物进入浮动间隙54。
在两个支撑单元相同设置时，每一支撑柱单元5311的长度设置为空心滚柱52长度的一半。当然，也可将每一支撑柱单元5311的长度设置为略短于空心滚柱52一半的长度，使得空心滚柱52中间位置处略有部分未得到弹性辅助支撑，也可达成本发明的目的。
作为本发明的另一较佳实施例，也可将上述两个支撑单元的支撑柱单元5311设置为不同长度，只要满足其总长接近或等于所述空心滚柱52的总长即可。
作为本发明的又一较佳实施例，所述支撑结构53中，可将支撑柱531设置为一根，其长度不小于空心滚柱52的长度。在该种情况下，支撑柱531一端的盖帽532可以设置为与支撑柱531一体成型，而另一端的盖帽532则设置为采用螺纹与支撑柱531另一端进行固定连接的螺帽结构。当然，也可将支撑柱531两端的盖帽均设置为与支撑柱531两端采用螺纹连接的螺帽结构，同样也可达成本发明的目的。
进一步地，所述盖帽532的最大外径不大于所述空心滚柱52的外径。如此不会影响整个传动滚柱51的传动工作，并且可使本发明中传动滚柱51适用于所有现有的传动装置，所述传动装置包括常规的针齿摆线减速器；从而，本发明还涉及一种采用如上结构设置的传动滚柱51。
此外，本发明中所述盖帽532沿空心滚柱52轴向的厚度尽量设置得较小，保证空心滚柱52的有效传动长度。
另外，请参阅图5和图6所示，作为本发明的其他较佳实施例，所述空心滚柱52′也可由钢带521′或钢丝521″螺旋密绕形成，“密绕″是指钢带521′或钢丝521″无缝隙螺旋缠绕，在所述空心滚柱52′沿其轴向分布的两端受到挤压时，所述空心滚柱52′的长度不变。该空心滚柱52′上配合设置的支撑结构53′同上述设置，后续不再赘述。
本实施例中的所述空心滚柱52′除了具有上述支撑结构53′的支撑外，因其本身的结构设计，使得在受到外界压力时，其自身结构的端部也不易破损，且即使端部损坏，在使用过程中断裂也不会向中部延伸发展，使得整个针齿摆线减速器或者传动滚柱的使用寿命增长。
具体地，本发明中钢带521′或钢丝521″螺旋密绕形成的空心滚柱52′中，当压力作用于类似图1中的空心滚柱位置时，本实施例中空心滚柱52′端部的一圈或两圈钢带521′或钢丝521″会发生部分弹性变形。但是，由于该段发生弹性变形的钢带521′或钢丝521″在长度方向上没有多大约束，所以其不易破碎，使用寿命长。另外，该种空心滚柱相较一般的整体型的空心滚柱能够承受更大的变形。
所述钢带521′的厚度和宽度不限，且钢丝521″的截面可以为圆形或异形，只要能通过紧凑密绕的方式形成具有传动滚柱51′需要的刚度的空心滚柱52′即可。
为保证所述传动滚柱51′与针齿槽及摆线盘的充分接触，增加接触面积，减少磨损，所述空心滚柱52′的外周可以研磨一下，以保证合适的外径尺寸及必要的光洁度。所述空心滚柱52′的管壁厚度介于所述空心滚柱52′外径的1/4～1/6之间。
请参阅图8所示，本发明的上述各种传动滚柱51、51′也可以用于轴承3中。例如应用于本发明针齿摆线减速器100中的曲柄轴1和摆线盘2之间的轴承3上。
所述轴承3通常包括间隔设置的外轴承环31和内轴承环32、设置于外轴承环31和内轴承环32之间且均匀设置的若干滚柱33。现有技术中，轴承中的滚柱都使用实心无弹性的滚柱，由于加工误差等原因，如滚柱部分，现有技术中真正同时参与承载的滚柱的数量比较少，且滚柱容易被损坏，轴承中的内外侧轴承环也同样如此。因此，本实施方式中，所述轴承3的滚柱33也参考前述传动滚柱51、51′的各种实施例设置，如此一来，该轴承3也可如上述传动滚柱51、51′部分所讲承载率得到有效保证，避免损坏，使用寿命延长，同时其轴承3的制造精度也可得以降低。另外，本发明中的该轴承3也可适用于其他需要设置轴承的产品(未图示)上。
一般情况下，所述轴承3均设有所述外轴承环31和内轴承环32，以分别形成滚柱33的外滚道和内滚道；而在将轴承3应用在本发明的针齿摆线减速器100上时，所述外轴承环31和内轴承环32也可直接由摆线盘2和曲柄轴1构成，即摆线盘2上穿孔21的内壁直接形成为所述外滚道，所述曲柄轴1的凸轮外表面形成为内滚道，由此可使得滚柱33夹持设置在穿孔21内壁和曲柄轴1的凸轮外表面之间，一方面可减少零部件，降低成本，另一方面还可减小误差的叠加，使得可直接通过滚柱33呈弹性设置来抵消摆线盘2和曲柄轴1之间或滚柱33本身的制造误差，并且使得滚柱33承载效果较好。
其中，所述滚柱33的直径设置为略大于内滚道和外滚道之间的间隙，使得在静止状态下，滚柱33的外部空心滚柱52、52′都是被压扁略呈椭圆状处于预应力状态，挤在内滚道和外滚道之间，不会有一个空缺，这样不会有个别滚柱33因过载而破坏，同时内滚道和外滚道表面也得到了有效保护。
综合上述可知，本发明的针齿摆线减速器100，通过在空心滚柱52、52′内设置支撑柱531，并且使得支撑柱531在工作过程中，至少部分结构能够始终保持对空心滚柱52、52′两端端部的弹性支撑，由此可使空心滚柱52、52′容易出现问题的端部得到有效的弹性保障和强度保障，提高使用寿命。
应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。

Claims (17)

  1. 一种针齿摆线减速器，包括摆线盘、环绕于摆线盘外侧的针齿壳和夹持在摆线盘和针齿壳之间的传动组件，其特征在于：所述传动组件包括若干沿针齿壳内侧圆周方向均匀分布的传动滚柱，至少部分所述传动滚柱设置为包括空心滚柱及与空心滚柱配合设置的支撑结构，所述支撑结构包括突伸入空心滚柱内侧的支撑柱，所述空心滚柱的内壁面与支撑柱的外壁面之间设置有供空心滚柱发生弹性变形的浮动间隙，所述支撑结构整体设置为：于所述针齿摆线减速器工作时，在径向方向上，所述支撑柱的至少部分结构始终保持与空心滚柱的两端端部相对齐，以保持对空心滚柱两端端部的弹性支撑。
  2. 根据权利要求1所述的针齿摆线减速器，其特征在于：所述支撑柱的总长不小于所述空心滚柱的总长，使得所述空心滚柱整体均可得到支撑柱的支撑。
  3. 根据权利要求1或2所述的针齿摆线减速器，其特征在于：所述支撑结构还包括连接所述支撑柱的盖帽，所述盖帽位于所述空心滚柱端部外侧，并且具有与支撑柱直接连接并朝向空心滚柱的阻挡面，所述阻挡面的外径大于所述空心滚柱的内径。
  4. 根据权利要求3所述的针齿摆线减速器，其特征在于：所述盖帽的最大外径不大于所述空心滚柱的外径。
  5. 根据权利要求3所述的针齿摆线减速器，其特征在于：所述支撑柱包括一对支撑柱单元，每一支撑柱单元连接一个所述盖帽，一对所述支撑柱单元自所述空心滚柱的两端相向突伸入空心滚柱内，并且沿轴向相邻设置，一对所述盖帽位于空心滚柱的两端外侧。
  6. 根据权利要求5所述的针齿摆线减速器，其特征在于：每一所述支撑柱单元的长度为空心滚柱总长的一半。
  7. 根据权利要求1所述的针齿摆线减速器，其特征在于：所述空心滚柱的内径与支撑柱外径之间的差值为空心滚柱外径的0.005至0.015倍。
  8. 根据权利要求1所述的针齿摆线减速器，其特征在于：所述空心滚柱由钢带或钢丝螺旋密绕形成，所述空心滚柱沿其轴向分布的两端受到挤压时，所述空心滚柱的长度不变。
  9. 一种传动滚柱，用于传动装置，其特征在于：所述传动滚柱包括空心滚柱及与空心滚柱配合设置的支撑结构，所述支撑结构包括突伸入空心滚柱内侧的支撑柱，所述空心滚柱的内壁面与支撑柱的外壁面之间设置有供空心滚柱发生弹性变形的浮动间隙，所述支撑结构整体设置为：在传动工作的始终，在径向方向上，所述支撑柱的至少部分结构始终保持与空心滚柱的两端端部相对齐，以保持对空心滚柱两端端部的弹性支撑。
  10. 根据权利要求9所述的传动滚柱，其特征在于：所述支撑柱的总长不小于所述空心滚柱的总长，使得所述空心滚柱整体均可得到支撑柱的支撑。
  11. 根据权利要求9或10所述的传动滚柱，其特征在于：所述支撑结构还包括连接所述支撑柱的盖帽，所述盖帽位于所述空心滚柱端部外侧，并且具有朝向空心滚柱的阻挡面， 所述阻挡面的外径大于所述空心滚柱的内径。
  12. 根据权利要求11所述的传动滚柱，其特征在于：所述盖帽的最大外径不大于所述空心滚柱的外径。
  13. 根据权利要求11所述的传动滚柱，其特征在于：所述支撑柱包括一对支撑柱单元，每一支撑柱单元连接一个所述盖帽，一对所述支撑柱单元自所述空心滚柱的两端相向突伸入空心滚柱内，并且沿轴向相邻设置，一对所述盖帽位于空心滚柱的两端外侧。
  14. 根据权利要求13所述的传动滚柱，其特征在于：每一所述支撑柱单元的长度为空心滚柱总长的一半。
  15. 根据权利要求9所述的传动滚柱，其特征在于：所述空心滚柱的内径与支撑柱外径之间的差值为空心滚柱外径的0.005至0.015倍。
  16. 根据权利要求9所述的传动滚柱，其特征在于：所述空心滚柱由钢带或钢丝螺旋密绕形成，所述空心滚柱沿其轴向分布的两端受到挤压时，所述空心滚柱的长度不变。
  17. 一种轴承，所述轴承包括间隔设置的外轴承环、内轴承环、设置于外轴承环和内轴承环之间且均匀设置的若干传动滚柱，其特征在于:所述传动滚柱如权利要求9～16任意一项所述的传动滚柱设置。
PCT/CN2018/108535 2018-09-29 2018-09-29 针齿摆线减速器、传动滚柱和轴承 WO2020062122A1 (zh)

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