WO2020062647A1 - 十字滑环、十字滑块联轴器和谐波减速器 - Google Patents

十字滑环、十字滑块联轴器和谐波减速器 Download PDF

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Publication number
WO2020062647A1
WO2020062647A1 PCT/CN2018/122850 CN2018122850W WO2020062647A1 WO 2020062647 A1 WO2020062647 A1 WO 2020062647A1 CN 2018122850 W CN2018122850 W CN 2018122850W WO 2020062647 A1 WO2020062647 A1 WO 2020062647A1
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Prior art keywords
slip ring
cross slip
slider
mounting position
cross
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PCT/CN2018/122850
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English (en)
French (fr)
Inventor
田珍珍
钟成堡
崔中
程中甫
谷甲甲
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珠海格力电器股份有限公司
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Publication of WO2020062647A1 publication Critical patent/WO2020062647A1/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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • F16D3/36—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected in which each pivot between the coupling parts and the intermediate member comprises a single ball

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  • the present application relates to the technical field of couplings, and particularly to a cross slip ring, a cross slider coupling, and a harmonic reducer.
  • cross slide couplings are widely used in general machinery, hydraulic machinery, engineering machinery, metallurgical machinery, mining machinery, chemical machinery and other occasions.
  • the cross slide coupling is generally used in common motors. Due to its simple structure, convenient installation and easy maintenance, the amount of use is quite large.
  • a conventional type of cross slider coupling includes two half couplings and a cross slip ring disposed between the two half couplings.
  • a slide is provided on a side of the two half couplings facing the cross slip ring.
  • the sliders are arranged on opposite sides of the cross slip ring, and the sliders on both sides of the cross slip ring are slidably matched with the slide grooves of the half coupling on the corresponding side, and the two slides on both sides of the cross slip ring
  • the sliding fit directions of the blocks are perpendicular to each other.
  • a first object of the present application is to provide a cross slip ring using rolling friction fit to extend the service life.
  • a second object of the present application is to provide a cross slide coupling that uses rolling friction fit to extend the service life.
  • a third object of the present application is to provide a harmonic reducer that effectively extends the service life.
  • the axial ends of the cross slip ring provided by the first object of the present application have a first end face and a second end face, respectively.
  • a first slider is provided on the first end face, and a second slider is provided on the second end face.
  • the block moves relative to the input member in a first moving direction, the second slider moves relative to the output member in a second moving direction, the first moving direction is perpendicular to the second moving direction, and the first and second moving directions are perpendicular to The axial direction of the cross slip ring;
  • the first slider is provided with a first mounting position, and the first mounting position is provided with a first roller group, and the first roller group includes a plurality of first rollers arranged along the first moving direction.
  • each first roller is located outside the first mounting position; and / or a second mounting position is provided on the second slider, a second roller set is disposed in the second mounting position, and the second roller
  • the group includes a plurality of second rollers arranged along the second moving direction, and at least a part of each second roller is located outside the second mounting position.
  • the cross slip ring is used to form a cross slider coupling with the input piece and the output piece.
  • the first roller in the first slide piece and the first slide groove of the input piece are in a rolling frictional fit.
  • the first mounting position is disposed on the first side surface of the first slider, and the first side surface is oriented perpendicular to the axial direction of the cross slip ring.
  • the first slider has two first sides opposite to each other, and each first side is provided with a first mounting position.
  • the first rollers are provided on the two opposite sides of the slider, and there is a rolling friction fit between the slider and the side walls on both sides of the chute, and the cooperation between the slider and the chute is more reasonable.
  • the relative displacement is smoother.
  • the first mounting position is disposed on a first top surface of the first slider, and the direction of the first top surface is parallel to the axial direction of the cross slip ring.
  • the first mounting position includes a plurality of first roller grooves arranged in a straight line, and the first roller groove has a first arc surface; and each first roller groove is provided with a first roller. child.
  • the roller groove matches the outer contour of the roller, and the roller rolls more smoothly.
  • a first roller cage is disposed in the first mounting position, and a plurality of first rollers are rotatably mounted on the first roller cage.
  • the arrangement of the roller cage can make the installation of the roller set more stable.
  • the first end surface is provided with two first sliders symmetrically arranged along the circumferential direction of the cross slip ring.
  • the two sliders arranged symmetrically make the overall mechanical state of the cross slider coupling more stable.
  • the first moving direction is the radial direction of the cross slip ring.
  • the two sliders are symmetrically arranged in the circumferential direction of the rotating shaft and extend in the radial direction, which can make the overall mechanical state of the cross slider coupling more stable.
  • the second mounting position is disposed on a second side surface of the second slider, and the second side surface is oriented perpendicular to the axial direction of the cross slip ring.
  • the second slider has two second sides opposite to each other, and each second side is provided with a second mounting position.
  • the second mounting position is disposed on the second top surface of the second slider, and the direction of the second top surface is parallel to the axial direction of the cross slip ring.
  • the second mounting position includes a plurality of second roller grooves arranged along a straight line, and the second roller grooves have a second arc surface; each second roller groove is provided with a second roller child.
  • a second roller cage is disposed in the second mounting position, and a plurality of second rollers are rotatably mounted on the second roller cage.
  • the second end surface is provided with two second sliders arranged symmetrically along the circumferential direction of the cross slip ring.
  • the second moving direction is the radial direction of the cross slip ring.
  • the cross slider coupling provided by the second object of the present application includes an input piece, a cross slip ring, and an output piece which are sequentially connected in the axial direction; the input piece is provided with a first slide groove facing the cross slip ring, and the output piece is provided with There is a second slide groove facing the cross slide ring, and the extension direction of the first slide groove is perpendicular to the second extension direction; the cross slide ring uses the above-mentioned cross slide ring; the first slider is located in the first slide groove, and the first roll The roller and the first groove surface of the first chute roll in a first movement direction; the second slider is located in the second groove, and the second roller and the second groove surface of the second chute roll in the second movement direction Cooperate.
  • first roller in the first slider of the cross slip ring and the first sliding groove of the input member are in a rolling frictional fit
  • the second roller in the second slider and the second slider of the output member Groove rolling friction fit.
  • the input member includes a shaft body and a ring portion provided in a circumferential direction of the shaft body, the ring portion is provided with a first slide groove; the cross slip ring has a first through hole; the output piece includes a cam, a cam A second through hole is provided; the shaft body passes through the first through hole and the second through hole in sequence.
  • this kind of cross slide coupling is suitable for forming a harmonic reducer.
  • the harmonic reducer provided by the third object of the present application includes a flexible wheel, a rigid wheel, and a wave generator.
  • the wave generator includes a flexible bearing and a coupling, the flexible bearing is set outside the coupling, and the flexible wheel is set outside the flexible bearing.
  • a first tooth set is provided on the outer peripheral surface of the flexible wheel, a second tooth set is provided on the inner peripheral wall of the rigid wheel, and the first tooth set is engaged with the second tooth set; the coupling uses the above-mentioned cross slide coupling, and a flexible bearing set On the cam.
  • the cam of the output member of the cross slider coupling is connected to the flexible bearing to form a wave generator, and the first roller in the first slider of the cross slip ring and the first chute of the input member roll friction.
  • FIG. 1 is a structural diagram of a first embodiment of a cross slip ring of the present application.
  • FIG. 2 is a schematic structural view of a first perspective of a first embodiment of a cross slip ring of the present application.
  • FIG. 3 is a schematic structural diagram of a second perspective of the first embodiment of the cross slip ring of the present application.
  • FIG. 4 is a schematic structural diagram of a first slider in the first embodiment of the cross slip ring of the present application.
  • FIG. 5 is a structural diagram of a first embodiment of a cross slider coupling of the present application.
  • FIG. 6 is a structural exploded view of the first embodiment of the cross slider coupling of the present application.
  • FIG. 7 is a schematic structural diagram of a first embodiment of a cross slider coupling of the present application.
  • FIG. 8 is a schematic structural diagram of a first slider in the second embodiment of the cross slip ring of the present application.
  • FIG. 9 is a schematic structural diagram of a first slider in a third embodiment of the cross slip ring of the present application.
  • FIG. 10 is a schematic structural diagram of a second embodiment of a cross slider coupling of the present application.
  • FIG. 11 is a schematic structural diagram of a first slider in a fourth embodiment of the cross slip ring of the present application.
  • FIG. 12 is a schematic structural diagram of a third embodiment of a cross slider coupling of the present application.
  • FIG. 1 is a structural diagram of a first embodiment of a cross slip ring of the present application
  • FIG. 2 is a schematic structural diagram of a first perspective of a first embodiment of the cross slip ring of the present application
  • FIG. 3 is a cross slip ring of the present application Schematic diagram of the second embodiment of the first embodiment.
  • the cross slip ring 1 is a component in the cross slide coupling.
  • the ring body 10 of the cross slip ring 1 has a first through hole 12 penetrating in the axial direction, and the ring body 10 has first end faces 101 at both ends in the axial direction. And second end surface 102.
  • two first sliders 13 arranged symmetrically are arranged on the first end surface 101, and two second sliders 19 arranged symmetrically are arranged on the second end surface 102.
  • the convex direction of the slider 13 on the first end surface 101 is opposite to the convex direction of the second slider 19 on the second end surface 102.
  • FIG. 4 is a structural diagram of the first slider 13 in this embodiment. Since the cross slip ring 1 is used to form a cross slider coupling with the input piece and the output piece, the first slide piece 13 is used to cooperate with the input piece, the second slide piece 19 is used to cooperate with the output piece, and the first slide piece 13
  • the second slider 19 can move relative to the input member in the first moving direction, that is, the X-axis direction in FIG. 2; the second slider 19 can move in the second moving direction relative to the output member, that is, the Y-axis direction in FIG. 2.
  • the first slider 13 has two first side surfaces 131 disposed symmetrically on both sides. The direction of the first side surface 131 is perpendicular to the penetration direction of the first through hole 12.
  • the first slider 13 is provided with a first side surface 131.
  • the first mounting position 133 includes three first roller grooves 134 arranged along the first moving direction. Each first roller groove 134 has a first arc surface 135.
  • the cross slip ring 1 further includes a first roller group 14.
  • the first roller group 14 includes a plurality of first rollers 141. The first roller group 14 is disposed in the first mounting position 133 and each roller 141 is disposed.
  • first roller groove 134 the peripheral surface of the roller 141 is in contact with the first arc surface 135, and at least a part of each first roller 141 is located outside the first mounting position 133 and is located on the first slider.
  • a set of first roller groups 14 is provided in the two first mounting positions 133 on both sides of 13.
  • the cross slip ring 1 further includes a second roller group 18, and the second slider 19 has two second sides perpendicular to the penetrating direction of the first through hole 12, and the two second sides are symmetrically disposed.
  • a second mounting position is provided on both second sides.
  • the second mounting position is the same as the first mounting position 133, and the second mounting position includes the second mounting position arranged along the second moving direction.
  • a plurality of second roller grooves, and the second roller grooves have a second arc surface, a plurality of second rollers 181 in the second roller group 18 are disposed in the second roller grooves, and each second At least a part of the roller 181 is located outside the second mounting position.
  • FIG. 5 is a structural diagram of a first embodiment of the cross slider coupling of the present application
  • FIG. 6 is an exploded view of the structure of the first embodiment of the cross slider coupling of the present application.
  • the cross slider coupling provided in the present application is a coupling applied to a harmonic reducer.
  • the cross slider coupling includes an input member 2, a cross slip ring 1, and an output member 3.
  • the cross slip ring 1 is the above Cross slip ring.
  • the input member 2 includes a shaft body 22 and a ring portion 21 provided in a circumferential direction of the shaft body 22.
  • the ring portion 21 has two first sliding grooves 23 and a first sliding groove 23 symmetrically disposed along the circumferential direction of the shaft body 22.
  • a first sliding groove 23 penetrates the annular portion 21, the first sliding groove 23 has a first groove surface, and the first groove surface includes two oppositely disposed two The first side surface portions 231 are oriented perpendicular to the axial direction of the shaft body 22.
  • the output member 3 is a cam.
  • the middle portion of the output member 3 has second through holes 31 penetrating through the axial ends of the output member 3, and the output member 3 is provided with two second chute grooves on the end face of the axial end of the second through hole 31.
  • Two second sliding grooves 32 are symmetrically disposed in a circumferential direction of the second through hole 31, and the second sliding grooves 32 extend in a radial direction of the second through hole 31.
  • the second sliding groove 32 has a second groove surface.
  • the second groove surface includes two second side surface portions 321 and one second top surface portion 322 opposite to each other. The direction of the second side surface portion 321 is perpendicular to the penetration of the second through hole 31.
  • the two second side surface portions 321 are symmetrically disposed on both sides of the second chute 32, the second top surface portion 322 is connected between the two second side surface portions 321, and the orientation of the second top surface portion 322 is parallel to the first The penetrating direction of the two through holes 31.
  • FIG. 7 is a schematic structural diagram of a first embodiment of a cross slider coupling of the present application.
  • the input member 2, the cross slip ring 1, and the output member 3 are sequentially connected in the axial direction, and the shaft body 22 passes through the first through hole 12 of the cross slip ring 1 and the second through hole 31 of the output member 3 in sequence.
  • the first end surface 101 faces the input member 2, the first slider 13 is located in the first chute 23 of the input member 2, and the first roller 141 and the first side surface portion 231 are rolling-fitted along the first moving direction;
  • the second end surface 102 faces the output member 3, the second slider 19 is located in the second chute 32 of the output member 3, and the second roller 181 and the second side portion 321 on the second slider 19 are along the second moving direction.
  • the input member 2 is connected to a rotation driving device.
  • the shaft body 22 of the input member 2 is horizontally arranged, under the influence of gravity, between the first slider 13 and the first side portion 231, and the second slider 19 and the second side
  • the friction between the portions 321 increases, and a first roller 141 is provided between the first slider 13 and the first side portion 231, and a second roller 181 is provided between the second slider 19 and the second side portion 321.
  • the rolling friction fit is used instead of the original sliding friction fit, which effectively reduces the degree of wear at the mating place and prolongs the service life, and the relative movement between the input member 2 and the cross slip ring 1, and the cross slip ring 1 and the output piece 3 Smoother.
  • FIG. 8 is a schematic structural diagram of a first slider in a second embodiment of a cross slip ring of the present application.
  • the first mounting position 131 of the first slider 13 is provided with a first roller holder 15, and the first holder 15 has a plurality of first holding positions 151 arranged in a straight line.
  • Each of the first holding positions 151 has a first arc wall surface 152 on both sides
  • the first roller 141 is fixed in the first holding position 151
  • the two first arc wall surfaces 152 on both sides are in contact with the first roller.
  • the outer peripheral surface of the roller 141 is in contact fit, and the first roller 141 has a degree of freedom of rotation.
  • the second mounting position of the second slider is provided with a second roller cage, and the second cage has a plurality of second retention positions arranged in a straight line, and both sides of each second retention position are on both sides. It has a second circular arc wall surface, the second roller is fixed in the second holding position, the two second circular arc wall surfaces on both sides are in contact with the outer peripheral surface of the second roller, and the second roller has a degree of freedom of rotation.
  • FIG. 9 is a schematic structural diagram of a first slider in a third embodiment of a cross slip ring of the present application
  • FIG. 10 is a schematic structural diagram of a second embodiment of a cross slider coupling of the present application.
  • a first top surface 132 is connected between the two first side surfaces 131 on the first slider 13, the first top surface 132 is perpendicular to the first side surface 131, and the first slider 13 is only on the first top surface 132.
  • a first mounting position 136 is provided.
  • a first roller set 14 is disposed in the first mounting position 136.
  • the first roller set 14 includes a plurality of first rollers 14 arranged linearly along a first moving direction.
  • the first groove surface of the first chute 23 of the input member 2 includes a first top surface portion 232 connected between the two first side surface portions 231, and the first top surface portion 232 faces the same direction as the axial direction of the input member 2.
  • the first roller 141 on the first slider 13 is in rolling cooperation with the first top surface portion 232.
  • a second top surface is connected between the two second side surfaces on the second slider 19, the second top surface is perpendicular to the second side surface, and the second slider 19 is provided only on the second top surface.
  • the second mounting position is provided with a second roller group.
  • the second roller group includes a plurality of second rollers 181 arranged in a straight line along the second moving direction.
  • the second roller 181 on the second slider 19 is in rolling cooperation with the second top surface portion 322 of the output member 3.
  • FIG. 11 is a schematic structural diagram of a first slider in a fourth embodiment of a cross slip ring of the present application
  • FIG. 12 is a schematic structural diagram of a third embodiment of a cross slider coupling of the present application.
  • the two first side surfaces 131 of the first slider 13 are each provided with a first mounting position 133
  • the first top surface 132 is provided with a first mounting position 136
  • the first mounting position 133 and the first mounting position 136 are both provided
  • a plurality of first rollers 141 in each first roller group 14 are arranged linearly along a first moving direction.
  • each second mounting position is provided on both the second side surface and the second top surface of the second slider 19, and each second mounting position is provided with a second roller group, and each second roller The plurality of second rollers 181 in the group are arranged linearly along the second moving direction.
  • the second slider 19 is located in the second sliding groove 32, and the second rollers 181 on the two second sides and the second of the second groove surface
  • the side surface portion 321 is in a rolling friction fit
  • the second roller 181 on the second top surface is in a rolling friction fit with the second top surface portion 322 in the second groove surface.
  • the harmonic reducer provided in this application includes a flexible wheel, a rigid wheel and a wave generator.
  • the wave generator includes a flexible bearing and a coupling.
  • the flexible bearing is set outside the coupling.
  • the flexible wheel is set outside the flexible bearing.
  • a first tooth set is provided on the outer peripheral surface
  • a second tooth set is provided on the inner peripheral wall of the rigid wheel, and the first tooth set is engaged with the second tooth set;
  • the coupling uses the above-mentioned cross slide coupling, and the outer peripheral surface of the output member 3 As a cam surface, a flexible bearing is set on the outer peripheral surface of the output member 3 to constitute a wave generator.

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Abstract

一种十字滑环（1），其第一端面（101）和第二端面（102）分别设置有第一滑块（13）和第二滑块（19），第一滑块（13）上设置有第一安装位（133），第一安装位（133）中设有第一滚子组（14），第一滚子组（14）包括沿第一移动方向布置的多个第一滚子（141），和/或第二滑块（19）上设置有第二安装位，第二安装位中设有第二滚子组（18），第二滚子组（18）包括沿第二移动方向布置的多个第二滚子（181）。第一滑块（13）与输入件（2）的第一滑槽（23）的第一槽面滚动摩擦配合，第二滑块（19）与输出件（3）的第二滑槽（32）的第二槽面滚动摩擦配合。采用滚动摩擦配合替代原有的滑动摩擦配合，降低磨损程度，延长使用寿命。还涉及包括该十字滑环（1）、输入件（2）和输出件（3）的十字滑块联轴器以及包括该十字滑块联轴器的谐波减速器。

Description

十字滑环、十字滑块联轴器和谐波减速器
相关申请
本申请要求2018年09月25日申请的，申请号为201811116980.6，名称为“十字滑环、十字滑块联轴器和谐波减速器”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请涉及联轴器技术领域，具体地涉及一种十字滑环、十字滑块联轴器和谐波减速器。
背景技术
目前，十字滑块联轴器广泛用于通用机械、水工机械、工程机械、冶金机械、矿山机械、化工机械等多种场合。十字滑块联轴器一般运用在常用电机中，由于其结构简单，安装方便，维护容易，所以使用量颇大。
传统的一种十字滑块联轴器包括两个半联轴器和设置在两个半联轴器之间的十字滑环，两个半联轴器上朝向十字滑环的一侧设置有滑槽，十字滑环相对的两侧上均设置有滑块，十字滑环两侧的滑块分别与对应侧的半联轴器的滑槽滑动配合，且位于十字滑环两侧的两个滑块的滑动配合方向之间相互垂直。
传统的十字滑块联轴器存在的问题是，滑块与滑槽的槽面之间滑动配合，而联轴器中的润滑较为困难，滑块的表面与滑槽的槽面之间因连续摩擦而产生磨损，十字滑块联轴器的使用寿命缩短。
发明内容
本申请的第一目的在于提供一种采用滚动摩擦配合而延长使用寿命的十字滑环。
本申请的第二目的在于提供一种采用滚动摩擦配合而延长使用寿命的十字滑块联轴器。
本申请的第三目的在于提供一种有效延长使用寿命的谐波减速器。
本申请第一目的提供的十字滑环的轴向两端分别具有第一端面和第二端面，第一端面上设置有第一滑块，第二端面上设置有第二滑块；第一滑块相对于输入件沿第一移动方向移动，第二滑块相对于输出件沿第二移动方向移动，第一移动方向垂直于第二移动方向，第一移动方向和第二移动方向均垂直于十字滑环的轴向；第一滑块上设置有第一安装位， 第一安装位中设有第一滚子组，第一滚子组包括沿第一移动方向布置的多个第一滚子，每一第一滚子的至少一部分位于第一安装位外；和/或第二滑块上设置有第二安装位，第二安装位中设有第二滚子组，第二滚子组包括沿第二移动方向布置的多个第二滚子，每一第二滚子的至少一部分位于第二安装位外。
由上述方案可见，十字滑环用于与输入件以及输出件组成十字滑块联轴器，第一滑块中的第一滚子与输入件的第一滑槽滚动摩擦配合，第二滑块中的第二滚子与输出件的第二滑槽滚动摩擦配合，十字滑块联轴器进行调心运动时部件间原有的滑动摩擦配合被滚动摩擦配合替代，降低磨损程度，延长使用寿命。
在其中一个实施例中，第一安装位设置在第一滑块的第一侧面上，第一侧面的朝向垂直于十字滑环的轴向。
由上可见，当十字滑块联轴器的转轴水平设置时，朝向垂直于轴向的配合面之间摩擦力更大，将该配合面之间的滑动配合替换为滚动配合能有效降低磨损程度。
在其中一个实施例中，第一滑块具有相对设置的两个第一侧面，每个第一侧面上均设置有一个第一安装位。
由上可见，滑块的相对的两个侧面上均设置第一滚子，滑块与滑槽两侧的侧壁之间均具有滚动摩擦配合，滑块与滑槽之间的配合状态更合理，相对位移更流畅。
在其中一个实施例中，第一安装位设置在第一滑块的第一顶面上，第一顶面的朝向平行于十字滑环的轴向。
由上可见，当十字滑块联轴器的转轴垂向设置，滑块与滑槽内壁之间产生与轴向平行的相对作用力，在朝向平行于轴向的第一顶面设置滚子组能有效降低磨损程度。
在其中一个实施例中，第一安装位包括沿直线排列的多个第一滚子槽，第一滚子槽具有第一圆弧面；每个第一滚子槽中设置有一个第一滚子。
由上可见，滚子槽与滚子的外轮廓配合，滚子的滚动更流畅。
在其中一个实施例中，第一安装位中设置第一滚子保持架，多个第一滚子可转动地安装在第一滚子保持架上。
由上可见，滚子保持架的设置能使滚子组的安装更稳固。
在其中一个实施例中，第一端面上设置有沿十字滑环的周向对称布置的两个第一滑块。
由上可见，对称设置的两个滑块使十字滑块联轴器整体的力学状态更稳定。
在其中一个实施例中，第一移动方向为十字滑环的径向。
由上可见，两个滑块对称地设置在转轴的周向且沿径向延伸，能使十字滑块联轴器整 体的力学状态更稳定。
在其中一个实施例中，第二安装位设置在第二滑块的第二侧面上，第二侧面的朝向垂直于十字滑环的轴向。
在其中一个实施例中，第二滑块具有相对设置的两个第二侧面，每个第二侧面上均设置有一个第二安装位。
在其中一个实施例中，第二安装位设置在第二滑块的第二顶面上，第二顶面的朝向平行于十字滑环的轴向。
在其中一个实施例中，第二安装位包括沿直线排列的多个第二滚子槽，第二滚子槽具有第二圆弧面；每个第二滚子槽中设置有一个第二滚子。
在其中一个实施例中，第二安装位中设置第二滚子保持架，多个第二滚子可转动地安装在第二滚子保持架上。
在其中一个实施例中，第二端面上设置有沿十字滑环的周向对称布置的两个第二滑块。
在其中一个实施例中，第二移动方向为十字滑环的径向。
本申请第二目的提供的十字滑块联轴器，包括沿轴向依次连接的输入件、十字滑环和输出件；输入件上设有朝向十字滑环的第一滑槽，输出件上设有朝向十字滑环的第二滑槽，第一滑槽的延伸方向垂直于第二的延伸方向；十字滑环使用上述的十字滑环；第一滑块位于第一滑槽内，第一滚子与第一滑槽的第一槽面沿第一移动方向滚动配合；第二滑块位于第二滑槽内，第二滚子与第二滑槽的第二槽面沿第二移动方向滚动配合。
在其中一个实施例中，十字滑环的第一滑块中的第一滚子与输入件的第一滑槽滚动摩擦配合，第二滑块中的第二滚子与输出件的第二滑槽滚动摩擦配合，十字滑块联轴器进行调心运动时，采用滚动摩擦配合替代原有的滑动摩擦配合，降低磨损程度，延长使用寿命。
在其中一个实施例中，输入件包括轴体和设置在轴体周向上的圆环部，圆环部上设有第一滑槽；十字滑环具有第一通孔；输出件包括凸轮，凸轮具有第二通孔；轴体依次穿过第一通孔和第二通孔。
由上可见，该种十字滑块联轴器适用于组成谐波减速器中。
本申请第三目的提供的谐波减速器包括柔轮、刚轮和波发生器，波发生器包括柔性轴承和联轴器，柔性轴承套装在联轴器外，柔轮套装在柔性轴承外，柔轮的外周面上设置第一齿组，刚轮的内周壁设置第二齿组，第一齿组与第二齿组啮合；联轴器使用上述的十字滑块联轴器，柔性轴承套装在凸轮上。
由上述方案可见，十字滑块联轴器的输出件的凸轮连接到柔性轴承上构成波发生器， 十字滑环的第一滑块中的第一滚子与输入件的第一滑槽滚动摩擦配合，第二滑块中的第二滚子与输出件的第二滑槽滚动摩擦配合，十字滑块联轴器进行调心运动时，采用滚动摩擦配合替代原有的滑动摩擦配合，降低磨损程度，延长十字滑块联轴器以及谐波减速器的使用寿命。
附图说明
图1为本申请十字滑环第一实施例的结构图。
图2为本申请十字滑环第一实施例第一视角的结构示意图。
图3为本申请十字滑环第一实施例第二视角的结构示意图。
图4为本申请十字滑环第一实施例中第一滑块的结构示意图。
图5为本申请十字滑块联轴器第一实施例的结构图。
图6为本申请十字滑块联轴器第一实施例的结构分解图。
图7为本申请十字滑块联轴器第一实施例的结构示意图。
图8为本申请十字滑环第二实施例中第一滑块的结构示意图。
图9为本申请十字滑环第三实施例中第一滑块的结构示意图。
图10为本申请十字滑块联轴器第二实施例的结构示意图。
图11为本申请十字滑环第四实施例中第一滑块的结构示意图。
图12为本申请十字滑块联轴器第三实施例的结构示意图。
以下结合附图及实施例对本申请作进一步说明。
具体实施方式
十字滑环第一实施例
参见图1至图3，图1为本申请十字滑环第一实施例的结构图，图2为本申请十字滑环第一实施例第一视角的结构示意图，图3为本申请十字滑环第一实施例第二视角的结构示意图。十字滑环1为十字滑块联轴器中的构件，十字滑环1的环体10中部具有贯穿轴向的第一通孔12，环体10在轴向的两端分别具有第一端面101和第二端面102。在第一通孔12的周向位置上，第一端面101上设置有对称布置的两个第一滑块13，第二端面102上设置有对称布置的两个第二滑块19，第一滑块13在第一端面101的凸起方向与第二滑块19在第二端面102的凸起方向相反。
结合图4，图4为本实施例中第一滑块13的结构图。由于十字滑环1用于与输入件、输出件组成十字滑块联轴器，第一滑块13用于与输入件配合，第二滑块19用于与输出件 配合，第一滑块13可相对于输入件沿第一移动方向移动，即图2中X轴方向；第二滑块19可相对于输出件沿第二移动方向移动，即图2中Y轴方向。
第一滑块13具有对称设置在两侧的两个第一侧面131，第一侧面131的朝向垂直于第一通孔12的贯穿方向，第一滑块13在第一侧面131上设置有第一安装位133，第一安装位133包括沿第一移动方向排列设置的三个第一滚子槽134，每个第一滚子槽134具有第一圆弧面135。十字滑环1还包括第一滚子组14，第一滚子组14包括多个第一滚子141，第一滚子组14设置在第一安装位133中，且每个滚子141设置在一个第一滚子槽134中，滚子141的周面与第一圆弧面135面接触配合，每个第一滚子141的至少一部分位于第一安装位133以外，位于第一滑块13两侧的两个第一安装位133中均设置有一组第一滚子组14。
同理地，十字滑环1还包括第二滚子组18，第二滑块19上具有垂直于第一通孔12的贯穿方向的两个第二侧面，且该两个第二侧面对称设置在第二滑块19的对称两侧，两个第二侧面上均设置有一个第二安装位，第二安装位于第一安装位133结构相同，第二安装位包括沿第二移动方向布置的多个第二滚子槽，且第二滚子槽具有第二圆弧面，第二滚子组18中多个第二滚子181均设置在第二滚子槽中，且每个第二滚子181的至少一部分位于第二安装位外。
结合图5和图6，图5为本申请十字滑块联轴器第一实施例的结构图，图6为本申请十字滑块联轴器第一实施例的结构分解图。本申请提供的十字滑块联轴器为一种应用于谐波减速器的联轴器，十字滑块联轴器包括输入件2、十字滑环1和输出件3，十字滑环1为上述的十字滑环。输入件2包括轴体22和设置在轴体22周向上的圆环部21，圆环部21上具有沿轴体22的周向对称设置的两个第一滑槽23，第一滑槽23沿轴体22的径向延伸，且在轴体22的轴向上，第一滑槽23贯穿圆环部21，第一滑槽23具有第一槽面，第一槽面包括相对设置的两个第一侧面部231，第一侧面部231的朝向垂直于轴体22的轴向。
输出件3为凸轮，输出件3中部具有贯穿于输出件3轴向两端的第二通孔31，输出件3在第二通孔31的轴向一端的端面上设置有两道第二滑槽32，两道第二滑槽32对称地设置在所述第二通孔31的周向上，且第二滑槽32沿所述第二通孔31的径向延伸。第二滑槽32具有第二槽面，第二槽面包括相对设置的两个第二侧面部321和一个第二顶面部322，第二侧面部321的朝向垂直于第二通孔31的贯穿方向，两个第二侧面部321对称地设置在第二滑槽32的两侧，第二顶面部322连接在两个第二侧面部321之间，且第二顶面部322的朝向平行于第二通孔31的贯穿方向。
再结合图3和图7，图7为本申请十字滑块联轴器第一实施例的结构示意图。输入件 2、十字滑环1和输出件3沿轴向依次连接，轴体22依次穿过十字滑环1的第一通孔12和输出件3的第二通孔31，十字滑环1的第一端面101朝向输入件2，第一滑块13位于输入件2的第一滑槽23中，第一滚子141与第一侧面部231沿第一移动方向滚动配合；十字滑环1的第二端面102朝向输出件3，第二滑块19位于输出件3的第二滑槽32中，且第二滑块19上的第二滚子181与第二侧面部321沿第二移动方向滚动配合。输入件2与转动驱动装置连接，当输入件2的轴体22水平设置时，在重力影响下，第一滑块13与第一侧面部231之间、以及第二滑块19与第二侧面部321之间摩擦力增大，在第一滑块13与第一侧面部231之间设置第一滚子141和在第二滑块19与第二侧面部321之间设置第二滚子181，采用滚动摩擦配合替代原有的滑动摩擦配合，有效降低配合处的磨损程度，延长使用寿命，且输入件2与十字滑环1之间、十字滑环1与输出件3之间的相对移动更流畅。
十字滑环第二实施例
参见图8，图8为本申请十字滑环第二实施例中第一滑块的结构示意图。以第一滑块13为例，第一滑块13的第一安装位131中设置有第一滚子保持架15，第一保持架15上具有沿直线排布的多个第一保持位151，每个第一保持位151的两侧均具有第一圆弧壁面152，第一滚子141固定在第一保持位151中，两侧的两个第一圆弧壁面152均与第一滚子141的外周面接触配合，第一滚子141具有转动自由度。
相同地，第二滑块的第二安装位中设置有第二滚子保持架，第二保持架上具有沿直线排布的多个第二保持位，每个第二保持位的两侧均具有第二圆弧壁面，第二滚子固定在第二保持位中，两侧的两个第二圆弧壁面均与第二滚子的外周面接触配合，第二滚子具有转动自由度。
十字滑环第三实施例
参见图9和图10，图9为本申请十字滑环第三实施例中第一滑块的结构示意图，图10为本申请十字滑块联轴器第二实施例的结构示意图。第一滑块13上在两个第一侧面131之间连接有第一顶面132，第一顶面132垂直于第一侧面131，且第一滑块13上仅在第一顶面132上设置有第一安装位136，第一安装位136中设置第一滚子组14，第一滚子组14包括沿第一移动方向直线排布的多个第一滚子14。输入件2的第一滑槽23的第一槽面包括连接在两个第一侧面部231之间的第一顶面部232，且第一顶面部232的朝向与输入件2的轴向相同。第一滑块13上的第一滚子141与第一顶面部232滚动配合。
相同地，第二滑块19上在两个第二侧面之间连接有第二顶面，第二顶面垂直于第二侧面，且第二滑块19上仅在第二顶面上设置有第二安装位，第二安装位中设置第二滚子 组，第二滚子组包括沿第二移动方向直线排布的多个第二滚子181。第二滑块19上的第二滚子181与输出件3的第二顶面部322滚动配合。
十字滑环第四实施例
参见图11和图12，图11为本申请十字滑环第四实施例中第一滑块的结构示意图，图12为本申请十字滑块联轴器第三实施例的结构示意图。第一滑块13的两个第一侧面131均设置有第一安装位133，第一顶面132上设置有第一安装位136，第一安装位133和第一安装位136上均设置有第一滚子组14，每个第一滚子组14中多个第一滚子141沿第一移动方向直线布置。
相同地，第二滑块19的两个第二侧面和第二顶面上均设置有第二安装位，每个第二安装位上均设置有第二滚子组，每个第二滚子组中多个第二滚子181沿第二移动方向直线布置。
结合图6，以十字滑环1与输出件3配合为例，第二滑块19位于第二滑槽32中，两个第二侧面上的第二滚子181与第二槽面的第二侧面部321滚动摩擦配合，第二顶面上的第二滚子181与第二槽面的第二顶面部322滚动摩擦配合。
本申请提供的谐波减速器包括柔轮、刚轮和波发生器，波发生器包括柔性轴承和联轴器，柔性轴承套装在联轴器外，柔轮套装在柔性轴承外，柔轮的外周面上设置第一齿组，刚轮的内周壁设置第二齿组，第一齿组与第二齿组啮合；联轴器使用上述的十字滑块联轴器，输出件3的外周面为凸轮面，柔性轴承套装在输出件3的外周面上即构成波发生器。
最后需要强调的是，以上所述仅为本申请的优选实施例，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种变化和更改，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (18)

  1. 一种十字滑环，所述十字滑环的轴向两端分别具有第一端面和第二端面，所述第一端面上设置有第一滑块，所述第二端面上设置有第二滑块；
    所述第一滑块相对于输入件沿第一移动方向移动，所述第二滑块相对于输出件沿第二移动方向移动，所述第一移动方向垂直于所述第二移动方向，所述第一移动方向和所述第二移动方向均垂直于所述十字滑环的轴向；
    其特征在于：
    所述第一滑块上设置有第一安装位，所述第一安装位中设有第一滚子组，所述第一滚子组包括沿所述第一移动方向布置的多个第一滚子，每一所述第一滚子的至少一部分位于所述第一安装位外；
    和/或，
    所述第二滑块上设置有第二安装位，所述第二安装位中设有第二滚子组，所述第二滚子组包括沿所述第二移动方向布置的多个第二滚子，每一所述第二滚子的至少一部分位于所述第二安装位外。
  2. 根据权利要求1所述的十字滑环，其特征在于：
    所述第一安装位设置在所述第一滑块的第一侧面上，所述第一侧面的朝向垂直于所述十字滑环的轴向。
  3. 根据权利要求2所述的十字滑环，其特征在于：
    所述第一滑块具有相对设置的两个所述第一侧面，每个所述第一侧面上均设置有一个所述第一安装位。
  4. 根据权利要求1所述的十字滑环，其特征在于：
    所述第一安装位设置在所述第一滑块的第一顶面上，所述第一顶面的朝向平行于所述十字滑环的轴向。
  5. 根据权利要求1至4任一项所述的十字滑环，其特征在于：
    所述第一安装位包括沿直线排列的多个第一滚子槽，所述第一滚子槽具有第一圆弧面；
    每个所述第一滚子槽中设置有一个所述第一滚子。
  6. 根据权利要求1至4任一项所述的十字滑环，其特征在于：
    所述第一安装位中设置第一滚子保持架，多个所述第一滚子可转动地安装在所述第一 滚子保持架上。
  7. 根据权利要求1至4任一项所述的十字滑环，其特征在于：
    所述第一端面上设置有沿所述十字滑环的周向对称布置的两个所述第一滑块。
  8. 根据权利要求1至4任一项所述的十字滑环，其特征在于：
    所述第一移动方向为所述十字滑环的径向。
  9. 根据权利要求1至4任一项所述的十字滑环，其特征在于：
    所述第二安装位设置在所述第二滑块的第二侧面上，所述第二侧面的朝向垂直于所述十字滑环的轴向。
  10. 根据权利要求9所述的十字滑环，其特征在于：
    所述第二滑块具有相对设置的两个所述第二侧面，每个所述第二侧面上均设置有一个所述第二安装位。
  11. 根据权利要求1至4任一项所述的十字滑环，其特征在于：
    所述第二安装位设置在所述第二滑块的第二顶面上，所述第二顶面的朝向平行于所述十字滑环的轴向。
  12. 根据权利要求1至4任一项所述的十字滑环，其特征在于：
    所述第二安装位包括沿直线排列的多个第二滚子槽，所述第二滚子槽具有第二圆弧面；
    每个所述第二滚子槽中设置有一个所述第二滚子。
  13. 根据权利要求1至4任一项所述的十字滑环，其特征在于：
    所述第二安装位中设置第二滚子保持架，多个所述第二滚子可转动地安装在所述第二滚子保持架上。
  14. 根据权利要求1至4任一项所述的十字滑环，其特征在于：
    所述第二端面上设置有沿所述十字滑环的周向对称布置的两个所述第二滑块。
  15. 根据权利要求1至4任一项所述的十字滑环，其特征在于：
    所述第二移动方向为所述十字滑环的径向。
  16. 一种十字滑块联轴器，包括沿轴向依次连接的输入件、十字滑环和输出件；
    所述输入件上设有朝向所述十字滑环的第一滑槽，所述输出件上设有朝向所述十字滑环的第二滑槽，所述第一滑槽的延伸方向垂直于所述第二的延伸方向；
    其特征在于：
    所述十字滑环使用如上述权利要求1至15任一项所述的十字滑环；
    所述第一滑块位于所述第一滑槽内，所述第一滚子与所述第一滑槽的第一槽面沿所述 第一移动方向滚动配合；
    所述第二滑块位于所述第二滑槽内，所述第二滚子与所述第二滑槽的第二槽面沿所述第二移动方向滚动配合。
  17. 根据权利要求16所述的十字滑块联轴器，其特征在于：
    所述输入件包括轴体和设置在所述轴体周向上的圆环部，所述圆环部上设有所述第一滑槽；
    所述十字滑环具有第一通孔；
    所述输出件包括凸轮，所述凸轮具有第二通孔；
    所述轴体依次穿过所述第一通孔和所述第二通孔。
  18. 一种谐波减速器，包括柔轮、刚轮和波发生器，所述波发生器包括柔性轴承和联轴器，所述柔性轴承套装在所述联轴器外，所述柔轮套装在所述性轴承外，所述柔轮的外周面上设置第一齿组，所述刚轮的内周壁设置第二齿组，所述第一齿组与所述第二齿组啮合；
    其特征在于：
    所述联轴器使用上述权利要求17所述的十字滑块联轴器，所述柔性轴承套装在所述凸轮上。
PCT/CN2018/122850 2018-09-25 2018-12-21 十字滑环、十字滑块联轴器和谐波减速器 WO2020062647A1 (zh)

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CN109571442A (zh) * 2019-01-11 2019-04-05 珠海格力电器股份有限公司 一种连接装置及具有其的传动机构和机器人
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