CN104343894B - Reduction transmission bearing - Google Patents

Abstract

The present invention provides a reduction transmission bearing, which includes a first outer ring and a second outer ring which are sleeved with each other, a rolling element is provided between the first outer ring and the second outer ring to prevent the first outer ring and the second outer ring from being separated axially or radially, and the inner ring surfaces of the first outer ring and the second outer ring are provided with internal teeth with different numbers of teeth. It also includes an inner ring which is rotatably arranged between the first and second outer rings, and the outer ring surface of the inner ring is provided with external teeth. It also includes a harmonic generator which is rotatably arranged in the inner ring, and when the harmonic generator rotates, it can push the inner ring so that the external teeth of at least one part of the inner ring mesh with the internal teeth of the first outer ring and the second outer ring, so that the rotation of the difference in the number of teeth can be used to achieve a high reduction ratio transmission effect. The present invention reduces the friction force of the first outer ring and the second outer ring rotating with each other through the structure in which the first outer ring and the second outer ring are sleeved together, and improves the stability of the sleeve connection, effectively preventing the first outer ring and the second outer ring from axially separating, and can achieve the purpose of reducing the volume and simplifying the structure.

Description

Reduction transmission bearing

technical field

The invention relates to a reduction transmission bearing, in particular to a design of a transmission assembly which can be stably supported by a transmission mechanism and also has the function of variable speed transmission.

Background technique

As the rotating component of the rotating shaft, the existing bearing can provide the radial and axial support of the rotating shaft to maintain the center position of the shaft, improve the sliding property of the rotating shaft and reduce the friction force. In addition, the general bearing does not with other functions. Therefore, when the bearing is used in a deceleration transmission mechanism, for example, if the motor is to decelerate to drive a transmission shaft to rotate, the above-mentioned bearing cannot be used to achieve the function of deceleration; the general method can only use a speed change device (such as a gearbox) connected to the Between the motor and the transmission shaft, the power of the motor shaft is first input into the transmission device, and after being decelerated by multiple gears in the transmission device, it drives the transmission shaft at the other end of the transmission device; therefore, the volume of the overall transmission mechanism cannot be effectively reduced, and it is difficult to Applied on precision machines (such as robotic arms) or tools with limited installation space.

In addition, a current harmonic drive (Harmonic drive), such as US patents US4625582, US5662008, US7552664, US4909098, etc., and European patent EP0514829, etc., mainly has a steel ring, and the inner ring surface of the steel ring is provided with internal teeth ; a cup-shaped flexible spline, the outer wall of the flexible spline is provided with external teeth, and the flexible spline is arranged in the steel wheel; and a harmonic device, which includes a cam and a set of flexible bearings arranged on the cam, and is supported by the cam Open the flexible bearing so that the flexible bearing is elliptical against the inner surface of the flexspline, and then the outer teeth of the flexspline mesh with the inner teeth of the steel ring. However, the cup-shaped flexible spline of this kind of harmonic drive is not easy to process and manufacture. When the external teeth are stretched, they cannot completely mesh with the internal teeth of the steel ring. Moreover, the overall axial length is relatively large, and it is not easy to apply to precision machines with limited space. .

In addition, there is another kind of harmonic transmission device, which does not use a cup-shaped flexspline, such as US Patent Publication No. US20130081587, which includes two side-by-side steel rings, and the inner ring surfaces of the steel rings are all provided with internal teeth; an inner ring, The outer wall of the inner ring is provided with outer teeth, and the flexible spline is arranged in the steel wheel; and a harmonic device spreads 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 side-by-side, and axial separation will occur. Therefore, other components such as a casing must be installed to prevent the two steel rings from axial separation, resulting in a larger overall structure and higher manufacturing costs. high.

For this reason, how to integrate the deceleration device and the bearing into one to form the simplest deceleration transmission bearing, which can be directly loaded into mechanical products (such as mechanical arms), so that the bearing can also have the function of deceleration transmission, and at the same time, in terms of volume and weight, All have great improvement, and are the technical problems to be actively solved by the present invention.

Contents of the invention

The object of the present invention is to provide a reduction transmission bearing, which uses two internal teeth of the outer ring that are nested together, the outer teeth of an inner ring mesh with the inner teeth, and a wave generator that drives the inner ring Structural design, so as to achieve the purpose of reduced volume, simplified structure, and both reduction transmission and bearing functions.

In order to achieve the above purpose, the reduction transmission bearing provided by the present invention includes:

A first outer ring, which has a first outer ring surface, a first inner ring surface and a second inner ring surface, the diameter of the first inner ring surface is larger than the diameter of the second inner ring surface, the first The inner ring surface is concavely provided with a circle of first roller grooves, and the second inner ring surface is provided with first internal teeth;

A second outer ring, which is rotatably embedded in the first inner ring surface of the first outer ring, has a second outer ring face and a third inner ring face, and the second outer ring face is recessed with a The second roller groove, the third inner ring surface is provided with second inner teeth, and the number of teeth of the second inner teeth and the first inner teeth has a difference in number of teeth;

a plurality of first rolling elements, the first rolling elements 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 rotatably disposed within 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; and

A harmonic device, which is rotatably arranged in the inner ring, is supported on the fourth inner ring surface of the inner ring, and pushes the outer teeth of at least one meshing part of the inner ring to engage with the first inner teeth and the second internal tooth.

Wherein, the inner ring is an elastically deformable metal ring, and the harmonic device pushes the outer teeth of the two opposite meshing parts of the inner ring to mesh with the first inner tooth and the second inner tooth.

The inner ring is a rigid metal ring, and the harmonic pushes the outer teeth of an engagement portion of the inner ring to engage with the first inner teeth and the second inner teeth.

The first rolling member is a roller or a ball.

Wherein, the harmonic generator includes a first cam and a plurality of second rolling elements. There is a cam surface around the first cam. The second rolling element is arranged on the cam surface and abuts against the first cam surface of the inner ring. Four inner rings.

Wherein, the harmonic generator includes a retaining ring, the retaining ring is sleeved on the cam surface of the first cam, and the second rolling member is disposed on the retaining ring.

Wherein, the second rolling member is a roller or a ball.

Wherein, the harmonic generator includes a second cam and a plurality of third rolling elements, a plurality of supporting shafts are arranged around the second cam, and the third rolling elements are combined on the supporting shafts and abut against the inner The fourth inner annulus of the ring.

Wherein, the third rolling member is a bearing.

The present invention has the advantage that:

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 rolling element or the third rolling element will roll against the fourth inner ring surface of the inner ring. Rotate, and then make the outer teeth of the inner ring mesh 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 will Driven by the inner ring to form decelerated rotation, and then achieve the purpose of deceleration transmission and bearing. In particular, the structure of the first outer ring and the second outer ring in the present invention is sleeved together, and the first rolling element clamps the first outer ring and the second outer ring, so that the axial width of the reduction transmission bearing can be shortened, Reduce the frictional force of mutual rotation between the first outer ring and the second outer ring, and improve the stability of the mutual socket, effectively prevent the first outer ring and the second outer ring from axial separation, so no other shell components are required, and can achieve The purpose of volume reduction and structure simplification.

Description of drawings

Fig. 1 is a schematic diagram of a first exploded state of a first preferred embodiment of the present invention.

Fig. 2 is a schematic diagram of a first exploded state of the first preferred embodiment of the present invention.

Fig. 3 is a schematic cross-sectional view of an assembled state of the first preferred embodiment of the present invention.

Fig. 4 is a schematic cross-sectional view of an assembled state of the first preferred embodiment of the present invention.

Fig. 5 is a schematic diagram of the engagement state of the first preferred embodiment of the present invention.

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

Fig. 7 is a schematic cross-sectional view of another embodiment of the harmonicator in the first preferred embodiment of the present invention.

Fig. 8 is a schematic side view of another embodiment of the harmonicator in the first preferred embodiment of the present invention.

Fig. 9 is a reference diagram of the application state of the first preferred embodiment of the present invention.

Fig. 10 is a first schematic diagram of the deceleration transmission action of the first preferred embodiment of the present invention.

Fig. 11 is the second schematic diagram of the deceleration transmission action of the first preferred embodiment of the present invention.

Fig. 12 is a schematic cross-sectional view of a second preferred embodiment of the present invention.

Fig. 13 is a schematic side view of the second preferred embodiment of the present invention.

In the picture:

1. The first outer ring; 11. The first outer ring;

12 the first inner ring surface; the second inner ring surface 13;

14 the first roller groove; the first inner tooth 15;

16 connecting parts; 161 screw holes;

2 the second outer ring; 21 the second outer ring;

22 the third inner ring surface; the second roller groove 23;

24 second internal teeth; 25 connecting portion;

251 screw holes; 3 the first rolling element;

31 rollers; 4 inner rings;

41 the third outer annulus; 42 the fourth inner annulus;

43 external teeth; 44 meshing parts;

5 harmonics; 51, 51' cams;

511 cam surface; 512 fulcrum;

513 long axis; 52 second rolling element;

521 roller; 522 ball;

53 retaining ring; 531 positioning part;

10 motors; 101 rotating shafts;

20 drive shafts.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

As shown in Figure 1, Figure 2 and Figure 3, the first preferred embodiment of the reduction transmission bearing of the present invention includes a first outer ring 1, a second outer ring 2, a plurality of first rolling elements 3, An inner loop 4 and a harmonic generator 5 (wave generator), wherein:

The first outer ring 1 is a torus, which has a first outer ring surface 11, a first inner ring surface 12 and a second inner ring surface 13, and the diameter of the first inner ring surface 12 is larger than that of the second inner ring surface. The diameter of the ring surface 13 is such that the first outer ring 1 forms a stepped inner hole. And the first inner ring surface 12 is concavely provided with a first roller groove 14 , and the second inner ring surface 13 is provided with first internal teeth 15 . In addition, the first outer ring 1 may also be provided with a connection portion 16 connected to a motor or other components, and the connection portion 16 may be a plurality of screw holes 161 provided on one end surface.

The second outer ring 2 is also a torus, which is rotatably arranged in the first inner ring surface 12 of the first outer ring 1 (as shown in Figure 3 and Figure 4), shortening the axial direction of the reduction transmission bearing. 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 second internal teeth 24. There is a difference in the number of teeth between the second internal teeth 24 and the first internal teeth 15. For example, when the total number of second internal teeth 24 is 60 teeth, the total number of first internal teeth 15 can be 62 teeth, which has a tooth number of 2 teeth Difference (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 also be provided with a connection portion 25 connected to the transmission shaft or other components, and the connection portion 25 may be a plurality of screw holes 251 provided on one end surface.

The first rolling element 3 is arranged between the first roller groove 14 and the second roller groove 23 (as shown in FIG. 4 ), so that the first rolling element 3 acts as the first outer ring 1 and the second outer ring. The connecting and position-limiting assembly of the rings 2 prevents them from being axially separated from each other, and at the same time reduces the friction between the first outer ring 1 and the second outer ring 2 when they rotate.

The inner ring 4 is an elastically deformable metal ring, which is rotatably arranged in the first outer ring 1 and the second outer ring 2 (as shown in Fig. 3 and Fig. 4 ), and its width is equal to that of the first inner teeth 15 and the second outer ring 2. The total width of the second inner tooth 24 has a third outer ring surface 41 and a fourth inner ring surface 42, the third outer ring surface 41 is provided with outer teeth 43, the number of teeth of the outer teeth 43 is the same as that of the second inner teeth 24 The number of teeth is the same as in the first preferred embodiment.

The harmonic generator 5 is also called a wave generator (wave generator), which is rotatably arranged in the inner ring 4 (as shown in FIG. 4 ). In the first preferred embodiment, it supports the inner ring 4 The fourth inner ring surface 42 pushes the outer teeth of at least two opposing meshing parts 44 of the inner ring 4 to engage with the first inner teeth 15 and the second inner teeth 24 (as shown in FIG. 5 ), so when the harmonic generator 5 When the rotation continues, even the second outer ring 2 rotates at a reduced speed.

As shown in Figures 1 and 4, the above-mentioned 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 14 and the second The roller groove 23 is a V-shaped groove, and the rollers 31 are staggered at 90 degrees between the first roller groove 14 and the second roller groove 23 (as shown in FIG. The first outer ring 1 and the second outer ring 2 prevent axial disengagement, enhance the stability of mutual socketing, have radial and axial support functions at the same time, and reduce the mutual friction between the first outer ring 1 and the second outer ring 2 etc. purpose.

As shown in FIG. 1 , FIG. 2 and FIG. 4 , the above harmonic 5 preferably includes a cam 51 and a plurality of second rolling elements 52 . The cam 51 can be a positive ellipse cam with a major axis and a minor axis, and has a cam surface 511 around it. The second rolling elements 52 are preferably arranged in one or two rows on the cam surface 511, and make the second rolling elements 52 abut against the fourth inner ring surface 42 of the inner ring 4, so when the cam 51 rotates , can make the second rolling member 52 roll synchronously, as shown in FIG. 5 , and then push the inner ring 4 so that the outer teeth of at least two opposing meshing parts 44 mesh with the first inner teeth 15 and the second inner teeth 24 .

Furthermore, as shown in Fig. 1, Fig. 2 and Fig. 4, the above-mentioned harmonic device 5 preferably further includes a retaining ring 53, and there are a plurality of positioning parts 531 on both sides of the retaining ring 53, and the retaining ring 53 is sleeved on the The cam surface 511 of the cam 51 is such that the second rolling element 52 can be disposed between the positioning portions 531 of the retaining ring 53 , so that the second rolling element 52 is aligned on the cam surface 511 . The second rolling element 52 is preferably a roller 521 or a ball 522 (as shown in FIG. 6 ).

In addition, as shown in FIG. 7 and FIG. 8 , in the first preferred embodiment, the harmonicator 5 may preferably instead include a cam 51 and a plurality of third rolling elements 54 . The cam 51 can be an elliptical cam with a long axis and a short axis, and a plurality of axial support shafts 512 are arranged around the cam 51 . The third rolling element 54 is a bearing 541, such as a ball bearing or a needle bearing, etc., so that the third rolling element 54 is combined with the support shaft 512 and abuts against the fourth inner ring surface 42 of the inner ring 4, so that With the same function, the outer teeth pushing at least two opposing meshing parts 44 of the inner ring 4 are engaged with the first inner teeth 15 and the second inner teeth 24 .

As shown in Figure 9, when the present invention is used, the rotating shaft 101 of the motor 10 can be connected to the cam 51 of the harmonic generator 5, and the first outer ring 1 can be combined with the motor 10 by using the screw hole 161 of the connecting part 16. Lan end or other fixed components, so that the first outer ring 1 can not be rotated as a fixed end. The second outer ring 2 can be combined with the transmission shaft 20 (output shaft) or other components by using the screw hole 251 of the connecting portion 25, so that the second outer ring 2 can be used as the output rotating end. As shown in Figures 10 and 11, when the cam 51 of the harmonic generator 5 is rotated by the motor 10, the long axis 513 of the cam 51 continues to rotate and pushes the meshing part 44 of the outer teeth 43 of the inner ring 4. Therefore, the rotation of the second outer ring 2 is decelerated. Every time the cam 51 rotates one circle, because of the difference in the number of teeth between the first inner tooth 15 and the second inner tooth 24, the second outer ring 2 is only rotated by one tooth pitch. This achieves a very high reduction ratio.

As shown in Figure 12, it is the second preferred embodiment of the present invention, the inner ring 4 can be changed to a rigid (rigid) metal ring, and is rotatably arranged in the first outer ring 1 and the second outer ring 2 . The preferred embodiment of the harmonic device 5 includes a cam 51' and a plurality of third rolling elements 54. The cam 51' is a circular eccentric wheel. The third rolling elements 54 are balls arranged in a row on the cam. 51' between the cam surface and the inner ring 4. Again as shown in Figure 13, when the cam 51' of the harmonic generator 5 rotates, the third rolling member 54 can abut against the inner ring 4, pushing the outer teeth 43 of an engaging part 44 of the inner ring 4 to mesh with the first One internal tooth 15 and the second internal tooth 24, similarly, every time the cam 51' rotates one circle, because of the principle of the tooth number difference between the first internal tooth 15 and the second internal tooth 24, only the second outer ring 2 rotates by one tooth pitch , which can also achieve a high reduction ratio.

The above-mentioned embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the present invention shall be determined by the claims.

Claims (3)

1. A reduction transmission bearing, characterized in that, comprising: A first outer ring, which has a first outer ring surface, a first inner ring surface and a second inner ring surface, the diameter of the first inner ring surface is larger than the diameter of the second inner ring surface, the first The inner ring surface is concavely provided with a circle of first roller grooves, and the second inner ring surface is provided with first internal teeth; A second outer ring, which is rotatably embedded in the first inner ring surface of the first outer ring, has a second outer ring face and a third inner ring face, and the second outer ring face is recessed with a The second roller groove, the third inner ring surface is provided with second inner teeth, and the number of teeth of the second inner teeth and the first inner teeth has a difference in number of teeth; a plurality of first rolling elements, the first rolling elements 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 rotatably disposed within 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; and A harmonic device, which is rotatably arranged in the inner ring, is supported on the fourth inner ring surface of the inner ring, and pushes the outer teeth of at least one meshing part of the inner ring to engage with the first inner teeth and The second internal tooth, the harmonic device includes a second cam and a plurality of third rolling elements, a plurality of supporting shafts are arranged around the second cam, the third rolling elements are combined on the supporting shafts, and resist rests against the fourth inner ring surface of the inner ring; Wherein, the inner ring is a rigid metal ring, and the harmonic pushes the outer teeth of an engaging part of the inner ring to engage with the first inner teeth and the second inner teeth, and the first rolling member is a roller, The first roller groove and the second roller groove are V-shaped grooves, and the rollers are staggered at 90 degrees between the first roller groove and the second roller groove. 2. The reduction transmission bearing according to claim 1, wherein the third rolling member is a bearing. 3. The reduction transmission bearing according to claim 2, wherein the bearing is a ball bearing or a needle bearing.