CN104343894A

CN104343894A - Reduction transmission bearing

Info

Publication number: CN104343894A
Application number: CN201310330704.0A
Authority: CN
Inventors: 李茂碷
Original assignee: Individual
Current assignee: International Seiko Co ltd
Priority date: 2013-08-01
Filing date: 2013-08-01
Publication date: 2015-02-11
Anticipated expiration: 2033-08-01
Also published as: TW201506272A; TWI572788B; TWM482664U; CN104343894B

Abstract

The invention provides a speed reduction transmission bearing which comprises a first outer ring and a second outer ring which are mutually sleeved, wherein a rolling piece is arranged 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 inner ring surfaces of the first outer ring and the second outer ring are provided with inner teeth with different tooth numbers. The inner ring is rotatably arranged in the first outer ring and the second outer ring, and outer teeth are arranged on the outer ring surface of the inner ring. The harmonic wave device can push the inner ring when rotating, so that external teeth of at least one part of the inner ring are meshed with internal teeth of the first outer ring and the second outer ring, and the rotation of the difference of the number of teeth can be utilized to achieve the transmission effect of high reduction ratio. The structure that the first outer ring and the second outer ring are sleeved together reduces the friction force of the mutual rotation of the first outer ring and the second outer ring, improves the stability of mutual sleeving, effectively prevents the first outer ring and the second outer ring from axially separating, and can achieve the purposes of volume reduction and structure simplification.

Description

Gearing down bearing

Technical field

The present invention about a kind of gearing down bearing, espespecially a kind of for driving mechanism firmly support and have concurrently gear effect transmitting assemblies design.

Background technique

Existing bearing, as the Runner assembly of rotating shaft, can provide radial direction and the axially support of rotating shaft, is used for the central position of retainer shaft, and promotes the sliding of rotating shaft and reduce frictional force, and in addition, general bearing does not just have other functions.Therefore when bearing is applied in the mechanism of gearing down, such as, when motor is to deceleration drive one drive axis, can not utilize above-mentioned bearing reach with slow down function; The general practice can only utilize a speed change gear (such as gearbox) to be connected between motor and transmission shaft, makes the power of motor shaft first input speed change gear, after the multiple gear reductions in speed change gear, then drives the transmission shaft of the speed change gear the other end; Therefore the volume of overall driving mechanism cannot reduce effectively, is difficult to be applied on precision machinery (such as manipulator) or the limited facility of installing space.

In addition, a kind of harmonic drive (Harmonic drive) now, illustrates as US Patent No. 4625582, US5662008, US7552664, US4909098 etc., and European patent EP 0514829 etc., it mainly has a steel loop, and the inner ring surface of steel loop is provided with internal tooth; One cup-shaped flexbile gear, the outer wall of flexbile gear is provided with external tooth, and is arranged among steel wheel by flexbile gear; And a harmonic device, it comprises the flexible bearing that a cam and is set in cam, struts flexible bearing by cam, makes flexible bearing ovalize be resisted against the inner face of flexbile gear, and then makes the external tooth of flexbile gear be engaged on the internal tooth of steel loop.But the not easily manufacturing of the cup-shape flexspline of this harmonic drive, can not be engaged on the internal tooth of steel loop completely when external tooth is softened, and the axial length of entirety is comparatively large, is also not easily applied in the precision machinery of limited space.

Also have a kind of harmonic drive in addition, then do not adopt cup-shape flexspline, such as No. US20130081587th, U.S. Patent Publication, it comprises two steel loops side by side, and the inner ring surface of steel loop is equipped with internal tooth; One inner ring, the outer wall of inner ring is provided with external tooth, and is arranged among steel wheel by flexbile gear; And one harmonic device strut inner ring, make the external tooth of inner ring be engaged on the internal tooth of two steel loops.But two steel loop is structure side by side, and the situation of axial separation can occur, and therefore must install the components such as other shells additional, prevent two steel loop axial separation, thus cause its overall structure huger, manufacture cost is also higher.

For this reason, how speed reducer and bearing are combined together, form a gearing down bearing the simplest, directly can load (as manipulator) in engineering goods, reach bearing and have gearing down effect concurrently, simultaneously on volume and weight, all there is great improvement, for the present invention the technical problem that will actively solve.

Summary of the invention

Object of the present invention is providing a kind of gearing down bearing, it is by the internal tooth of two outer shrouds socket-connected, the external tooth of one inner ring is engaged in internal tooth, and one drives harmonic device (wave generator) structural design of inner ring, so reach volume-diminished, structure is simplified, have the object of gearing down and bearing function concurrently.

In order to achieve the above object, gearing down bearing provided by the invention, comprising:

One first outer shroud, it has one first outer ring surface, one first inner ring surface and one second inner ring surface, the diameter of this first inner ring surface is greater than the diameter of this second inner ring surface, and this first inner ring surface is arranged with a circle first roller groove, and this second inner ring surface is provided with the first internal tooth;

One second outer shroud, it is embedded among the first inner ring surface of this first outer shroud rotationally, it has one second outer ring surface and one the 3rd inner ring surface, this second outer ring surface is arranged with one second roller groove, 3rd inner ring surface is provided with the second internal tooth, and the number of teeth of this second internal tooth and this first internal tooth has number of teeth difference;

Multiple first roll piece, this first roll piece spread configuration is between the first roller groove and the second roller groove of this second outer shroud of this first outer shroud;

One inner ring, it is arranged in this first outer shroud and this second outer shroud rotationally, and it has one the 3rd outer ring surface and one the 4th inner ring surface, and the 3rd outer ring surface is provided with external tooth; And

One harmonic device, it is arranged among this inner ring rotationally, and it is supported on the 4th inner ring surface of this inner ring, and the external tooth pushing at least one engagement position of this inner ring is engaged in this first internal tooth and this second internal tooth.

Wherein, this inner ring is can the metal ring of resiliently deformable, and the external tooth that this harmonic device pushes the relative engagement position of this inner ring two is engaged in this first internal tooth and this second internal tooth.

This inner ring is the metal ring of rigidity, and the external tooth that this harmonic device pushes an engagement position of this inner ring is engaged in this first internal tooth and this second internal tooth.

This first roll piece is roller or ball.

Wherein, this harmonic device comprises one first cam and multiple second roll piece, and the surrounding of this first cam has a camming surface, and this second roll piece is arranged at this camming surface, and is resisted against the 4th inner ring surface of this inner ring.

Wherein, this harmonic device comprises a retaining ring, and this retaining ring is sheathed on the camming surface of this first cam, and this second roll piece is arranged at this retaining ring place.

Wherein, this second roll piece is roller or ball.

Wherein, this harmonic device comprises one second cam and multiple 3rd roll piece, and the surrounding of this second cam is provided with multiple fulcrum, and the 3rd roll piece is incorporated on this fulcrum, and is resisted against the 4th inner ring surface of this inner ring.

Wherein, the 3rd roll piece is bearing.

The advantage that the present invention has is:

Gearing down bearing of the present invention, can by transmission of power to the cam of harmonic device, when the cam of harmonic device rotates, rolling in the 4th inner ring surface making the second roll piece or the 3rd roll piece be resisted against inner ring, and then make the external tooth of inner ring be engaged in the first internal tooth and the second internal tooth, because the first internal tooth and the second internal tooth have the number of teeth poor, when the first outer shroud is fixed, the second outer shroud will be made to be driven by inner ring and form underdrive, and then reach the object that gearing down has bearing concurrently.Particularly, the structure that the present invention first outer shroud and the second exterior ring cap are connected together, and there is the first roll piece block the first outer shroud and the second outer shroud, the axial width that can shorten gearing down bearing like this, reduce the frictional force that the first outer shroud and the second outer shroud rotate mutually, and can the steadiness be socketed each other be promoted, effectively prevent the first outer shroud and the second outer shroud from axially departing from, thus do not need other casing components, the object that volume-diminished and structure are simplified can be reached.

Accompanying drawing explanation

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

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

Fig. 3 is the assembled state generalized section of the present invention first preferred embodiment.

Fig. 4 is the assembled state generalized section of the present invention first preferred embodiment.

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

Fig. 6 is the generalized section of another embodiment of the present invention first roll piece.

Fig. 7 is the generalized section of another embodiment of harmonic device in the present invention first preferred embodiment.

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

Fig. 9 is the application state ginseng figure of the present invention first preferred embodiment.

Figure 10 is the gearing down action schematic diagram one of the present invention first preferred embodiment.

Figure 11 is the gearing down action schematic diagram two of the present invention first preferred embodiment.

Figure 12 is the generalized section of the present invention second preferred embodiment.

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

In figure:

1 first outer shroud; 11 first outer ring surfaces;

12 first inner ring surfaces; Second inner ring surface 13;

14 first roller grooves; First internal tooth 15;

16 joints; 161 screws;

2 second outer shrouds; 21 second outer ring surfaces;

22 the 3rd inner ring surfaces; Second roller groove 23;

24 second internal tooths; 25 joints;

251 screws; 3 first roll pieces;

31 rollers; 4 inner ring;

41 the 3rd outer ring surfaces; 42 the 4th inner ring surfaces;

43 external tooths; 44 engagement positions;

5 harmonic devices; 51,51 ' cam;

511 camming surfaces; 512 fulcrums;

513 major axis; 52 second roll pieces;

521 rollers; 522 balls;

53 retaining rings; 531 positioning parts;

10 motors; 101 rotating shafts;

20 transmission shafts.

Embodiment

Below in conjunction with the drawings and specific embodiments, the invention will be further described, can better understand the present invention and can be implemented, but illustrated embodiment is not as a limitation of the invention to make those skilled in the art.

As shown in Figure 1, Figure 2 and Figure 3, gearing down bearing of the present invention, its first preferred embodiment comprises one first outer shroud 1,1 second outer shroud 2, multiple first roll piece 3, inner ring 4 and harmonic device 5 (wave generator), wherein:

This first outer shroud 1 is a cirque body, and its diameter with one first outer ring surface 11,1 first inner ring surface 12 and one second inner ring surface 13, first inner ring surface 12 is greater than the diameter of the second inner ring surface 13, makes the first outer shroud 1 be formed as the endoporus of step shape.And the first inner ring surface 12 is arranged with a circle first roller groove 14, and the second inner ring surface 13 is provided with the first internal tooth 15.In addition, the first outer shroud 1 can also be provided with the joint 16 being connected to motor or other components, and joint 16 can be multiple screws 161 being arranged at an end face.

This second outer shroud 2 is also a cirque body, among its first inner ring surface 12 being arranged on the first outer shroud 1 rotationally (as shown in Figures 3 and 4), shortens the axial width of gearing down bearing.Second outer shroud 2 has one second outer ring surface 21 and one the 3rd inner ring surface 22, second outer ring surface 21 is arranged with one second roller groove 23,3rd inner ring surface is provided with the second internal tooth 24, the number of teeth of the second internal tooth 24 and the first internal tooth 15 has number of teeth difference, illustrate the second internal tooth 24 add up to 60 tooth time, the sum of the first internal tooth 15 can be 62 teeth, and it has the number of teeth difference (concrete number of teeth difference manufactures demand according to reduction speed ratio and determines) of 2 teeth.In addition, the second outer shroud 2 can also be provided with the joint 25 being connected to transmission shaft or other components, and joint 25 can be multiple screws 251 being arranged at an end face.

This first roll piece 3 spread configuration is between the first roller groove 14 and the second roller groove 23 (as shown in Figure 4), make the first roll piece 3 as the connection of the first outer shroud 1 and the second outer shroud 2 and spacing assembly, prevent its axial separation each other, also can reduce frictional force each other when the first outer shroud 1 and the second outer shroud 2 rotate simultaneously.

This inner ring 4 is the metal ring of elastically deformable, it is arranged among the first outer shroud 1 and the second outer shroud 2 (as shown in Figures 3 and 4) rotationally, its width equals the overall width of the first internal tooth 15 and the second internal tooth 24, it has one the 3rd outer ring surface 41 and one the 4th inner ring surface 42,3rd outer ring surface 41 is provided with external tooth 43, and the number of teeth of external tooth 43 is identical with the number of teeth of the second internal tooth 24 in the first preferred embodiment.

This harmonic device 5 is also called waveform generator (wave generator), it is arranged on (as shown in Figure 4) among inner ring 4 rotationally, in the first preferred embodiment, it is supported on the 4th inner ring surface 42 of inner ring 4, the external tooth pushing the relative engagement position 44 of inner ring 4 at least two is engaged in the first internal tooth 15 and the second internal tooth 24 (as shown in Figure 5), therefore when harmonic device 5 continues to rotate, even if the second outer shroud 2 makes underdrive.

As shown in Fig. 1 and Fig. 4, above-mentioned first roll piece 3 is preferably roller 31 or ball, when first roll piece 3 is embodied as columniform roller 31, first roller groove 14 and the second roller groove 23 are V-shaped groove, and make roller 31 be staggered between the first roller groove 14 and the second roller groove 23 (as shown in Figure 3) in 90 degree, therefore can play the first outer shroud 1 and the second outer shroud 2 and prevent axial disengaging, promote and be socketed steadiness each other, there is radial and axially support effect simultaneously, and reduce the object such as the first outer shroud 1 and the second outer shroud 2 power rubbing against one another.

As shown in Figure 1, Figure 2 and shown in Fig. 4, this harmonic device 5 above-mentioned preferably comprises a cam 51 and multiple second roll piece 52.This cam 51 can be the positive oval cam of a major axis and a minor axis, has a camming surface 511 around it.And this second roll piece 52 be preferably a row or two row spread configurations in camming surface 511, and make the second roll piece 52 be resisted against the 4th inner ring surface 42 of inner ring 4, therefore when cam 51 rotates, the second roll piece 52 synchronous rolling can be made, as shown in Figure 5, and then push inner ring 4 and make the external tooth at least two relative engagement positions 44 be engaged in the first internal tooth 15 and the second internal tooth 24.

Again in the lump as shown in Figure 1, Figure 2 and shown in Fig. 4, this harmonic device 5 above-mentioned preferably also comprises a retaining ring 53, retaining ring 53 both sides have multiple positioning part 531, retaining ring 53 is sheathed on the camming surface 511 of cam 51, so just the second roll piece 52 can be arranged between the positioning part 531 of retaining ring 53, make the second roll piece 52 spread configuration in camming surface 511.And this second roll piece 52 is preferably roller 521 or ball 522 (as shown in Figure 6).

In addition, as shown in Figures 7 and 8, in the first preferred embodiment, this harmonic device 5 preferably can change into and comprise a cam 51 and multiple 3rd roll piece 54.This cam 51 can be the oval cam of a major axis and a minor axis, is provided with multiple axial fulcrum 512 around cam 51.3rd roll piece 54 is bearing 541, such as ball bearing or needle bearing etc., the 3rd roll piece 54 is made to be incorporated on fulcrum 512, and be resisted against the 4th inner ring surface 42 of inner ring 4, so can reach identical function, the external tooth pushing the relative engagement position 44 of inner ring 4 at least two is engaged in the first internal tooth 15 and the second internal tooth 24.

As shown in Figure 9, when the present invention uses, the rotating shaft 101 of motor 10 can be connected to the cam 51 of harmonic device 5, and make the first outer shroud 1 utilize the screw 161 of its joint 16 to be incorporated into flange end or other fixed components of motor 10, make the first outer shroud 1 as the fixed end that can not rotate.Second outer shroud 2 then can utilize the screw 251 of its joint 25 to be incorporated into transmission shaft 20 (force-output shaft) or other components, makes the second outer shroud 2 as turning end of exerting oneself.Again in the lump as shown in Figures 10 and 11, when the cam 51 of harmonic device 5 is by motor 10 driven rotary, the major axis 513 of cam 51 continues to rotate and push the engagement position 44 of the external tooth 43 of inner ring 4 is changed, thus the second outer shroud 2 underdrive is made, cam 51 often rotates 1 circle, because the first internal tooth 15 and the second internal tooth 24 have the principle of number of teeth difference, only make the second outer shroud 2 rotate 1 tooth pitch, so reach very high reduction speed ratio.

Again as shown in figure 12, be the present invention second preferred embodiment, its inner ring 4 can use (rigid) metal ring into rigidity instead, and is arranged on rotationally in the first outer shroud 1 and the second outer shroud 2.And harmonic device 5 preferred embodiment comprises a cam 51 ' and multiple 3rd roll piece 54, this cam 51 ' is the eccentric wheel of a circle, and the 3rd roll piece 54 is ball, and is arranged between the camming surface of cam 51 ' and inner ring 4.Again in the lump as Figure 13, when the cam 51 ' of harmonic device 5 rotates, inner ring 4 is resisted against by the 3rd roll piece 54, the external tooth 43 pushing an engagement position 44 of inner ring 4 is engaged in the first internal tooth 15 and the second internal tooth 24, in like manner cam 51 ' often rotates 1 circle, because the number of teeth difference principle of the first internal tooth 15 and the second internal tooth 24, only makes the second outer shroud 2 rotate 1 tooth pitch, can reach very high reduction speed ratio so equally.

The above embodiment is only that protection scope of the present invention is not limited thereto in order to absolutely prove the preferred embodiment that the present invention lifts.The equivalent alternative or conversion that those skilled in the art do on basis of the present invention, all within protection scope of the present invention.Protection scope of the present invention is as the criterion with claims.

Claims

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.

2. The reduction transmission bearing according to claim 1, 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 engage with The first inner tooth and the second inner tooth.

3. The reduction transmission bearing according to claim 1, wherein, the inner ring is a rigid metal ring, and the harmonic pushes the outer teeth of a meshing part of the inner ring to engage with the first inner ring. tooth and the second inner tooth.

4. The reduction transmission bearing according to claim 1, wherein the first rolling member is a roller or a ball.

5. The reduction transmission bearing according to claim 1, wherein the harmonic generator comprises a first cam and a plurality of second rolling elements, a cam surface is formed around the first cam, and the second The rolling element is arranged on the cam surface and abuts against the fourth inner ring surface of the inner ring.

6. The reduction transmission bearing according to claim 5, 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 cam surface of the first cam. Keep ring at.

7. The reduction transmission bearing according to claim 6, wherein the second rolling member is a roller or a ball.

8. The reduction transmission bearing according to claim 1, wherein, the harmonic generator comprises a second cam and a plurality of third rolling elements, a plurality of supporting shafts are arranged around the second cam, the The third rolling element is combined with the support shaft and abuts against the fourth inner ring surface of the inner ring.

9. The reduction transmission bearing according to claim 8, wherein the third rolling member is a bearing.