TW201439447A - Bearing structure with and anti-slip mechanism - Google Patents

Abstract

A bearing structure with an anti-slip mechanism, the bearing structure cooperates with a rigid internal gear to form a harmonious transmission mechanism and comprises a flexible ball bearing and a flexible external toothed ring, between the flexible ball bearing and the flexible external toothed ring is provided an anti-slip unit and an anti-slip corresponding unit. The concave-convex structure of the anti-slip unit and the anti-slip corresponding unit can prevent the flexible ball bearing from sliding along the axial direction, so as to improve the whole stability and the transmission precision.

Description

Bearing structure with anti-slip mechanism

The present invention provides a bearing structure having an anti-slip mechanism that is associated with a transmission.

Harmonic Drive (Harmonic Drive), also known as harmonic drive mechanism, is a commonly used speed reduction mechanism in the transmission system, and the harmonic transmission mechanism mainly includes a wave generator, a flexible tooth cup and a rigid internal gear. The wave generator is composed of an elliptical cam casing and a flexible ball bearing, and the wave generator is further sleeved with the flexible tooth cup, and the rigid toothed cup is sleeved outside the flexible toothed cup, and the wave is generated. The elliptical cam of the device is provided with a fixed connection power input end. When the power input drives the elliptical cam to rotate, the elliptical cam supports the flexible toothed cup to mesh the flexible toothed cup portion with the rigid internal gear. The difference in the number of teeth between the toothed cup and the rigid internal gear achieves the effect of deceleration; and in the process of the harmonic transmission, the structural state between the mechanisms will be closely related to the transmission accuracy of the end, in order to ensure the transmission accuracy of the end, such as The harmonic transmission mechanism 10 shown in FIG. 1 is provided with a friction ring 13 between the power input shaft 11 and the hub 12, and the friction ring 13 is used to reduce the generation between the power input shaft 11 and the hub 12. The ratcheting effect or the occurrence of the sliding displacement condition ensures that the power can be surely outputted and the transmission accuracy is improved; and as shown in FIG. 2, the outer peripheral surface of the flexible ball bearing 21 of the wave generator in the harmonic transmission mechanism 20 is disposed. The convex arc portion 211 increases the contact area with the flexible tooth cup 22 by the convex arc portion 211, thereby improving the frictional force and reducing the slip condition of the flexible ball bearing 21; however, since the flexible tooth cup 22 is Since the outer circumferential surface of the flexible ball bearing 21 is in contact with the plane, the anti-slip effect is limited, and the axial X displacement of the flexible ball bearing cannot be completely suppressed. In view of this, the inventors have studied and further conceived. After many research and development trials, a bearing structure with anti-slip mechanism was finally invented.

The present invention provides a bearing structure having an anti-slip mechanism, the main purpose of which is to improve the lack of transmission accuracy of the conventional harmonic transmission mechanism.

To achieve the foregoing objective, the present invention provides a bearing structure having a non-slip mechanism, which is coupled with a rigid internal gear to form a harmonic transmission mechanism, the rigid internal gear has an internal tooth portion, and the bearing structure includes: an elliptical cam for Connected to a power input shaft, the elliptical cam is rotated by the power input shaft; a flexible ball bearing includes an outer ring and a plurality of balls, the outer ring is sleeved outside the elliptical cam, and each of the balls is located Between the outer ring and the elliptical cam, the outer ring is provided with a non-slip unit; and a flexible outer ring has a one-sided surface, the peripheral mask has an inner circumference side and an outer circumference side, and an outer tooth is disposed on the outer circumference side The flexible outer ring gear is engaged with the inner tooth portion of the rigid internal gear by the outer tooth portion, and the number of teeth of the outer tooth portion of the flexible outer ring gear and the number of teeth of the inner tooth portion of the rigid inner gear have a difference in the number of teeth The inner peripheral side of the flexible outer ring gear is provided with a non-slip matching unit, the anti-slip corresponding unit and the anti-slip unit have a concave-convex matching structure, and the shape of the anti-slip corresponding unit is shaped corresponding to the shape of the anti-slip unit, An outer toothed ring corresponds to the flexible sleeve through the outer ring of the ball bearing, so that the non-slip unit corresponding to the corresponding group provided in the non-slip unit.

Due to the anti-slip unit and the anti-slip corresponding unit provided between the flexible outer ring gear and the flexible ball bearing, the anti-slip unit and the anti-slip corresponding unit are restrained, and only the flexible ball bearing is slipped in the axial direction, which improves the structural stability. Degree, and at the same time improve the transmission accuracy.

"Knowledge Technology"

10‧‧‧Harmonic transmission mechanism

11‧‧‧Power input shaft

12‧‧·wheels

13‧‧‧Abrasion ring

20‧‧‧Harmonic transmission mechanism

21‧‧‧Flexible ball bearings

211‧‧‧ convex arc

22‧‧‧Flexible tooth cup

"this invention"

30‧‧‧Rigid internal gear

31‧‧‧ internal tooth

40‧‧‧Elliptical cam

50‧‧‧Flexible ball bearing

51‧‧‧ Inner Ring

52‧‧‧Outer Ring

53‧‧‧ balls

60‧‧‧Slip unit

61‧‧‧ Groove structure

62‧‧‧ convex structure

621‧‧‧Bevel

70‧‧‧Flexible outer ring

71‧‧‧Week

711‧‧‧ inner circumference

712‧‧‧ peripheral side

72‧‧‧ external teeth

80‧‧‧Slip-resistant unit

81‧‧‧Bump structure

82‧‧‧ recessed structure

A‧‧‧Power input shaft

X‧‧‧ axial

Y‧‧‧ radial

C‧‧‧ axial length

H‧‧‧ Radial length

θ‧‧‧Tilt angle

Figure 1 is a schematic cross-sectional view of a conventional harmonic transmission mechanism.

Figure 2A is a schematic cross-sectional view of another conventional harmonic transmission mechanism.

Fig. 2B is a schematic view showing the operation of the partial structure of Fig. 2A.

Fig. 3 is a plan view showing the structure of the bearing with the anti-slip mechanism and the rigid internal gear to form a harmonic transmission mechanism.

Fig. 4 is a perspective view showing the three-dimensional combination of the bearing structure having the anti-slip mechanism of the present invention.

Fig. 5 is a perspective view showing the three-dimensional structure of the bearing structure having the anti-slip mechanism of the present invention, and showing an embodiment in which the anti-slip unit is a plural groove structure.

Fig. 6 is a perspective view showing the three-dimensional structure of the bearing structure having the anti-slip mechanism of the present invention, and showing an embodiment in which the anti-slip unit is a single groove structure.

Fig. 7 is a schematic cross-sectional view showing a combination of a bearing structure having an anti-slip mechanism according to the present invention, and showing an embodiment in which the anti-slip unit is a left oblique groove.

Figure 8 is a schematic cross-sectional view showing a combination of a bearing structure having an anti-slip mechanism according to the present invention, and showing an embodiment in which the anti-slip unit is a right oblique groove.

Fig. 9 is a schematic cross-sectional view showing a combination of a bearing structure having an anti-slip mechanism according to the present invention, and showing an embodiment in which the anti-slip unit is a left oblique portion.

Fig. 10 is a schematic cross-sectional view showing a combination of a bearing structure having an anti-slip mechanism according to the present invention, and showing an embodiment in which the anti-slip unit is a right oblique portion.

Figure 11 is a perspective exploded view showing another embodiment of the bearing structure having the anti-slip mechanism of the present invention.

Figure 12 is a cross-sectional view showing another embodiment of a bearing structure having an anti-slip mechanism of the present invention.

In order to enable the reviewing committee to have a better understanding and understanding of the purpose, features and effects of the present invention, the following is a detailed description of the following: a preferred embodiment of the bearing structure having the anti-slip mechanism of the present invention, for example As shown in FIGS. 3 to 10, a rigid internal gear 30 is formed to form a harmonic transmission mechanism. The rigid internal gear 30 has an internal tooth portion 31, and the bearing structure includes: an elliptical cam 40 for supplying power The input shaft A is connected, and the elliptical cam 40 is rotated by the power input shaft A. The power input shaft A extends along an axial direction X, and the vertical axis X is defined as a radial direction Y. A flexible ball bearing 50 includes a concentric sleeve. An inner ring 51, an outer ring 52, and a plurality of balls 53 between the inner ring 51 and the outer ring 52, the flexible ball bearing 50 is sleeved on the elliptical cam 40, and the configuration of the elliptical cam 40 The flexible ball bearing 50 is forced to adapt to the appearance of the elliptical cam 40 to deform, and the structural relationship between the flexible ball bearing 50 and the elliptical cam 40 is such that the inner ring is sleeved on the elliptical cam 40, and the outer ring 52 is worn. Nested in the inner ring and the ellipse a cam 40, and each of the balls 53 is received between the inner ring 51 and the outer ring 52; the outer ring 52 of the flexible ball bearing 50 is provided with a non-slip unit 60, and the anti-slip unit 60 can be a groove The structure 61 or the protrusion structure 62, and the number of the groove structure 61 or the protrusion structure 62 may be plural or single, and the anti-skid unit 60 shown in FIGS. 3 and 5 is the flexible ball bearing 50. The outer ring 52 is spaced apart from the plurality of groove structures 61; and the anti-slip unit 60 as shown in FIG. 6 is provided with a single continuous annular groove structure 61 on the outer ring 52 of the flexible ball bearing 50; The groove structure 61 of the unit 60 can be inclined in different directions as shown in FIG. 7 or FIG. 8 , and the groove structure 61 is a state in which the surface of the outer ring 52 of the flexible ball bearing 50 is inclined and recessed. The groove structure 61 has an axial length C extending in the axial direction X, a radial length H extending in the radial direction Y, and a slope 621 having an inclination angle θ from the surface of the outer ring 52, and tan θ =H/C; the convex portion structure 62 of the anti-slip unit 60 can be inclined in different directions as shown in Fig. 9 or Fig. 10, the convex portion structure 6 2 is a state in which the surface of the outer ring 52 of the flexible ball bearing 50 is obliquely convex. The convex portion structure 62 has an axial length C extending in the axial direction and a radial length H extending in the radial direction Y. And a slope 621 having an inclination angle θ with respect to the surface of the outer ring 52, and tan θ=H/C; a flexible outer ring gear 70 having a circumferential surface 71, and the circumferential surface 71 has an inner circumferential side 711 and An outer peripheral side 712 is provided on the outer peripheral side 712 of the peripheral surface 71 of the flexible outer ring gear 70 (the third to the ninth views are not shown, please refer to FIG. 10). The flexible outer ring gear 70 is engaged with the inner tooth portion 31 of the rigid internal gear 30 by the outer tooth portion 72, and the number of teeth of the outer tooth portion 72 of the flexible outer ring gear 70 and the inner tooth portion of the rigid inner gear 30 The number of teeth of 31 has a difference in the number of teeth of two teeth, and the number of teeth of the outer tooth portion 72 of the flexible outer ring gear 70 is smaller than the number of teeth of the inner tooth portion 31 of the rigid inner gear 30, and the outer diameter of the flexible outer ring gear 70 has an average The inner peripheral side 711 of the flexible outer ring gear 70 is provided with a non-slip matching unit 80. The anti-slip counter unit 80 and the anti-slip unit 60 have a concave-convex fitting structure, and the flexible outer teeth The shape of the anti-slip unit 80 of the ring 70 is shaped corresponding to the shape of the anti-slip unit 60 of the flexible ball bearing 50, and the flexible outer ring 70 is correspondingly sleeved outside the outer ring 52 of the flexible ball bearing 50, and the The non-slip matching unit 80 is correspondingly disposed on the anti-slip unit 60. The anti-slip corresponding unit 80 as shown in FIG. 5 is a bump structure 81 that can be correspondingly disposed on the groove structure 61; and as shown in FIGS. The anti-skid corresponding unit 80 is Correspondingly, the concave structure 82 disposed in the convex portion structure 62; and at the same time, the structural relationship between the flexible outer ring gear 70 and the radial length H of the groove structure 61 is H = average circumferential surface thickness value × 0.5 m, wherein m = the gear modulus of the flexible outer ring gear 70; and the structural relationship between the flexible outer ring gear 70 and the radial length H of the convex portion structure 62 is H = average circumferential surface thickness value x 0.5 m - 0.15.

The above is a structural configuration and a feature of the bearing structure having the anti-slip mechanism of the present invention. In use, the elliptical cam 40 is rotated by the power output shaft A coupled to the elliptical cam 40, and when the elliptical cam 40 rotates, Since the elliptical cam 40 has an elliptical structure, and the flexible ball bearing 50 and the flexible outer ring gear 70 are adapted to be deformed by the position of the elliptical cam 40, the flexible cam is rotated under the condition that the elliptical cam 40 is continuously rotated. The ring gear 70 continuously changes the position of the rigid internal gear 30; and after the elliptical cam 40 continues to operate for one week, the effect of the deceleration is formed by the setting of the difference in the number of teeth; and during the operation, due to the flexible ball bearing 50 An anti-slip unit 60 and a non-slip matching unit 80 are disposed between the flexible outer ring gear 70, and the anti-slip unit 60 and the anti-slip counter unit 80 have a pinning effect, and the flexible ball bearing 50 is restricted from the flexibility. The toothed ring 70 generates an axial X displacement, so that the axial X displacement of the flexible ball bearing 50 can be surely avoided when the entire mechanism is subjected to acceleration and deceleration, and the stability of the mechanism is improved. Sex, and can also improve the transmission accuracy.

In addition, in the above embodiment, the flexible ball bearing 50 and the elliptical cam 40 are respectively provided as separate members, and in order to reduce the number of components of the overall structure, the embodiment can be implemented as shown in FIGS. 11 and 12, mainly The inner ring 51 of the flexible ball bearing 50 is omitted, and the outer ring 52 of the flexible ball bearing 50 is directly sleeved outside the elliptical cam 40. Each of the balls 53 is disposed on the outer ring 52 and the elliptical cam 40. In this way, the same effects as the above embodiments can be achieved in the same manner.

40‧‧‧Elliptical cam

50‧‧‧Flexible ball bearing

51‧‧‧ Inner Ring

52‧‧‧Outer Ring

53‧‧‧ balls

60‧‧‧Slip unit

61‧‧‧ Groove structure

621‧‧‧Bevel

70‧‧‧Flexible outer ring

71‧‧‧Week

711‧‧‧ inner circumference

712‧‧‧ peripheral side

80‧‧‧Slip-resistant unit

81‧‧‧Bump structure

A‧‧‧Power input shaft

X‧‧‧ axial

Y‧‧‧ radial

C‧‧‧ axial length

H‧‧‧ Radial length

θ‧‧‧Tilt angle

Claims (8)

A bearing structure having an anti-skid mechanism, which is coupled with a rigid internal gear to form a harmonic transmission mechanism, the rigid internal gear has an internal tooth portion, and the bearing structure comprises: an elliptical cam for connecting with a power input shaft, The elliptical cam is rotated by the power input shaft; a flexible ball bearing includes an outer ring and a plurality of balls, the outer ring is sleeved outside the elliptical cam, and each of the balls is located between the outer ring and the elliptical cam And the outer ring is provided with a non-slip unit; and a flexible outer ring has a one-sided surface, the peripheral mask has an inner circumference side and an outer circumference side, and the outer circumference side is provided with an outer tooth portion, the flexible outer tooth ring Engaging the external tooth portion in the internal tooth portion of the rigid internal gear, the number of teeth of the external tooth portion of the flexible external ring gear is smaller than the number of teeth of the internal tooth portion of the rigid internal gear, and the inner circumference of the flexible external ring a non-slip matching unit is disposed on the side, the anti-slip corresponding unit and the anti-slip unit are in a concave-convex matching structure, and the shape of the non-slip corresponding unit is shaped corresponding to the shape of the anti-skid unit, and the flexible outer ring is correspondingly sleeved on the flexible ball axis Outside the outer ring, so that the non-slip unit corresponding to the corresponding group provided in the non-slip unit. The bearing structure with anti-slip mechanism according to claim 1, wherein the flexible ball bearing further comprises an inner ring, the inner ring is sleeved on the elliptical cam, and the outer ring is sleeved in the inner ring. And the elliptical cam, each of the balls being received between the inner ring and the outer ring. The bearing structure having an anti-skid mechanism according to claim 1, wherein the anti-skid unit is a groove structure or a convex structure. The bearing structure having an anti-skid mechanism according to claim 3, wherein the groove structure or the convex structure is inclined by an outer ring surface of the flexible ball bearing, and the power input shaft Extending along an axial direction, the vertical axis is defined as a radial direction, and the groove structure or the protrusion structure respectively has an axial length C extending in the axial direction, a radial length H extending in the radial direction, and a The outer ring surface has a slope of an inclination angle θ, and tan θ = H / C. A bearing structure having an anti-slip mechanism according to claim 3, wherein the number of the groove structure or the structure of the protrusion is plural. A bearing structure having an anti-slip mechanism according to claim 4, wherein the number of the protrusion structure or the protrusion structure is a single one. A bearing structure having an anti-skid mechanism as described in claim 4, wherein The flexible outer ring has an average circumferential thickness value, and the structural relationship between the flexible outer ring and the radial length H of the groove structure is H = average circumferential thickness value x 0.5 m, where m = The gear modulus of the flexible outer ring gear. A bearing structure having an anti-skid mechanism according to claim 4, wherein the flexible outer ring has an average circumferential thickness value, and the flexible outer ring and the convex portion have a radial length H The structural relationship is H = average circumferential thickness value x 0.5 m - 0.15, where m = the gear modulus of the flexible outer ring gear.