Harmonic speed reducer using double-row angular contact roller bearing with adjustable bearing clearance

Abstract

The invention discloses a harmonic speed reducer using an adjustable bearing clearance double-row angular contact roller bearing, which comprises a support bearing part, the support bearing part comprises a bearing outer ring, a rolling part and a bearing inner ring, the rolling part is arranged on the bearing outer ring, the bearing inner ring is connected with the bearing outer ring through the rolling part connected with the bearing inner ring, and the bearing inner ring is connected with the bearing outer ring through the bearing inner ring. The rotating shaft rotates in the bearing outer ring; and the harmonic speed reduction part is arranged on the supporting bearing part, makes contact with the rotating supporting stability of the supporting bearing part, reduces the speed of power, increases the torque and then outputs the power outwards to do work. The device is high in supporting strength, large in output torque and small in calorific value in the torque output process, and can be adjusted according to the specific rigidity of the actual use position of the harmonic reducer and the requirement for starting torque.

Description

Technical Field

[0001] The present invention relates to the technical field of harmonic reducers, and more specifically, to a harmonic reducer using a double-row angular contact roller bearing with adjustable support clearance. Background Art

[0002] At present, it is difficult to accurately adjust the bearing clearance of the cross roller bearings used in harmonic reducers due to the limitations of structure, processing technology and assembly technology. Conventional cross roller bearings generally have positive clearance. If you want to adjust them to zero clearance or negative clearance, you need to select the roller size or raceway size. Since the rollers are placed in a cross-alternating full roll and share the same raceway, there will be mutual interference between the roller sizes in the two directions. Under zero clearance, it may cause poor feel or even partial jamming, which will affect the starting torque and bearing heating, seriously affecting the efficiency of the reducer.

[0003] Therefore, it is of great significance to design a harmonic reducer with adjustable support clearance and double-row angular contact roller bearings, which has high support strength, large output torque, and low heat generation during torque output, and can be conveniently adjusted according to the specific stiffness and starting torque requirements of the actual use position of the harmonic reducer to meet the use scenarios of robotic arms with high output requirements. Summary of the invention

[0004] In order to overcome the above defects, the present invention provides a harmonic reduction device using a double-row angular contact roller bearing with adjustable support clearance, which specifically adopts the following technical solutions:

[0005] A harmonic reduction device using a double-row angular contact roller bearing with adjustable support clearance, comprising:

[0006] A supporting bearing member, the supporting bearing member comprising a bearing outer ring, a rolling member and a bearing inner ring, the rolling member being arranged on the bearing outer ring, and the bearing inner ring rotating in the bearing outer ring through the connected rolling member;

[0007] The harmonic speed reduction member is arranged on the support bearing member, contacts the rotation support stability of the support bearing member, slows down the power and increases the torque before outputting it outward to perform work.

[0008] Preferably, the bearing outer ring comprises a first outer ring and a second outer ring, and the second outer ring is arranged on the first outer ring to jointly provide rotation support for the rolling element and the bearing inner ring.

[0009] Preferably, a first outer ring raceway surface is provided on one end face of the first outer ring, a second outer ring raceway surface is provided on the inner wall of one end face of the second outer ring, one end face of the second outer ring is fastened on one end face of the first outer ring, and the second outer ring raceway surface and the first outer ring raceway surface are spliced ​​to form an outer ring raceway surface to provide rotational support for the rolling element and the inner ring of the bearing.

[0010] Preferably, an adjustment washer is provided between the second outer ring and the connecting surface of the first outer ring.

[0011] Preferably, the second outer ring is connected to the first outer ring in circumferential positioning by pins, and a first O-ring is provided between the connecting surfaces of the second outer ring and the first outer ring.

[0012] Preferably, the rolling element comprises a first rolling body and a second rolling body, and the first rolling body and the second rolling body are both arranged in the outer ring of the bearing to provide rolling support for the inner ring of the bearing.

[0013] Preferably, the first rolling body includes a cage and rollers, the cage is arranged in the outer ring raceway surface, and the rollers are rollingly arranged on the cage.

[0014] Preferably, the second rolling body has the same structure as the first rolling body, the second rolling body is embedded in the outer ring raceway surface, and the second rolling body is symmetrical to the first rolling body to cooperate in providing stable support for the bearing inner ring.

[0015] Preferably, the bearing inner ring comprises an inner ring, one end of which is fitted and embedded in the outer ring raceway surface between the first rolling element and the second rolling element.

[0016] Preferably, the harmonic speed reducer comprises a rigid wheel, a flexible wheel and a wave generator, one end face of the rigid wheel is fastened and mounted on the other end face of the inner ring; one end of the flexible wheel is fastened and mounted on the other end face of the first outer ring, and the other end of the flexible wheel is fitted and embedded in the rigid wheel; the wave generator is embedded in the inner cavity installation area of ​​the other end of the flexible wheel.

[0017] The present invention has at least the following beneficial effects:

[0018] 1) The present invention uses a harmonic reduction device of a double-row angular contact roller bearing with adjustable support clearance. Without changing the geometric dimensions of the existing support bearing, the axial arrangement of the rolling elements is changed. On the one hand, the total number of rolling elements is increased, and the bearing strength of the bearing itself is enhanced. On the other hand, by adding a cage between the rolling elements, the previous full-roll installation is changed to a cage interval installation, which eliminates the friction between the rolling elements themselves, facilitates the establishment of a lubricating oil film between the rolling elements and the raceway, reduces friction, increases the bearing life, and improves the bearing feel.

[0019] 2) The present invention uses a harmonic reduction device of a double-row angular contact roller bearing with adjustable bearing clearance to simplify the loading method of the rolling element; the cross roller bearing adopts a radial loading port on the inner ring to fill the rolling element and then grind it flat. The present invention does not need to open a separate rolling element loading hole and subsequent grinding. After the rolling element is filled into the pocket of the cage and stuck, it can be installed according to the natural installation order in the axial direction;

[0020] 3) The harmonic reduction device using the double-row angular contact roller bearing with adjustable support clearance of the present invention can conveniently adjust the axial and radial clearances of the bearings in the assembly stage by selecting adjustment washers of different thicknesses according to the specific rigidity and starting torque requirements of the use position, without the need for matching and grinding and precise size selection. It can be conveniently adjusted according to the corresponding relationship between the starting torque and the support rigidity to meet the actual requirements of the whole machine, for example, the reducer bearing at the base end needs high rigidity, and the reducer at the end needs a lower starting torque, etc.;

[0021] 4) The present invention uses a harmonic reduction device of a double-row angular contact roller bearing with adjustable support clearance to simplify the grinding process. The inner ring raceways of the present invention are all outwardly open plane raceways without concave cross planes, so that the fine grinding process of the raceways is simplified;

[0022] 5) The present invention uses a harmonic reduction device with adjustable support clearance double-row angular contact roller bearings to increase the support diameter range of bearings of the same size and further increase the overturning rigidity of the bearings. Figure 5 As shown, L1 is the supporting diameter of the cross roller bearing, and L2 is the supporting diameter of the double row angular contact roller bearing.

[0023] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of a harmonic reduction device using a double-row angular contact roller bearing with adjustable support clearance according to the present invention;

[0025] Figure 2 A radial sectional front view of a harmonic reduction device using a double-row angular contact roller bearing with adjustable support clearance according to the present invention;

[0026] Figure 3 This is a schematic diagram of the radial cross-section stereoscopic structure of the harmonic reduction device using the double-row angular contact roller bearing with adjustable support clearance of the present invention;

[0027] Figure 4 This is a schematic diagram of the three-dimensional structure of the first rolling element in the harmonic reduction device using the double-row angular contact roller bearing with adjustable support clearance of the present invention;

[0028] Figure 5 The figure is a schematic diagram of the support diameter of the harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance according to the present invention.

[0029] Among them: 1-first outer ring, 2-second outer ring, 3-adjusting washer, 4-pin, 5-first O-ring, 6-first rolling element, 7-second rolling element, 8-inner ring, 9-oil seal, 10-rigid wheel, 11-flexible wheel, 12-wave generator, 13-second O-ring, 14-third O-ring, 15-first screw, 16-third screw, 17-second screw, 18-cage, 19-roller. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0031] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that there can be two relationships. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0032] according to Figure 1-Figure 5 As shown, a harmonic reduction device using a double-row angular contact roller bearing with adjustable support clearance includes a support bearing member and a harmonic reduction member, and the harmonic reduction member is arranged on the support bearing member. The support bearing member includes a bearing outer ring, a rolling member and a bearing inner ring, and the rolling member is arranged on the bearing outer ring, and the bearing inner ring is arranged on the rolling member.

[0033] The outer ring of the bearing includes a first outer ring 1 and a second outer ring 2, and the second outer ring 2 is arranged on the first outer ring 1. A first outer ring raceway surface is arranged on the inner wall of one end face of the first outer ring 1. Further, the first outer ring raceway surface is at an angle of 45 degrees with the axis of the first outer ring 1. A second outer ring raceway surface is arranged on the inner wall of one end face of the second outer ring 2. Further, the second outer ring raceway surface is at an angle of 45 degrees with the axis of the second outer ring 2. One end face of the second outer ring 2 is fastened and mounted on one end face of the first outer ring 1 by a first screw 15, and the second outer ring raceway surface is spliced ​​with the first outer ring raceway surface to form an outer ring raceway surface at 90 degrees to provide support for the rolling element and the inner ring of the bearing.

[0034] Furthermore, an adjustment washer 3 is provided between the connecting surfaces of the second outer ring 2 and the first outer ring 1. The specific thickness of the adjustment washer 3 can be adjusted according to the actual use needs of the harmonic reduction device using the double-row angular contact roller bearing with adjustable support clearance; and then the distance between the first outer ring raceway surface and the second outer ring raceway surface is adjusted, that is, the outer ring raceway surface distance is adjusted; so as to adjust the motion clearance of the double-row angular contact roller bearing and affect the support rigidity of the rigid wheel 10 and the bearing.

[0035] As an option, the second outer ring 2 and the first outer ring 1 are circumferentially positioned by pins 4. A first O-ring 5 is arranged between the connecting surfaces of the second outer ring 2 and the first outer ring to improve the static sealing performance therebetween.

[0036] The rolling element includes a first rolling element 6 and a second rolling element 7, and the first rolling element 6 and the second rolling element 7 are both arranged in the outer ring of the bearing. The first rolling element 6 includes a retainer 18 and a roller 19, and the retainer 18 is arranged in the raceway surface of the outer ring, and the roller 19 is arranged on the retainer 18. The retainer 18 is generally in the shape of a reducing tube, and a rotating through hole is arranged on the tube wall of the retainer 18, and a plurality of the rotating through holes are distributed at equal intervals along the circumference of the retainer 18. The roller 19 is in the shape of a roller, and the roller 19 is rotatably embedded in the rotating through hole, and the plurality of rollers 19 correspond to the plurality of rotating through holes one by one.

[0037] The second rolling body 7 has the same structure as the first rolling body 6. The second rolling body 7 is embedded in the outer ring raceway surface, and the second rolling body 7 is symmetrical with the first rolling body 6, so that the first rolling body 6 and the second rolling body 7 form two rows of rolling units sandwiched between the outer ring raceway surface, providing a double-row angular contact roller bearing support system with a contact angle of 45° for the inner ring of the bearing.

[0038] The inner ring of the bearing includes an inner ring 8 and an oil seal 9. The inner ring 8 is arranged inside the outer ring of the bearing, and the oil seal 9 is arranged on the inner ring 8. One end of the inner ring 8 is rotatably embedded in the outer ring raceway surface between the first rolling element 6 and the second rolling element 7. The oil seal 9 is sleeved outside the other end of the inner ring 8, and the oil seal 9 is embedded in the oil seal cavity on the other end surface of the second outer ring 2 to improve the dynamic sealing effect between the inner ring 8 and the second outer ring 2.

[0039] The harmonic speed reducer comprises a rigid wheel 10, a flexible wheel 11 and a wave generator 12, wherein the rigid wheel 10 is arranged on the inner ring of the bearing, the flexible wheel 11 is arranged on the outer ring of the bearing, and the wave generator 12 is arranged on the flexible wheel 11. One end face of the rigid wheel 10 is fastened to the other end face of the inner ring 8 by a second screw 17, so as to output the decelerated torque outward. Furthermore, a second O-ring 13 is arranged between the rigid wheel 10 and the inner ring 8 to improve the static sealing between the two.

[0040] One end of the flexible wheel 11 is fastened to the other end surface of the first outer ring 1 by a third screw 16, and the other end of the flexible wheel 11 is fitted in the rigid wheel 10. Furthermore, a third O-ring 14 is provided between the flexible wheel 11 and the first outer ring 1 to improve the static sealing between the two.

[0041] The wave generator 12 is screwed into the inner cavity installation area at the other end of the flexible wheel 11, forcing the outer teeth of the flexible wheel 11 and the inner teeth of the rigid wheel 10 to form a meshing relationship. When the wave generator 12 rotates with the input shaft, the outer teeth of the flexible wheel 11 and the inner teeth of the rigid wheel 10 form a "staggered tooth" movement, thereby converting high-speed movement into low-speed movement to reduce the rotation speed and increase the torque output. If the flexible wheel 11 is fixed and the rigid wheel 10 outputs to the outside, after measuring the starting torque of the rigid wheel 10, the distance between the inner and outer ring raceway surfaces can be adjusted according to actual needs using the adjusting washers 3 of different thicknesses, thereby adjusting the movement clearance of the double-row angular contact roller bearing, affecting the supporting rigidity of the rigid wheel 10 and the bearing.

[0042] It should be noted that the double-row angular contact roller bearing can be regarded as a deformed body of the cross structure. The rollers placed crosswise in the same raceway are pulled apart axially to form two raceways at a 90-degree angle. The orientation of the rollers 19 in the same raceway is consistent. At the same time, the distribution density of the two rows of rollers is reasonably increased by using the retainer 18. On the one hand, the number of rollers is increased compared to the cross structure, and the supporting strength of the bearing is strengthened. On the other hand, the geometric dimensions of the two rows of rollers are independent. Since the contact angle is 45 degrees, the axial dimension adjustment gasket between the upper and lower bearing outer rings is used to adjust the overall clearance of the bearing during assembly. In this way, it is convenient to adjust according to the specific stiffness and starting torque requirements of the actual use position of the harmonic reducer, which is of great significance for some high-output robot arm usage scenarios.

[0043] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance, characterized in that: include: A supporting bearing member, the supporting bearing member comprising a bearing outer ring, a rolling member and a bearing inner ring, the rolling member being arranged on the bearing outer ring, and the bearing inner ring rotating in the bearing outer ring through the connected rolling member; The harmonic speed reduction member is arranged on the support bearing member, contacts the rotation support stability of the support bearing member, slows down the power and increases the torque before outputting it outward to perform work.

2. The harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance according to claim 1, characterized in that: The bearing outer ring includes a first outer ring and a second outer ring, wherein the second outer ring is arranged on the first outer ring to jointly provide rotation support for the rolling element and the bearing inner ring.

3. The harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance according to claim 2, characterized in that: A first outer ring raceway surface is arranged on one end face of the first outer ring, a second outer ring raceway surface is arranged on the inner wall of one end face of the second outer ring, one end face of the second outer ring is fastened and mounted on one end face of the first outer ring, and the second outer ring raceway surface and the first outer ring raceway surface are spliced ​​to form an outer ring raceway surface to provide rotation support for the rolling element and the inner ring of the bearing.

4. The harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance according to claim 2 or 3, characterized in that: An adjusting washer is arranged between the second outer ring and the connecting surface of the first outer ring.

5. The harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance according to claim 2 or 3, characterized in that: The second outer ring is circumferentially positioned and connected to the first outer ring via pins, and a first O-ring is provided between the connecting surfaces of the second outer ring and the first outer ring.

6. The harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance according to any one of claims 1 to 3, characterized in that: The rolling element includes a first rolling body and a second rolling body, and the first rolling body and the second rolling body are both arranged in the outer ring of the bearing to provide rolling support for the inner ring of the bearing.

7. The harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance according to claim 6, characterized in that: The first rolling element includes a cage and rollers. The cage is arranged in the outer ring raceway surface, and the rollers are rollingly arranged on the cage.

8. The harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance according to claim 6, characterized in that: The second rolling body has the same structure as the first rolling body, the second rolling body is embedded in the outer ring raceway surface, and the second rolling body is symmetrical to the first rolling body to cooperate in providing stable support for the bearing inner ring.

9. The harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance according to claim 6, characterized in that: The bearing inner ring comprises an inner ring, one end of which is fitted and embedded in the outer ring raceway surface between the first rolling element and the second rolling element.

10. The harmonic reduction device using double-row angular contact roller bearings with adjustable support clearance according to claim 6, characterized in that: The harmonic speed reduction component includes a rigid wheel, a flexible wheel and a wave generator. One end face of the rigid wheel is fastened and installed on the other end face of the inner ring; one end of the flexible wheel is fastened and installed on the other end face of the first outer ring, and the other end of the flexible wheel is fitted and embedded in the rigid wheel; the wave generator is embedded in the inner cavity installation area of ​​the other end of the flexible wheel.

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