Portable harmonic transmission device supported by steel wire runway bearing

Abstract

The utility model discloses a portable harmonic transmission device supported by a steel wire runway bearing, which comprises a speed reduction output transmission part, the speed reduction output transmission part comprises an inner ring transmission part, an outer ring transmission part and a steel wire runway part, the outer ring transmission part is arranged on the inner ring transmission part, and the steel wire runway part is arranged on the outer ring transmission part. The steel wire runway piece is arranged on the inner ring transmission piece and the outer ring transmission piece, and the inner ring transmission piece circumferentially rotates on the outer ring transmission piece through the steel wire runway piece; and the harmonic speed reducer is arranged on the inner ring transmission part, and the harmonic speed reducer outputs the decelerated torque outwards to do work through the inner ring transmission part. The utility model has the advantages of innovative structure, reasonable design, simplicity in manufacturing and installation, portability in use, high operation precision and good buffering and damping effects.

Description

Technical Field

[0001] The utility model relates to the technical field of harmonic reducers. More specifically, the utility model relates to a lightweight harmonic drive device supported by a wire race bearing. Background Art

[0002] Harmonic reducers are widely used in the joint positions of various bionic and service robots due to their small size, large output force, simple structure, light weight and easy installation and use. Such robots have requirements for harmonic reducers tending to be medium and low load, lightweight, high integration and high shock resistance, etc. However, the existing harmonic drive devices cannot meet the above characteristics.

[0003] Therefore, it is of great practical value to design a lightweight harmonic reducer supported by a wire race bearing. The slewing bearing part of this harmonic reducer uses a special wire race four-point contact ball bearing, so that it can bear large axial loads and radial loads at the same time. At the same time, since the inner and outer rings of the wire race use high-strength aluminum alloy materials, compared with the traditional cross-roller steel bearings, its weight can be reduced by more than 2 / 3 at most, and the support stiffness can also reach more than 60% of the traditional cross-roller bearings, while the transmission torque and precision remain unchanged. Summary of the Utility Model

[0004] In order to overcome the above defects, the utility model provides a lightweight harmonic drive device supported by a wire race bearing, and specifically adopts the following technical solutions:

[0005] A lightweight harmonic drive device supported by a wire race bearing, comprising:

[0006] A speed reduction output transmission member, which includes an inner ring transmission member, an outer ring transmission member and a wire race member. The outer ring transmission member is arranged on the inner ring transmission member, the wire race member is arranged on the inner ring transmission member and the outer ring transmission member, and the inner ring transmission member rotates circumferentially on the outer ring transmission member through the wire race member.

[0007] A harmonic reducer, which is arranged on the inner ring transmission member, and the harmonic reducer outputs the decelerated torque to do work outward through the inner ring transmission member.

[0008] Preferably, the inner ring transmission member includes an inner ring, and the inner ring is circumferentially and relatively rotatably connected and axially and relatively locked to the outer ring transmission member through the wire race member; a first inner groove is arranged on the outer side surface of the inner ring, and the first inner groove is generally in the shape of an annular groove.

[0009] Preferably, the outer ring transmission member includes a first outer ring and a second outer ring. A second inner groove is provided on one end face of the first outer ring, and the first outer ring is rotatably sleeved on the outer wall of one end of the inner ring.

[0010] Preferably, a third inner groove is provided on one end face of the second outer ring, and the second outer ring is rotatably sleeved on the outer wall of the other end of the inner ring. The first outer ring and the second outer ring are tightly connected by screws and a first straight port. At the same time, the first inner groove, the second inner groove, and the third inner groove are spliced to form a rectangular channel with a rectangular cross-section.

[0011] Preferably, an O-ring is provided between the contact surfaces of the first outer ring and the second outer ring to maintain static sealing between the first outer ring and the second outer ring.

[0012] Preferably, an oil seal installation groove is provided on the other end face of the first outer ring, and an oil seal is embedded in the oil seal installation groove. The oil seal provides dynamic sealing between the first outer ring and the inner ring.

[0013] Preferably, the wire race member includes wires and steel balls. The wires are provided on the inner ring transmission member and the outer ring transmission member, and the steel balls are provided on the wires.

[0014] Preferably, the wires include a first wire, a second wire, and a third wire. The first wire is sleeved in the first inner groove, and a plurality of the first wires are correspondingly distributed at the corner of the bottom of the first inner groove; the second wire is embedded in the second inner groove, and the third wire is embedded in the third inner groove; the steel balls are embedded in the rectangular channel through a cage, and the steel balls are respectively in rolling connection with the first wire, the second wire, and the third wire.

[0015] Preferably, the harmonic reducer includes a rigid gear, a flexible gear, and a wave generator. The rigid gear is fixedly connected to the inner ring by screws and a second straight port. The flexible gear is fixedly connected to the second outer ring by the screws, and the external teeth of the flexible gear mesh with the internal teeth of the rigid gear; the wave generator is embedded in the installation space inside the flexible gear.

[0016] The present utility model has at least the following beneficial effects:

[0017] 1) The lightweight harmonic drive device supported by the wire race bearing in the present utility model has an innovative structure, reasonable design, simple manufacturing and installation, lightweight use, high running accuracy, and good buffering and shock absorption effects;

[0018] 2) The lightweight harmonic drive device supported by wire race bearings of the present utility model significantly reduces the weight and inertia of the bearings without changing the installation dimensions of the harmonic reducer; the steel materials of the inner and outer rings of the original crossed roller bearings are replaced with high-strength aluminum alloy, greatly reducing the bearing mass, which is of great significance to service robots with light loads. On the one hand, it can significantly reduce the weight and inertia of the whole machine, and on the other hand, it can greatly improve the system response time of the arm end to the control system, enabling the robot to complete more complex actions at a higher speed;

[0019] 3) The lightweight harmonic drive device supported by wire race bearings of the present utility model has both axial and radial load-bearing capacities; since the bearing is a four-point contact bearing, its contact angle can be between 35° and 45°, and it can simultaneously withstand large external loads of bearings, radial and tilting moments;

[0020] 4) The lightweight harmonic drive device supported by wire race bearings of the present utility model has adjustable bearing clearance. According to the usage scenario, the bearing clearance can be adjusted by adjusting washers. It is very difficult to adjust the bearing clearance of the usual crossed roller bearings and it is easy to get stuck. By adjusting the bearing clearance, the starting torque, running torque and overall rigidity required by the bearing to match the usage scenario can be achieved;

[0021] 5) The lightweight harmonic drive device supported by wire race bearings of the present utility model is easy to lubricate, maintain and repair; since the contact area between the rolling element steel balls and the wire is very small, during long-term operation, it is easy to establish a lubricating oil film even in a small amount of lubrication environment; since the bearing is designed as a detachable bearing, during the operation of the whole bearing, the bearing raceway, as a consumable part, can be easily replaced, thus reducing the cost of the overall bearing component consumption and having strong economic value in use;

[0022] 6) The lightweight harmonic drive device supported by wire race bearings of the present utility model has high running accuracy. Because the steel balls mainly contact the wire raceway, even if the raceway surfaces of the inner and outer rings of the bearing have not been precision ground, since the hardness of the wire is much greater than the material hardness of the inner and outer rings, during the use under load, the inner ring will deform by itself to adapt to the contact with the wire, making the contact stress uniform, automatically eliminating the participation error generated during the processing of the inner and outer rings, and there will be an automatic centering process for the running accuracy of the bearing;

[0023] 7) The lightweight harmonic drive device supported by a steel wire raceway bearing of the present utility model has a buffering and shock-absorbing effect. When bearing a vibration load, due to the deformation of the steel wire, it can play a role in buffering and shock absorption. In addition, the relative position between the steel wire raceway and the steel wire seat is not fixed. During operation, there is a very slow relative movement between them, and this relative movement is beneficial to the service life of the support, enabling the entire circle of steel wire to take turns bearing the maximum load and making the wear uniform.

[0024] Other advantages, objectives, and features of the present utility model will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is the front view of the lightweight harmonic drive device supported by a steel wire raceway bearing of the present utility model;

[0026] Figure 2 is the schematic three-dimensional structure diagram of the lightweight harmonic drive device supported by a steel wire raceway bearing of the present utility model;

[0027] Figure 3 is the lightweight harmonic drive device supported by a steel wire raceway bearing of the present utility model Figure 1 front view of the cross-section in the A-A direction;

[0028] Figure 4 is the lightweight harmonic drive device supported by a steel wire raceway bearing of the present utility model Figure 1 schematic three-dimensional structure diagram of the cross-section in the A-A direction.

[0029] Wherein: 1 - inner ring, 2 - first outer ring, 3 - second outer ring, 4 - O-ring, 5 - oil seal, 6 - steel ball, 7 - first steel wire, 8 - second steel wire, 9 - third steel wire, 10 - cage, 11 - rigid gear, 12 - flexible gear, 13 - wave generator. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The technical solutions of the present utility model will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted here that the description of these embodiments is for helping to understand the present utility model, but does not constitute a limitation to the present utility model.

[0031] In this text, the term "and / or" merely describes the associated relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, B exists alone, and both A and B exist simultaneously. In this text, the term " / and" describes another associated object relationship, indicating that there can be two relationships. For example, A / and B can represent: A exists alone, and both A and B exist. Additionally, in this text, the character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0032] According to Figures 1-4 As shown, a lightweight harmonic drive device supported by a wire race bearing includes a reduction output transmission member and a harmonic reducer, and the harmonic reducer is disposed on the reduction output transmission member. The reduction output transmission member includes an inner ring transmission member, an outer ring transmission member, and a wire race member. The outer ring transmission member is disposed on the inner ring transmission member, and the wire race member is disposed on the inner ring transmission member and the outer ring transmission member.

[0033] The inner ring transmission member includes an inner ring 1, and the inner ring 1 is in a circular tubular shape. The inner ring 1 is circumferentially and relatively rotatably connected and axially and relatively locked to the outer ring transmission member through the wire race member. Further, a first inner groove is provided on the outer side surface of the inner ring 1. The first inner groove is generally in a ring-shaped groove, and the axis of the first inner groove coincides with the axis of the inner ring 1. At the same time, the cross-section of the first inner groove is in a rectangular groove shape for installing the wire race member.

[0034] The outer ring transmission member includes a first outer ring 2 and a second outer ring 3. A second inner groove is provided on one end face of the first outer ring 2. The second inner groove is generally in a ring shape, and the axis of the second inner groove coincides with the axis of the first outer ring 2. At the same time, the cross-section of the second inner groove is in a right-angled groove shape for installing the wire race member. The first outer ring 2 is rotatably sleeved on the outer wall of one end of the inner ring 1.

[0035] A third inner groove is provided on one end face of the second outer ring 3. The third inner groove is generally in a ring shape, and the axis of the third inner groove coincides with the axis of the second outer ring 3. At the same time, the cross-section of the third inner groove is in a right-angled groove shape for installing the wire race member. The second outer ring 3 is rotatably sleeved on the outer wall of the other end of the inner ring 1, and the first outer ring 2 and the second outer ring 3 are tightly connected by screws and a first straight port. At this time, the first inner groove, the second inner groove, and the third inner groove are spliced to form a rectangular channel with a rectangular cross-section, and the axis of the rectangular channel coincides with the axis of the inner ring 1. The rectangular channel is used for installing the wire race member.

[0036] Further, an O-ring 4 is provided between the contact surfaces of the first outer ring 2 and the second outer ring 3 to maintain static sealing between the first outer ring 2 and the second outer ring 3. An oil seal installation groove is provided on the other end face of the first outer ring 2, and an oil seal 5 is embedded in the oil seal installation groove. The oil seal 5 provides dynamic sealing between the first outer ring 2 and the inner ring 1.

[0037] The wire race member includes wires and steel balls 6. The wires are provided on the inner ring transmission member and the outer ring transmission member, and the steel balls are provided on the wires. The wires include a first wire 7, a second wire 8, and a third wire 9. The first wire 7 is sleeved at a corner of the bottom of the first inner groove. There are two first wires 7, and the two first wires 7 are distributed one by one corresponding to the two corners of the bottom of the first inner groove. The second wire 8 is embedded at the corner of the second inner groove, and the third wire 9 is embedded at the corner of the third inner groove, which is used to provide support for the steel balls 6. The steel balls 6 are embedded in the rectangular channel through a cage 10, and the steel balls 6 are respectively in rolling connection with the first wire 7, the second wire 8, and the third wire 9, so that the steel balls 6 are clamped in the center to form a four-point contact structure, enabling the inner ring 1 to rotate circumferentially and be axially locked on the outer ring transmission member through the wire race member, and output torque to do work outward. The plurality of steel balls 6 are evenly spaced through the cage 10.

[0038] The harmonic reducer includes a rigid gear 11, a flexible gear 12, and a wave generator 13. The rigid gear 11 is fixedly connected to the inner ring 1 through screws and a second straight port. The flexible gear 12 is fixedly connected to the second outer ring 3 through the screws, and the external teeth of the flexible gear 12 mesh with the internal teeth of the rigid gear 11. The wave generator 13 is embedded in the installation space inside the flexible gear 12. When the wave generator 13 is externally driven to rotate at a high speed, the rigid gear 11 and the flexible gear 12 undergo a tooth misalignment movement, so that the outer ring transmission member remains stationary, and the inner ring 1, along with the rigid gear 11, outputs low-speed motion externally under the support of the wire race member bearings.

[0039] The installation method of the lightweight harmonic drive device using wire race bearings is as follows:

[0040] During installation, the first steel wire 7 on the inner ring 1 is made smaller during processing and is slightly expanded during installation so as to exactly hoop at the corner of the bottom surface of the first inner groove. The second steel wire 8 and the third steel wire 9 on the first outer ring 2 and the second outer ring 3 are made larger during processing and are slightly pressed smaller during installation so as to exactly expand at the corners of the second inner groove and the third inner groove. After installing the two first steel wires 7 on the inner ring 1, and the second steel wire 8 and the third steel wire 9 on the first outer ring 2 and the second outer ring 3, the rolling steel balls 6 arranged in series on the cage 10 are placed into the first inner groove, and then the first outer ring 2 and the second outer ring 3 are installed. Among them, adjustment washers need to be equipped on the installation surfaces of the first outer ring 2 and the second outer ring 3 to adjust the bearing clearance and achieve the specified starting torque. The four steel wires are all open, and after installation, the openings are evenly distributed in a circumferential manner, so as to ensure the continuity of rolling and the influence of temperature on the thermal expansion and contraction of the raceway.

[0041] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the illustrated examples described herein.

Claims

1. A lightweight harmonic drive device supported by a wire runway bearing, characterized in that: include: A reduction output transmission member, the reduction output transmission member comprises an inner ring transmission member, an outer ring transmission member and a steel wire runway member, the outer ring transmission member is arranged on the inner ring transmission member, the steel wire runway member is arranged on the inner ring transmission member and the outer ring transmission member, and the inner ring transmission member rotates circumferentially on the outer ring transmission member through the steel wire runway member; A harmonic reducer is arranged on the inner ring transmission member, and the harmonic reducer outputs the decelerated torque to the outside through the inner ring transmission member to perform work.

2. The portable harmonic drive device supported by a wire track bearing according to claim 1, characterized in that: The inner ring transmission member comprises an inner ring, which is connected to the outer ring transmission member in circumferential relative rotation and axial relative locking via the wire runway member; a first inner groove is arranged on the outer side surface of the inner ring, and the first inner groove is generally in the shape of an annular groove.

3. The portable harmonic drive device supported by a wire track bearing according to claim 2, characterized in that: The outer ring transmission member comprises a first outer ring and a second outer ring. A second inner groove is arranged on one end surface of the first outer ring. The first outer ring is rotatably sleeved on an outer wall of one end of the inner ring.

4. The portable harmonic drive device supported by a wire track bearing according to claim 3, characterized in that: A third inner groove is provided on one end face of the second outer ring, and the second outer ring is rotatably mounted on the outer wall of the other end of the inner ring, and the first outer ring and the second outer ring are fastened and connected by screws and a first straight opening, and the first inner groove, the second inner groove and the third inner groove are spliced ​​to form a rectangular channel with a rectangular cross-section.

5. The portable harmonic drive device supported by a wire track bearing according to claim 3 or 4, characterized in that: An O-ring is arranged between the contact surfaces of the first outer ring and the second outer ring to maintain static sealing between the first outer ring and the second outer ring.

6. The portable harmonic drive device supported by a wire track bearing according to claim 3 or 4, characterized in that: An oil seal installation groove is arranged on the other end surface of the first outer ring, and an oil seal is embedded in the oil seal installation groove. The oil seal enables dynamic sealing between the first outer ring and the inner ring.

7. The portable harmonic drive device supported by a wire raceway bearing according to claim 4, characterized in that: The steel wire track component comprises steel wires and steel balls. The steel wires are arranged on the inner ring transmission component and the outer ring transmission component, and the steel balls are arranged on the steel wires.

8. The portable harmonic drive device supported by a wire raceway bearing according to claim 7, characterized in that: The steel wires include a first steel wire, a second steel wire and a third steel wire. The first steel wire is inserted into the first inner groove, and a plurality of the first steel wires are correspondingly distributed at the bottom corners of the first inner groove; the second steel wire is embedded in the second inner groove, and the third steel wire is embedded in the third inner groove; the steel ball is embedded in the rectangular channel through a retaining frame, and the steel ball is rollingly connected to the first steel wire, the second steel wire and the third steel wire respectively.

9. The portable harmonic drive device supported by a wire raceway bearing according to claim 4, characterized in that: The harmonic reducer includes a rigid wheel, a flexible wheel and a wave generator. The rigid wheel is fixedly connected to the inner ring through screws and a second straight opening, the flexible wheel is fixedly connected to the second outer ring through the screws, and the outer teeth of the flexible wheel are meshed with the inner teeth of the rigid wheel; the wave generator is embedded in the embedded installation space of the flexible wheel.

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