Harmonic transmission device with high support rigidity

Abstract

The utility model discloses a high-support-rigidity harmonic transmission device, and belongs to the field of harmonic speed reducers. Comprising: a rigid support including an outer rigid support, a rolling support providing support within the outer rigid support, and an inner rigid support disposed within the rolling support, the internal rigid supporting piece rotates in the circumferential direction of the external rigid supporting piece through the rolling supporting piece. And the harmonic speed reduction part is arranged on the internal rigid supporting part, and after the harmonic speed reduction part reduces the speed of external rotating power to increase the torque, the harmonic speed reduction part outputs work outwards with high axial bearing capacity, high radial bearing capacity, high anti-overturning bearing capacity and high precision under the supporting action of the internal rigid supporting part. The utility model has the advantages of large axial bearing, large radial bearing, large anti-overturning bearing and high output geometric accuracy.

Description

Technical Field

[0001] The utility model relates to the technical field of harmonic reducers, and more specifically, to a harmonic drive device with high support rigidity. Background Art

[0002] A harmonic reducer is an advanced mechanical transmission device, which has the advantages of small volume, large transmission ratio, high output precision, etc. However, the existing harmonic reducers have small axial load-bearing capacity, small radial load-bearing capacity, small tipping load-bearing capacity and poor output geometric precision, which are likely to cause arm jitter and poor positioning accuracy when used in collaborative robots, and are even more unable to meet the requirements of larger arm spans of light manipulators, seriously restricting the application scenarios of collaborative manipulators. Content of the Utility Model

[0003] In order to overcome the above defects, the utility model provides a harmonic drive device with high support rigidity, and specifically adopts the following technical solutions:

[0004] A harmonic drive device with high support rigidity, comprising:

[0005] A rigid support member, the rigid support member includes an external rigid support member, a rolling support member and an internal rigid support member, the rolling support member provides support within the external rigid support member, the internal rigid support member is arranged within the rolling support member, and the internal rigid support member rotates circumferentially within the external rigid support member through the rolling support member;

[0006] A harmonic reduction member, which is arranged on the internal rigid support member, and after reducing the external rotational power and increasing the torque, the harmonic reduction member outputs work outward with high axial load-bearing capacity, high radial load-bearing capacity, high anti-tipping load-bearing capacity and high precision through the support of the internal rigid support member.

[0007] Preferably, the external rigid support member includes a first support outer ring and a second support outer ring, and the second support outer ring presses the internal rigid support member within the first support outer ring through the rolling support member on the first support outer ring.

[0008] Preferably, the rolling support member includes a radial rolling support member and an axial rolling support member, the radial rolling support member provides axial support for the internal rigid support member within the first support outer ring, and the axial rolling support member provides radial support for the internal rigid support member within the first support outer ring.

[0009] Preferably, the radial rolling support member includes a first radial rolling support member and a second radial rolling support member. The first radial rolling support member provides axial support for one axial end of the internal rigid support member within the first support outer ring, and the second radial rolling support member provides axial support for the other axial end of the internal rigid support member within the first support outer ring.

[0010] Preferably, the first radial rolling support member includes a radial roller cage and radial rollers. The radial roller cage is embedded at the bottom of the radial raceway groove of the first support outer ring, and a plurality of the radial rollers are evenly distributed and arranged on the radial roller cage, and the outer cylindrical surfaces of the radial rollers are respectively in mating contact with the bottom surface of the radial raceway groove and one end of the internal rigid support member.

[0011] Preferably, the second radial rolling support member has the same structure as the first radial rolling support member. The second radial rolling support member is embedded at the opening of the radial raceway groove, and the outer cylindrical surfaces of the radial rollers of the second radial rolling support member are respectively in mating contact with the second support outer ring and the other end of the internal rigid support member.

[0012] Preferably, the axial rolling support member includes axial rollers. A plurality of the axial rollers are fully rolled in the axial raceway grooves on the inner wall of the radial raceway groove, and the outer cylindrical surfaces of the axial rollers are respectively in mating contact with the bottom surface of the axial raceway groove and the outer side surface of the internal rigid support member.

[0013] Preferably, the internal rigid support member includes a support inner ring. The support inner ring is embedded in the limit groove formed by the first radial rolling support member, the second radial rolling support member, and the axial rolling support member through a limit ring provided at one end.

[0014] Preferably, the harmonic reducer includes a rigid gear, a flexible gear, and a wave generator. The rigid gear is fastened to the other end of the support inner ring, the outer flange of the flexible gear is fastened to the second support outer ring, the outer teeth of the flexible gear are meshed and matched with the inner teeth of the rigid gear, and the wave generator is installed in the inner cavity space of the flexible gear to cause the rigid gear and the flexible gear to have a tooth staggering movement.

[0015] Preferably, grease is filled between the flexible gear and the support inner ring.

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

[0017] 1) Without increasing the volume, installation dimensions, and weight of a traditional reducer, the high-support-rigidity harmonic drive device of the utility model can be directly installed and replaced, saving the cost of re-designing and machining for the client.

[0018] 2) Compared with the traditional crossed roller bearing, the high-support-rigidity harmonic drive device of the present utility model has a significantly improved axial and radial support stiffness of the rigid support member, thereby further solving the problems of arm jitter and poor positioning accuracy caused by insufficient support rigidity in collaborative robots;

[0019] 3) Compared with the traditional crossed roller bearing, the high-support-rigidity harmonic drive device of the present utility model has a larger support force arm inside the bearing of the rigid support member, and the support torque is not affected by the deformation inside the bearing, and the angular stiffness (tilting rigidity) is significantly improved, which can meet the requirements of a larger arm span for light robotic arms;

[0020] 4) Compared with the traditional crossed roller bearing, the high-support-rigidity harmonic drive device of the present utility model has adjustable starting torque and operating torque of the rigid support member, so as to adapt to more application scenarios of collaborative robotic arms.

[0021] Other advantages, objectives and features of the present utility model will be partially reflected by the following description, and partially will also be understood by those skilled in the art through the research and practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a left-side three-dimensional structural schematic diagram of the high-support-rigidity harmonic drive device of the present utility model;

[0023] Figure 2 is a right-side three-dimensional structural schematic diagram of the high-support-rigidity harmonic drive device of the present utility model;

[0024] Figure 3 is a front view of the radial section of the high-support-rigidity harmonic drive device of the present utility model;

[0025] Figure 4 is a three-dimensional structural schematic diagram of the radial section of the high-support-rigidity harmonic drive device of the present utility model.

[0026] Wherein: 1 - first support outer ring, 2 - second support outer ring, 3 - first screw, 4 - radial roller cage, 5 - radial roller, 7 - axial roller, 8 - support inner ring, 10 - rigid gear, 11 - flexible gear, 12 - wave generator, 13 - oil seal, 14 - first O-ring, 15 - second O-ring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] 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.

[0028] As used herein, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, B exists alone, and both A and B exist simultaneously. The term " / and" as used herein describes another relationship between associated objects, indicating that two relationships can exist. For example, A / and B can represent two situations: A exists alone, and both A and B exist. Additionally, the character " / " as used herein generally indicates that the associated objects before and after are in an "or" relationship.

[0029] According to Figures 1 - 4 As shown, a high-support rigid harmonic drive device includes a rigid support member and a harmonic reduction member, and the harmonic reduction member is disposed on the rigid support member. The rigid support member includes an external rigid support member, a rolling support member, and an internal rigid support member, and both the rolling support member and the internal rigid support member are disposed on the external rigid support member.

[0030] The external rigid support member includes a first support outer ring 1 and a second support outer ring 2, and the second support outer ring 2 is disposed on the first support outer ring 1. The first support outer ring 1 is generally tubular, and an inner wall of one end face of the first support outer ring 1 is provided with a radial raceway groove. The axis of the radial raceway groove coincides with the axis of the first support outer ring 1, and the inner diameter of the radial raceway groove is greater than the inner diameter of the first support outer ring 1. The radial raceway groove is used for installing the rolling support member. The second support outer ring 2 is in the shape of an annular plate, and the second support outer ring 2 is fastened to one end face of the first support outer ring 1 by a first screw 3, thereby axially pressing the rolling support member into the radial raceway groove.

[0031] Further, a first O-ring 14 is disposed between the second support outer ring 2 and the modified first support outer ring 1, and the first O-ring 14 can achieve static sealing between the second support outer ring 2 and the first support outer ring 1.

[0032] The rolling support member includes a radial rolling support member and an axial rolling support member, and both the radial rolling support member and the axial rolling support member are disposed on the first support outer ring 1. The radial rolling support member includes a first radial rolling support member and a second radial rolling support member, and both the first radial rolling support member and the second radial rolling support member are disposed on the first support outer ring 1 to provide support for the internal rigid support member.

[0033] The first radial rolling support member includes a radial roller cage 4 and radial rollers 5. The radial roller cage 4 is fitted on the bottom of the radial raceway groove, and the radial rollers 5 are arranged on the radial roller cage 4. The radial roller cage 4 is generally in the shape of an annular plate. The radial roller cage 4 is provided with pocket holes, which are rectangular through holes. The longitudinal lines of the pocket holes are parallel to the radial lines of the radial roller cage 4. A plurality of pocket holes are provided, and the plurality of pocket holes are evenly distributed circumferentially on the radial roller cage 4. The radial rollers 5 are cylindrical, the diameter of the radial rollers 5 is larger than the thickness of the radial roller cage 4, the radial rollers 5 are rotatably fitted in the pocket holes, and the axes of the radial rollers 5 intersect with the axis of the radial roller cage 4. A plurality of radial rollers 5 are provided, and the plurality of radial rollers 5 correspond to the plurality of pocket holes one by one, so as to perform rolling support on one axial end of the internal rigid support member.

[0034] The second radial rolling support member has the same structure as the first radial rolling support member. The second radial rolling support member is fitted at the notch of the radial raceway groove and is used to perform rolling support on the other axial end of the internal rigid support member. And the second radial rolling support member is only pressed onto the internal rigid support member by the second support outer ring 2.

[0035] The axial rolling support member includes an axial roller 7. The axial roller 7 is cylindrical. The axial roller 7 is rotatably fitted in an axial raceway groove on the inner wall of the radial raceway groove, and the outer cylindrical surface of the axial roller 7 is in mating contact with the bottom surface of the axial raceway groove. The axial raceway groove is in the shape of an annular groove. The axis of the axial raceway groove coincides with the axis of the radial raceway groove. The inner diameter of the axial raceway groove is larger than the inner diameter of the radial raceway groove, and the groove width of the axial raceway groove is smaller than the groove depth of the radial raceway groove. Further, a plurality of axial rollers 7 are provided, and the plurality of axial rollers 7 are arranged in a slow rolling manner around the axial raceway groove. The axial rolling support member is used to perform rolling support on the internal rigid support member in the radial direction.

[0036] The internal rigid support member includes a support inner ring 8, which is generally tubular. One end of the support inner ring 8 is fixedly provided with a limit ring. The limit ring is in the shape of a circular ring plate and is embedded in the limit groove formed by the first radial rolling support member, the second radial rolling support member, and the axial rolling support member. And the axis of the support inner ring 8 coincides with the axis of the first support outer ring 1. So that the support inner ring 8 can rotate circumferentially, be limited in radial rolling, and be limited in axial rolling in the first support outer ring through the limit ring. Further, the two end faces of the limit ring are respectively in contact with the outer cylindrical surfaces of the radial rollers 5 of the first radial rolling support member and the second radial rolling support member, and the outer ring surface of the limit ring is in contact with the outer cylindrical surface of the axially full rollers 7 arranged in a full roller manner, so as to significantly improve the axial bearing capacity, radial bearing capacity, and anti-overturning bearing capacity of the support inner ring 8. Further, the limit ring and the support inner ring 8 are integrally formed. As an option, the limit ring and the support inner ring 8 are integrally cast or integrally turned.

[0037] Further, an oil seal 13 is provided between the first support outer ring 1 and the support inner ring 8 to play a dynamic sealing role between the two. As an option, the oil seal 13 is installed in the stepped groove of the first support outer ring 1 to play a dynamic sealing role between the first support outer ring 1 and the support inner ring 8.

[0038] In this way, a customized cylindrical roller and double-direction thrust needle roller combined bearing part is formed. By controlling the radial dimension of the first support outer ring 1 and the dimension of the radial roller 5, the starting torque and frictional torque of the support inner ring 8 relative to the outer ring can be adjusted.

[0039] The harmonic reducer includes a rigid gear 10, a flexible gear 11, and a wave generator 12. The rigid gear 10 is connected to the support inner ring 8. The flexible gear 11 is arranged on the rigid gear 10, and the wave generator 12 is arranged on the flexible gear 11. The rigid gear 10 is fastened to the other end face of the support inner ring 8 through a second screw and a mating straight port. The outer flange of the flexible gear 11 is fastened to the second support outer ring 2 through the first screw 3. Further, a second O-ring 15 is provided between the outer flange of the flexible gear 11 and the second support outer ring 2 to play a static sealing role between the two. The outer teeth of the flexible gear 11 are meshed and matched with the inner teeth of the rigid gear 10. The wave generator 12 is installed in the inner cavity space of the flexible gear 11. Through external rotation drive, the rigid gear 10 and the flexible gear 11 perform a misaligned tooth movement, and then the external output of the rigid gear 10 is realized.

[0040] Further, the L-shaped space formed by the cooperation between the flexible gear 11 and the support inner ring 8 serves as a storage space for grease, which can simultaneously lubricate the harmonic reducer and the rolling support member.

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

Claims

1. A high support rigidity harmonic drive device, characterized in that: include: A rigid support member, the rigid support member comprises an external rigid support member, a rolling support member and an internal rigid support member, the rolling support member provides support inside the external rigid support member, the internal rigid support member is arranged inside the rolling support member, and the internal rigid support member rotates in the circumferential direction of the external rigid support member through the rolling support member; A harmonic speed reducer is arranged on the internal rigid support. After the harmonic speed reducer reduces the external rotational power and increases the torque, the harmonic speed reducer outputs work outward with high axial load-bearing capacity, high radial load-bearing capacity, high anti-overturning load-bearing capacity and high precision through the support of the internal rigid support. The external rigid support member includes a first support outer ring and a second support outer ring, and the second support outer ring is pressed into the first support outer ring by the rolling support member on the first support outer ring.

2. The high support rigidity harmonic drive device according to claim 1, characterized in that: The rolling support member includes a radial rolling support member and an axial rolling support member. The radial rolling support member provides axial support for the internal rigid support member in the first support outer ring, and the axial rolling support member provides radial support for the internal rigid support member in the first support outer ring.

3. The high support rigidity harmonic drive device according to claim 2, characterized in that: The radial rolling support member includes a first radial rolling support member and a second radial rolling support member. The first radial rolling support member provides axial support for one axial end of the internal rigid support member within the first support outer ring, and the second radial rolling support member provides axial support for the other axial end of the internal rigid support member within the first support outer ring.

4. The high support rigidity harmonic drive device according to claim 3, characterized in that: The first radial rolling support component includes a radial roller cage and radial rollers. The radial roller cage is embedded in the bottom of the radial raceway groove of the first support outer ring. A plurality of radial rollers are evenly distributed and arranged on the radial roller cage. The outer circumferential surfaces of the radial rollers are respectively in contact with the bottom surface of the radial raceway groove and one end of the internal rigid support component.

5. The high support rigidity harmonic drive device according to claim 4, characterized in that: The second radial rolling support member has the same structure as the first radial rolling support member. The second radial rolling support member is embedded in the notch of the radial raceway groove, and the radial roller outer circumferential surface of the second radial rolling support member is in mating contact with the second support outer ring and the other end of the internal rigid support member respectively.

6. The high support rigidity harmonic drive device according to claim 4, characterized in that: The axial rolling support member includes axial rollers, and a plurality of the axial rollers are fully arranged in the axial rolling groove on the inner wall of the radial rolling groove, and the outer circumferential surfaces of the axial rollers are respectively in contact with the bottom surface of the axial rolling groove and the outer side surface of the internal rigid support member.

7. The high support rigidity harmonic drive device according to claim 3 or 4, characterized in that: The internal rigid support member comprises a support inner ring, and the support inner ring is embedded in a limiting groove formed by the first radial rolling support member, the second radial rolling support member and the axial rolling support member through a limiting ring arranged at one end.

8. The high support rigidity harmonic drive device according to claim 7, characterized in that: The harmonic speed reducer comprises a rigid wheel, a flexible wheel and a wave generator. The rigid wheel is fastened to the other end of the support inner ring. The outer flange of the flexible wheel is fastened to the second support outer ring. The outer teeth of the flexible wheel are meshed with the inner teeth of the rigid wheel. The wave generator is installed in the inner cavity space of the flexible wheel to cause the rigid wheel and the flexible wheel to have staggered tooth movement.

9. The high support rigidity harmonic drive device according to claim 8, characterized in that: The space between the flexible wheel and the supporting inner ring is filled with grease.

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