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

Abstract

The utility model discloses a harmonic reduction gear 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 inner 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 supporting 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 using position of the harmonic reducer and the requirement for starting torque.

Description

Technical Field

[0001] This utility model relates to the field of harmonic reducer technology, and more specifically, to a harmonic reducer device using an adjustable support clearance double-row angular contact roller bearing. Background Technology

[0002] Currently, the cross-roller bearings used in harmonic reducers are difficult to precisely adjust in terms of bearing clearance due to limitations in structure, manufacturing process, and assembly. Conventional cross-roller bearings generally have positive clearance. Adjusting them to zero or negative clearance requires careful selection of roller or raceway dimensions. Because the rollers are arranged in an alternating cross pattern, sharing the same raceway, interference can occur between the roller dimensions in the two directions. At zero clearance, this can lead to poor feel or even jamming in some areas, affecting starting torque, causing severe bearing overheating, and ultimately impacting reducer efficiency.

[0003] Therefore, it is of great significance to design a harmonic reduction device with adjustable support clearance double-row angular contact roller bearings that has high support strength, large output torque, low heat generation during torque output, and can be easily adjusted according to the specific stiffness and starting torque requirements of the actual use position of the harmonic reducer to meet the high-output requirements of robotic arm applications. Utility Model Content

[0004] To overcome the above-mentioned defects, this utility model provides a harmonic reduction device using a double-row angular contact roller bearing with adjustable support clearance, specifically adopting the following technical solution:

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

[0006] A bearing support component includes an outer ring, rolling elements, and an inner ring. The rolling elements are disposed on the outer ring, and the inner ring rotates within the outer ring via the connected rolling elements.

[0007] The harmonic reducer is mounted on the supporting bearing component, and contacts the rotational support stability of the supporting bearing component to reduce the power and increase the torque before outputting work.

[0008] Preferably, the bearing outer ring includes a first outer ring and a second outer ring, with the second outer ring disposed on the first outer ring, together providing rotational 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, and a second outer ring raceway surface is provided on the inner wall of one end face of the second outer ring. The one end face of the second outer ring is fastened to one end face of the first outer ring, and the second outer ring raceway surface and the first outer ring raceway surface are spliced ​​together to form an outer ring raceway surface, so as to provide rotational support for the rolling element and the bearing inner ring.

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

[0011] Preferably, the second outer ring and the first outer ring are circumferentially positioned and connected by a pin, 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 includes a first rolling element and a second rolling element, both of which are disposed within the outer ring of the bearing to provide rolling support for the inner ring of the bearing.

[0013] Preferably, the first rolling element includes a cage and a roller, the cage being disposed within the outer raceway surface, and the roller being rotatably disposed on the cage.

[0014] Preferably, the second rolling element has the same structure as the first rolling element, the second rolling element is embedded in the raceway surface of the outer ring, and the second rolling element is symmetrical with the first rolling element to provide stable support for the inner ring of the bearing in a coordinated manner.

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

[0016] Preferably, the harmonic reducer includes a rigid wheel, a flexible wheel, and a wave generator. One end face of the rigid wheel is fastened to the other end face of the inner ring. One end of the flexible wheel is fastened to the other end face of the first outer ring, and the other end of the flexible wheel is fitted into the rigid wheel. The wave generator is fitted into the inner cavity mounting area of ​​the other end of the flexible wheel.

[0017] This utility model has at least the following beneficial effects:

[0018] 1) This utility model uses a harmonic reduction device with adjustable support clearance double-row angular contact roller bearings. Without changing the geometry of the existing support bearing, it changes the axial arrangement of the rolling elements. On the one hand, it increases the total number of rolling elements and enhances the bearing's support strength. On the other hand, by adding cages between the rolling elements, it changes the previous full-roll installation to a cage-spaced installation, eliminating friction between the rolling elements themselves. This facilitates the establishment of a lubricating oil film between the rolling elements and the raceway, reduces friction, increases bearing life, and improves bearing feel.

[0019] 2) The harmonic reduction device of the adjustable support clearance double-row angular contact roller bearing in this utility model simplifies the loading method of the rolling elements; the cross roller bearing uses the inner ring to open the radial loading port to fill the rolling elements and then grind it flat. This utility model does not require opening a separate rolling element loading hole and subsequent grinding. After the rolling elements are filled into the pocket of the cage and locked in place, they can be installed in the natural axial installation sequence.

[0020] 3) The harmonic reduction device using adjustable support clearance double-row angular contact roller bearings of this utility model can conveniently adjust the axial and radial clearance of the bearings during the assembly stage by selecting adjusting washers of different thicknesses according to the specific stiffness and starting torque requirements of the application location. It does not require grinding and precise size selection. It can be conveniently adjusted according to the correspondence between the starting torque and the support stiffness to meet the actual requirements of the whole machine. For example, the reducer bearing at the base end needs high rigidity, while the reducer at the end end needs a lower starting torque.

[0021] 4) The harmonic reduction device of the adjustable support clearance double-row angular contact roller bearing of this utility model simplifies the grinding process. The inner ring raceway of this utility model is an outward open planar raceway without a concave cross plane, which simplifies the fine grinding process of the raceway.

[0022] 5) This utility model uses a harmonic reduction device with adjustable support clearance double-row angular contact roller bearings, which increases the range of bearing support diameters for the same size, further increasing the overturning rigidity of the bearing, such as... Figure 5 As shown, L1 is the support diameter of the cross-roller bearing, and L2 is the support diameter of this double-row angular contact roller bearing.

[0023] Other advantages, objectives and features of this invention will be partly apparent from the following description, and partly understood by those skilled in the art through study and practice of this invention. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the harmonic deceleration device using an adjustable support clearance double-row angular contact roller bearing of this utility model.

[0025] Figure 2This is a radial sectional front view of the harmonic deceleration device using adjustable support clearance double-row angular contact roller bearings according to this utility model.

[0026] Figure 3 This is a three-dimensional radial cross-sectional view of the harmonic deceleration device using an adjustable support clearance double-row angular contact roller bearing of this utility model.

[0027] Figure 4 This is a three-dimensional structural diagram of the first rolling element in the harmonic deceleration device of the present invention, which uses an adjustable support clearance double-row angular contact roller bearing.

[0028] Figure 5 This is a schematic diagram of the support diameter of the harmonic deceleration device using an adjustable support clearance double-row angular contact roller bearing according to this utility model.

[0029] Wherein: 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 Implementation

[0030] The technical solution of this utility model will be described in detail below with reference to the accompanying drawings and through embodiments. It should be noted that the description of these embodiments is for the purpose of helping to understand this utility model, but does not constitute a limitation on this utility model.

[0031] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" in this article describes another type of relationship between related objects, indicating that two relationships can exist. 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 related objects before and after it are in an "or" relationship.

[0032] according to Figures 1-5 As shown, a harmonic reduction device using an adjustable-clearance double-row angular contact roller bearing includes a supporting bearing component and a harmonic reduction component, wherein the harmonic reduction component is disposed on the supporting bearing component. The supporting bearing component includes a bearing outer ring, rolling elements, and a bearing inner ring, wherein the rolling elements are disposed on the bearing outer ring, and the bearing inner ring is disposed on the rolling elements.

[0033] The bearing outer ring includes a first outer ring 1 and a second outer ring 2, with the second outer ring 2 disposed on the first outer ring 1. A first outer ring raceway surface is provided on the inner wall of one end face of the first outer ring 1. Further, the first outer ring raceway surface forms a 45-degree angle with the axis of the first outer ring 1. A second outer ring raceway surface is provided on the inner wall of one end face of the second outer ring 2. Further, the second outer ring raceway surface forms a 45-degree angle with the axis of the second outer ring 2. One end face of the second outer ring 2 is fastened to one end face of the first outer ring 1 by a first screw 15, and the second outer ring raceway surface and the first outer ring raceway surface are joined to form a 90-degree outer ring raceway surface to provide support for the rolling elements and the bearing inner ring.

[0034] Furthermore, an adjusting 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 adjusting washer 3 can be adjusted according to the actual usage needs of the harmonic reduction device using the adjustable support clearance double-row angular contact roller bearing; thereby adjusting the distance between the raceway surfaces of the first outer ring and the second outer ring, that is, adjusting the distance between the raceway surfaces of the outer rings; so as to adjust the movement clearance of the double-row angular contact roller bearing, affecting the support rigidity of the rigid wheel 10 and the bearing.

[0035] Alternatively, the second outer ring 2 is circumferentially positioned with respect to the first outer ring 1 by a pin 4. A first O-ring 5 is provided between the connecting surfaces of the second outer ring 2 and the first outer ring to improve the static sealing between them.

[0036] The rolling elements include a first rolling element 6 and a second rolling element 7, both of which are disposed within the outer ring of the bearing. The first rolling element 6 includes a cage 18 and rollers 19. The cage 18 is disposed within the raceway surface of the outer ring, and the rollers 19 are disposed on the cage 18. The cage 18 is generally in the shape of a unequal-diameter tube, and a plurality of rotating through holes are provided on the wall of the cage 18, with equal spacing along the circumference of the cage 18. The rollers 19 are cylindrical in shape and are rotatably fitted into the rotating through holes, with each roller 19 corresponding to one of the plurality of rotating through holes.

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

[0038] The bearing inner ring includes an inner ring 8 and an oil seal 9. The inner ring 8 is disposed inside the bearing outer ring, and the oil seal 9 is disposed on the inner ring 8. One end of the inner ring 8 is rotatably fitted into the raceway surface of the outer ring between the first rolling element 6 and the second rolling element 7. The oil seal 9 is fitted onto the other end of the inner ring 8 and is embedded in the oil seal cavity on the other end face 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 reducer includes a rigid wheel 10, a flexible wheel 11, and a wave generator 12. The rigid wheel 10 is mounted on the inner ring of the bearing, the flexible wheel 11 is mounted on the outer ring of the bearing, and the wave generator 12 is mounted 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, for outputting the reduced torque outward. Furthermore, a second O-ring 13 is provided between the rigid wheel 10 and the inner ring 8 to improve the static sealing between them.

[0040] One end of the flexible wheel 11 is fastened to the other end face of the first outer ring 1 by a third screw 16, and the other end of the flexible wheel 11 is fitted into 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 mounting area of ​​the inner cavity 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 mesh. When the wave generator 12 rotates with the input shaft, a "misaligned" motion is formed between the outer teeth of the flexible wheel 11 and the inner teeth of the rigid wheel 10, thereby converting high-speed motion into low-speed motion to reduce rotational speed and increase torque output. If the flexible wheel 11 is fixed and the rigid wheel 10 outputs externally, after measuring the starting torque of the rigid wheel 10, the distance between the inner and outer raceway surfaces can be adjusted using adjusting washers 3 of different thicknesses according to actual needs, thereby adjusting the movement clearance of the double-row angular contact roller bearing and affecting the support rigidity of the rigid wheel 10 and the bearing.

[0042] It should be noted that this double-row angular contact roller bearing can be considered a variation of a cross-shaped structure. The rollers, which are placed crosswise on the same raceway, are pulled apart axially to form two raceways at a 90-degree angle. The rollers 19 in the same raceway face the same direction. Simultaneously, the cage 18 reasonably increases the distribution density of the two rows of rollers. This increases the number of rollers compared to a cross-shaped structure, strengthening the bearing's support strength. Furthermore, it allows the geometric dimensions of the two rows of rollers to be independent. Since the contact angle is 45 degrees, and with the separate axial dimension adjustment shims between the upper and lower bearing outer rings, the overall bearing clearance can be easily adjusted during assembly. This allows for convenient adjustment based on the specific stiffness and starting torque requirements of the harmonic reducer's actual application location, which is of great significance for certain high-output robotic arm applications.

[0043] Although the embodiments of this utility model have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for this utility model. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, this utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A harmonic reduction device using an adjustable supported play double row angular contact roller bearing, characterized in that, The application relates to a harmonic reducer, which comprises the following parts: a support bearing part, which comprises a bearing outer ring, rolling elements and a bearing inner ring, the rolling elements being arranged on the bearing outer ring, the bearing inner ring rotating in the bearing outer ring through the connected rolling elements; a harmonic reducer part, which is arranged on the support bearing part, contacts the rotating support stability of the support bearing part, reduces power and increases torque to outwardly output work.

2. The harmonic reduction device using an adjustable support play double-row angular contact roller bearing according to claim 1, characterized in that The bearing outer ring comprises a first outer ring and a second outer ring, the second outer ring being arranged on the first outer ring to jointly provide rotating support for the rolling elements and the bearing inner ring.

3. The harmonic drive using an adjustable support play double-row angular contact roller bearing according to claim 2, characterized in that, One end surface of the first outer ring is provided with a first outer ring raceway surface, an inner wall of one end surface of the second outer ring is provided with a second outer ring raceway surface, one end surface of the second outer ring is tightly mounted on one end surface 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 rotating support for the rolling elements and the bearing inner ring.

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

5. The harmonic gear drive using adjustable support play double-row angular contact roller bearings according to claim 2 or 3, characterized in that The second outer ring and the first outer ring are connected through pin positioning in the circumferential direction, and a first O-shaped ring is arranged between the second outer ring and a connecting surface of the first outer ring.

6. The harmonic gear drive using adjustable support play double-row angular contact roller bearings of claim 3, wherein, The rolling elements comprise first rolling bodies and second rolling bodies, the first rolling bodies and the second rolling bodies being arranged in the bearing outer ring to provide rolling support for the bearing inner ring.

7. The harmonic drive using an adjustable support play double-row angular contact roller bearing according to claim 6, characterized in that, The first rolling bodies comprise retainers and rollers, the retainers being arranged in the outer ring raceway surface, and the rollers being arranged in rolling mode on the retainers.

8. The harmonic gear drive using adjustable support play double-row angular contact roller bearings of claim 6, wherein, The second rolling bodies have the same structure as the first rolling bodies, the second rolling bodies being embedded in the outer ring raceway surface, and the second rolling bodies being symmetrical to the first rolling bodies to cooperatively provide stable support for the bearing inner ring.

9. The harmonic gear drive using adjustable support play double-row angular contact roller bearings of claim 6, wherein, The bearing inner ring comprises an inner ring, one end of the inner ring being fitted and embedded in the outer ring raceway surface between the first rolling bodies and the second rolling bodies.

10. The harmonic gear drive using adjustable support play double-row angular contact roller bearings of claim 6, wherein, The harmonic reducer part comprises a rigid wheel, a flexible wheel and a wave generator, one end surface of the rigid wheel being tightly mounted on the other end surface of the inner ring; one end of the flexible wheel being tightly mounted on the other end surface of the first outer ring, and the other end of the flexible wheel being fitted and embedded in the rigid wheel; and the wave generator being embedded in an inner cavity mounting area of the other end of the flexible wheel.

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