CN112431908A - Harmonic speed reducer - Google Patents
Harmonic speed reducer Download PDFInfo
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- CN112431908A CN112431908A CN202011448375.6A CN202011448375A CN112431908A CN 112431908 A CN112431908 A CN 112431908A CN 202011448375 A CN202011448375 A CN 202011448375A CN 112431908 A CN112431908 A CN 112431908A
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- flexible
- ball
- balls
- harmonic reducer
- flexible bearing
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 30
- 230000002093 peripheral effect Effects 0.000 claims abstract description 12
- 230000002035 prolonged effect Effects 0.000 abstract description 7
- 230000007797 corrosion Effects 0.000 abstract description 5
- 238000005260 corrosion Methods 0.000 abstract description 5
- 230000009347 mechanical transmission Effects 0.000 abstract description 2
- 230000000737 periodic effect Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention relates to the technical field of mechanical transmission, in particular to a harmonic reducer, which comprises a wave generator, a flexible gear and a rigid gear, wherein a flexible gear ring is arranged on the outer peripheral side of the wave generator, the rigid gear ring is arranged on the outer peripheral side of the flexible gear and meshed with the flexible gear, the wave generator comprises a cam and a flexible bearing, the flexible bearing is assembled on the outer peripheral side of the cam, and comprises a plurality of balls, and the balls are in a football shape. The ball is arranged to be football-shaped, so that the contact area of the ball and the raceway of the flexible bearing is increased, the contact stress strength can be improved while the axial force and the radial force are borne, further, the contact stress fatigue pitting corrosion is reduced, the service life of the flexible bearing is greatly prolonged, and the service life of the harmonic reducer is correspondingly prolonged.
Description
Technical Field
The invention relates to the technical field of mechanical transmission, in particular to a harmonic reducer.
Background
The harmonic reducer is a device for transmitting power and motion by means of controllable elastic deformation generated by flexible parts. The service life of the harmonic reducer depends on the service life of a flexible bearing of a wave generator, and the flexible bearing is failed due to contact fatigue wear of a groove of an inner ring and an outer ring of the flexible bearing, pitting corrosion of the groove, falling off of the groove and the like.
At present, the ball flexible bearing is adopted in the existing harmonic reducer, the ball and the roller path are in point-to-point contact in the existing bearing, the contact bearing area is small, the bearing is easy to wear, and an axial gap and a radial gap exist after the bearing is worn, so that the ball flexible bearing is easy to deform after bearing a radial force and an axial force, the flexible bearing is easy to damage, and the load and the service life of the harmonic reducer are reduced.
Therefore, there is a need in the industry for a solution to the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a harmonic reducer aiming at the defects of the prior art. The object of the present invention can be achieved by the following technical means.
A harmonic reducer comprises a wave generator, a flexible gear and a rigid gear, wherein the flexible gear is arranged on the outer peripheral side of the wave generator, the rigid gear is arranged on the outer peripheral side of the flexible gear and meshed with the flexible gear, the wave generator comprises a cam and a flexible bearing, the flexible bearing is assembled on the outer peripheral side of the cam, the flexible bearing comprises a plurality of balls, and the balls are in a football shape.
Preferably, the flexible bearing comprises an inner ring, an outer ring, a retainer and a plurality of football-shaped balls, the outer ring and the inner ring are coaxially arranged, the retainer is assembled between the outer ring and the inner ring, and the balls roll on the retainer relatively.
Preferably, the retainer comprises a retainer base and a plurality of positioning columns which are uniformly distributed, the positioning columns and the retainer base are integrally formed, the positioning columns are arranged on the retainer base at intervals, the ball is arranged between the two positioning columns, and arc-shaped grooves matched with the ball are inwards and concavely arranged on the side surfaces of the positioning columns.
Preferably, the inner side of the outer ring and the outer side of the inner ring are both provided with arc-shaped raceways.
Preferably, the ratio of the arc radius of the ball to the width of the ball is between 1:1.2 and 1: 2.5.
Preferably, the ball has a middle portion in an arc shape protruding outward, and both ends of the ball are in a flat shape.
Compared with the prior art, the invention has the beneficial effects that:
according to the harmonic reducer, the ball bearings are arranged into the football shape, so that the contact area between the ball bearings and the raceway of the flexible bearing is increased, the contact stress strength can be improved while the axial force and the radial force are borne, the contact stress fatigue pitting is further reduced, the service life of the flexible bearing is greatly prolonged, and the service life of the harmonic reducer is correspondingly prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a speed reducer according to an embodiment of the present invention.
Fig. 2 is an exploded view of the structure of a compliant bearing in an embodiment of the present invention.
FIG. 3 is a schematic view of balls between an inner race and an outer race in an embodiment of the present invention.
FIG. 4 is a schematic plan view of a ball bearing in an embodiment of the present invention.
Fig. 5 is a schematic view of a ball in rolling in the prior art.
FIG. 6 is a schematic view of a ball rolling in an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to specific embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A harmonic reducer comprises a wave generator 6, a flexible gear 8 and a rigid gear 7, wherein the wave generator 6 acts on the flexible gear 8 to deform the flexible gear 8 when in operation, and the flexible gear 8 and the rigid gear 7 are meshed for speed reduction through the deformation of the flexible gear 8, so that the effect of the reducer is achieved. The flexible gear 8 is annularly arranged on the outer peripheral side of the wave generator 6, and the rigid gear 7 is annularly arranged on the outer peripheral side of the flexible gear 8 and meshed with the flexible gear 8, so that the flexible gear 8 can be ensured to be deformed under the action of the wave generator 6. The wave generator 6 comprises a cam 5 and a flexible bearing 4, wherein the cam 5 rotates and drives the flexible bearing 4 to rotate so as to generate periodic deformation on the flexible gear 8. The flexible bearing 4 is fitted on the outer peripheral side of the cam 5 so as to rotate with the cam 5. The flexible bearing 4 comprises a plurality of balls which are in a football shape, and the contact area between the ball balls and the raceway of the flexible bearing 4 can be increased by the aid of the football-shaped balls, so that contact stress fatigue pitting corrosion is reduced.
Specifically, the inner ring of the flexible bearing 4 is matched with the outer side of the cam 5, the outer ring of the flexible bearing 4 is matched with the inner side of the flexible gear 8, the cam 5 drives the flexible bearing 4 to rotate and generate periodic deformation when rotating, the periodic deformation of the flexible bearing 4 drives the flexible gear 8 to generate periodic deformation, so that after the flexible gear 8 deforms under the action of the wave generator 6, a part of the flexible gear 8 is in a meshed state with the rigid gear 7, and a part of the flexible gear 8 is in a disconnected state with the rigid gear 7. When the flexible gear 8 rotates, the flexible gear 8 rotates relative to the rigid gear 7 due to the tooth difference between the flexible gear 8 and the rigid gear 7, and the purpose of speed reduction is achieved.
Wherein, the ball is in the shape of a rugby ball, and in the rotation process of the flexible bearing 4, compared with the prior art, the contact area between the ball in the shape of a rugby ball and the raceway of the flexible bearing 4 is increased. As shown in fig. 5, the conventional ball is spherical, and when an external force F1 is applied to the flexible bearing 4 of the spherical ball, the contact surface between the raceway and the spherical ball is point-shaped (i.e., the contact surface is a black dot portion in fig. 5); as shown in fig. 6, when the external force F1 is applied to the flexible bearing 4 of the rugby ball in the present invention, the contact surface between the raceway and the rugby ball is elliptical (i.e., the contact surface is a black dot in fig. 6), and as can be seen from a comparison between fig. 5 and fig. 6, the contact area of the rugby ball is significantly larger than that of the spherical ball under the same applied force. The contact area of the ball and the raceway of the flexible bearing 4 is increased, the contact stress strength can be improved while the axial force and the radial force are borne, further, the contact stress fatigue pitting corrosion is reduced, the service life of the flexible bearing 4 is greatly prolonged, and the service life of the harmonic reducer is correspondingly prolonged.
Therefore, the flexible bearing 4 is subjected to comparison test of a flexible proofing verification machine by using various conventional flexible bearing 4 structures on the market and the structure of the invention, the flexible bearing 4 is manufactured and processed according to the same processing method, after 5000 hours of operation, the inner ring raceway of the conventional flexible bearing 4 on the market falls off, but the flexible bearing 4 structure of the invention only has slight pitting corrosion on the inner ring raceway, and the invention has the outstanding advantages that: 1. under the condition of keeping the overall dimension and the wall thickness unchanged, the contact area of the ball on the raceway can be increased by the rugby ball, so that the contact area is increased by more than 1 time, and according to the contact stress analysis of the raceway, the bearing axial force and the radial force of the flexible bearing 4 structure are increased by 20-50%. 2. The whole service life of the harmonic reducer is prolonged by more than 50%. 3. The axial movement is eliminated, the smooth operation is ensured, the vibration noise is reduced, and the abrasion is reduced. 4. The flexible bearing 4 is not easy to wear in contact, and the precision holding capacity of the harmonic reducer is improved by more than 1 time.
In the harmonic reducer provided in this embodiment, as shown in fig. 2, the flexible bearing 4 includes an inner ring 3, an outer ring 1, a retainer 9, and a plurality of balls 2 in a football shape, the inner ring 3 and the outer ring are used to form a space for assembling the retainer 9, and ensure that the flexible bearing 4 can rotate relatively, and the retainer 9 limits the positions of the balls 2 to prevent the balls 2 from falling. The outer ring 1 and the inner ring 3 are coaxially arranged, so that the distances from different positions on the outer ring 1 to the inner ring 3 are kept consistent, and stable rotation is ensured. The retainer 9 is assembled between the outer ring 1 and the inner ring 3, the balls 2 roll relatively on the retainer 9, when the bearing rotates, the football-shaped balls 2 roll at a position between the inner ring 3 and the outer ring 1, and two sides of the football-shaped balls 2 are respectively in rolling contact with the inner ring 3 and the outer ring 1, so that the rotation of the flexible bearing 4 is realized.
In the harmonic reducer provided in this embodiment, as shown in fig. 2, the holder 9 includes a holder base 92 and a plurality of positioning pillars 91 uniformly distributed, and the positioning pillars 91 and the holder base 92 are integrally formed to improve the stress of the positioning pillars 91 and maintain the stability of the structure. The positioning columns 91 are arranged on the retainer base 92 at intervals, the balls 2 are arranged between the two positioning columns 91, arc-shaped grooves matched with the balls 2 are inwards and concavely arranged on the side surfaces of the positioning columns 91, and the balls 2 can only roll in a gap between the two positioning columns 91 under the limiting action of the positioning columns 91, so that the balls 2 are prevented from being separated from the retainer 9.
In the harmonic reducer provided in this embodiment, as shown in fig. 3, the inner side of the outer ring 1 and the outer side of the inner ring 3 are both provided with an arc raceway, so as to correspond to the arc of the outer surface of the rugby ball 2, which is beneficial to increase of the contact area.
In the harmonic reducer provided in this embodiment, as shown in fig. 3, a ratio of the circular arc radius R of the ball 2 to the width L of the ball 2 is between 1:1.2 and 1: 2.5. When the proportion is too small, the contact area is not large, and the contact stress intensity cannot be obviously improved; when the ratio is too large, the axial bearing force of the arc radius R of the ball 2 is rapidly decreased, and the ball 2 is likely to drop from the raceway.
In the harmonic reducer provided in this embodiment, as shown in fig. 4, the middle portion of the ball 2 is in an arc shape protruding outward, so as to increase the contact area during rolling, and both ends of the ball 2 are in a planar shape so as to be confined in the retainer 9.
The present invention has been further described with reference to specific embodiments, but it should be understood that the detailed description should not be construed as limiting the spirit and scope of the present invention, and various modifications made to the above-described embodiments by those of ordinary skill in the art after reading this specification are within the scope of the present invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011448375.6A CN112431908A (en) | 2020-12-09 | 2020-12-09 | Harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011448375.6A CN112431908A (en) | 2020-12-09 | 2020-12-09 | Harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112431908A true CN112431908A (en) | 2021-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011448375.6A Pending CN112431908A (en) | 2020-12-09 | 2020-12-09 | Harmonic speed reducer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114087340A (en) * | 2021-11-15 | 2022-02-25 | 珠海格力电器股份有限公司 | Air floatation cam and cam assembly and harmonic reducer comprising same |
| CN117028409A (en) * | 2023-08-08 | 2023-11-10 | 珠海格力电器股份有限公司 | A flexible bearing and harmonic reducer |
| JP2024146540A (en) * | 2023-03-31 | 2024-10-15 | 株式会社リケン | Wave generator for wave gearing and wave gearing |
| EP4467845A1 (en) * | 2023-05-26 | 2024-11-27 | Goodrich Actuation Systems Limited | Strain wave drive |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203214610U (en) * | 2013-04-23 | 2013-09-25 | 东莞市鑫拓智能机械科技有限公司 | Equal-wall-thickness thin-wall harmonic flexible bearing |
| CN105156469A (en) * | 2014-06-11 | 2015-12-16 | 南京理工大学 | Double-row ball thin-walled flexible bearing and harmonic gear reducer |
| US20160186809A1 (en) * | 2014-12-24 | 2016-06-30 | Jtekt Corporation | Ball Bearing For Strain Wave Gearing |
| CN106246869A (en) * | 2016-05-25 | 2016-12-21 | 浙江来福谐波传动股份有限公司 | Robot harmonic speed reducer |
| DE102016106721A1 (en) * | 2016-04-12 | 2017-10-12 | Hiwin Technologies Corp. | Bearings with a holder |
| CN206918081U (en) * | 2017-04-21 | 2018-01-23 | 泛科轴承集团有限公司 | Annular bearing with rolling contact with oval spherical ball |
| CN208073982U (en) * | 2018-04-08 | 2018-11-09 | 江苏春丰轴承有限公司 | A kind of rolling bearing |
| CN110762169A (en) * | 2018-07-25 | 2020-02-07 | 住友重机械工业株式会社 | Flexible engagement type gear device |
-
2020
- 2020-12-09 CN CN202011448375.6A patent/CN112431908A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203214610U (en) * | 2013-04-23 | 2013-09-25 | 东莞市鑫拓智能机械科技有限公司 | Equal-wall-thickness thin-wall harmonic flexible bearing |
| CN105156469A (en) * | 2014-06-11 | 2015-12-16 | 南京理工大学 | Double-row ball thin-walled flexible bearing and harmonic gear reducer |
| US20160186809A1 (en) * | 2014-12-24 | 2016-06-30 | Jtekt Corporation | Ball Bearing For Strain Wave Gearing |
| DE102016106721A1 (en) * | 2016-04-12 | 2017-10-12 | Hiwin Technologies Corp. | Bearings with a holder |
| CN106246869A (en) * | 2016-05-25 | 2016-12-21 | 浙江来福谐波传动股份有限公司 | Robot harmonic speed reducer |
| CN206918081U (en) * | 2017-04-21 | 2018-01-23 | 泛科轴承集团有限公司 | Annular bearing with rolling contact with oval spherical ball |
| CN208073982U (en) * | 2018-04-08 | 2018-11-09 | 江苏春丰轴承有限公司 | A kind of rolling bearing |
| CN110762169A (en) * | 2018-07-25 | 2020-02-07 | 住友重机械工业株式会社 | Flexible engagement type gear device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114087340A (en) * | 2021-11-15 | 2022-02-25 | 珠海格力电器股份有限公司 | Air floatation cam and cam assembly and harmonic reducer comprising same |
| JP2024146540A (en) * | 2023-03-31 | 2024-10-15 | 株式会社リケン | Wave generator for wave gearing and wave gearing |
| JP7584556B2 (en) | 2023-03-31 | 2024-11-15 | 株式会社リケン | Wave generator for wave gearing and wave gearing |
| EP4467845A1 (en) * | 2023-05-26 | 2024-11-27 | Goodrich Actuation Systems Limited | Strain wave drive |
| US12553504B2 (en) | 2023-05-26 | 2026-02-17 | Goodrich Actuation Systems Limited | Strain wave drive |
| CN117028409A (en) * | 2023-08-08 | 2023-11-10 | 珠海格力电器股份有限公司 | A flexible bearing and harmonic reducer |
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Application publication date: 20210302 |
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| RJ01 | Rejection of invention patent application after publication |