CS257453B1 - Floating cam generator of harmonic transmission with reduced moment of inertia - Google Patents

Abstract

The floating cam wave generator of the harmonic transmission is applicable for all types of harmonic transmissions using the so-called cam wave generator of harmonic deformations of the elastic member. It consists of a wave generator cam onto which an inner bearing ring of a smaller width than the outer ring of the elastic ball bearing with a ball separator centered directly on the bearing balls is pressed. The integration of the Oldham cross coupling directly into the body of the wave generator makes it possible to eliminate: the misalignment of the wave generator with respect to the gear wheels of the harmonic transmission. However, due to the reduction of the moment of inertia, the wave generator is primarily used in purpose-designed harmonic transmissions for robots, manipulators and automation technology with high demands on the dynamics of the drive units.

Description

BACKGROUND OF THE INVENTION The present invention relates to a construction of a floating cam wave generator with a reduced moment of inertia.

Numerous variations of designing cam floating wave generators of harmonic distortions are known, using special ball-ball resilient ball bearings centered on a wide deformed inner bearing ring or a circular collar coupled to a wave generator cam. Axial ball slide separators are provided with inserts. The need for centering and locking tabs increases the moment of inertia of the wave generator, which has a detrimental effect on the overall dynamics of the drives of the respective devices when using harmonics to reduce the speed of high speed unidirectional motors.

These disadvantages are eliminated by the construction of a floating wave generator of harmonic transmission with reduced moment of inertia. The resilient ball bearing separator is selected by the fit of the bullet seat in the separator seat depending on the size of the bearing deformation centered on the balls of the deformed bearing. The ball separator seats with mounting hole and / or smaller than the diameter of the flexible bearing ball allow to eliminate axially securing the separator.

This fact makes it possible to create an inner bearing ring of a resilient bearing of a minimum width dependent only on the shape of the ball raceway and thereby create a narrower elliptical cam of the wave generator, which ultimately means a substantial reduction in the moment of inertia of the wave generator. By curing the friction forces of the separator by the centering and locking tabs, the efficiency of the wave generator and thus the entire harmonic transmission is increased. An exemplary embodiment of a floating cam wave generator of harmonic transmission with reduced moment of inertia according to the invention is shown in radial section in FIG. 1 and viewed in the direction of the axis of rotation in FIG.

The inner bearing ring 2 of the resilient ball bearing with the separator 13 centered on the balls 4 is pressed onto the elliptical cam 5. The cross 6 of the Oldham cross coupling is on one side inserted into the grooves formed on the cam 5 and on the other side into the grooves of the wave generator T. Against the axial extension, the wave generator T1 is secured by a shaft locking ring 8, under which the friction pad is located

The application of the cross coupling ensures the possibility of relative movement of the wave generator T1 to the cam 5 in the radial direction, which makes it possible to eliminate the misalignment of the gearbox input shaft to the gear wheels of the harmonic transmission. By applying a torque carrier 2 to the wave generator, the cam 5 with the pressed inner bearing ring 11 through the balls 4 cyclically deforms the outer bearing ring 2. The deformation is transmitted from the outer bearing ring 2 to the flexible member 10 of the harmonic transmission. The exact positioning of the balls 2 in the resilient bearing is provided by the ball separator 3, which is maintained in its equilibrium position by forces applied from the balls 2 of the bearing.

Claims (1)

OBJECT OF THE INVENTION Floating harmonic transmission cam wave generator with reduced moment of inertia consisting of a carrier, an Oldham cross coupling, a friction ring and a retaining ring, characterized in that the inner bearing ring (1) is smaller than the outer bearing ring (2) of the ball bearing separator (2) 3) centered on the bearing balls (4) and pressed onto the wave generator cam (5).