Angular contact cylindrical roller bearing for heavy-load industrial robot speed reducer

Abstract

The invention discloses a bearing for a speed reducer of a heavy-load industrial robot. The bearing comprises two angular contact cylindrical roller bearings which are mounted on a main shaft of the speed reducer in a back-to-back manner, each angular contact cylindrical roller bearing includes an inner ring, an outer ring, a cage, and a plurality of cylindrical rollers. The inner ring is provided with an inner ring large-end outer diameter surface, an inner ring small-end outer diameter surface, a small flange and an inner ring raceway surface, or the inner ring is provided with an inner ring large-end outer diameter surface, an inner ring small-end outer diameter surface, a small flange, a large flange and an inner ring raceway surface; the outer ring is provided with an outer ring large end, an outer ring small end and an outer ring raceway surface; the retainer is an inverted conical ring and comprises a large end ring, a small end ring and a plurality of partition beams connected between the large end ring and the small end ring, and the adjacent partition beams form a pocket for mounting the cylindrical rollers; the cylindrical rollers are arranged in the pockets in the retainer in a one-to-one correspondence mode and located between the inner ring raceway face and the outer ring raceway face. The supporting stability and the anti-overturning capacity of the bearing can be greatly improved.

Description

Technical Field

[0001] The invention relates to an angular contact cylindrical roller bearing for a heavy-load industrial robot reducer. Background Art

[0002] The reducer is a mechanical transmission unit widely used in industrial robots and plays a key role in industrial robots. It can accurately adjust the speed to each joint, and at the same time provide rigidity and torque to drive the robot arm to operate freely, thereby ensuring the accuracy of movement. The cycloid reducer is mainly composed of several basic components such as planetary gears, cycloid wheels, crank shafts, pin gear assemblies, bearings (thin-walled angular contact ball bearings, cylindrical roller bearings, tapered roller bearings), etc. It is mainly installed in the base, waist, upper arm, lower arm and other positions of the industrial robot, and can withstand heavy loads.

[0003] The reducer will be subjected to a large overturning moment during operation, so it is crucial to improve the reducer's anti-overturning ability (torque stiffness). If the reducer's anti-overturning ability is weak and its deformation is large, the internal contact state of the reducer will be poor, and the transmission efficiency and positioning accuracy will be greatly reduced. Therefore, to improve the performance of the reducer, the focus is on improving the reducer's anti-overturning ability. The overturning moment of the reducer is mainly borne by the main bearing. The main bearing on the conventional reducer is a thin-walled angular contact ball bearing. The cross-sectional shape of the raceway of an ordinary thin-walled angular contact ball bearing is a circle with a radius larger than the radius of the steel ball, so there is only one contact point between the steel ball and the raceway (see Figure 1 ), the overall stiffness and load-bearing capacity of this thin-walled angular contact ball bearing are low. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide an angular contact cylindrical roller bearing for a heavy-duty industrial robot reducer, which can greatly improve the supporting stability and anti-overturning ability of the bearing.

[0005] A technical solution to achieve the purpose of the present invention is: a bearing for a heavy-duty industrial robot reducer, comprising two angular contact cylindrical roller bearings, one inner and one outer, mounted back to back on the main shaft of the reducer; each angular contact cylindrical roller bearing comprises an inner ring, an outer ring, a cage and a plurality of cylindrical rollers; wherein,

[0006] The inner ring has an inner ring large end outer diameter surface, an inner ring small end outer diameter surface, a small rib and an inner ring raceway surface; the small rib is formed by bending inward from the inner ring small end outer diameter surface close to the inner ring small end, and the angle between the small rib and the inner ring small end outer diameter surface is 45°; the inner ring raceway surface is connected between the root of the small rib and the inner ring large end outer diameter surface, the length of the inner ring raceway surface is greater than the length of the roller, and the angle between the inner ring raceway surface and the inner diameter surface of the inner ring is 45°;

[0007] The outer ring has an outer ring big end, an outer ring small end and an outer ring raceway surface; the outer ring raceway surface is connected between the inner diameter surface of the outer ring big end and the inner diameter surface of the outer ring small end, and the angle between the inner raceway surface and the outer diameter surface of the outer ring big end is 45°;

[0008] The retaining frame is an inverted cone ring and includes a large end ring, a small end ring and a plurality of partition beams connected between the large end ring and the small end ring, and the adjacent partition beams form a pocket for mounting cylindrical rollers; the axial section of the large end ring of the retaining frame has a non-regular pentagonal contour, namely, it includes a large end ring inner diameter surface connected in sequence, a large end surface perpendicular to the large end ring inner diameter surface, a large end ring outer diameter surface perpendicular to the large end surface, a large end ring outer cone surface with an angle of 45° to the large end ring outer diameter surface and a large end ring arm partition beam connecting surface perpendicular to the large end ring outer cone surface; the diameter of the large end ring inner diameter surface is adapted to the diameter of the inner ring large end outer diameter surface; the axial section of the small end ring of the retaining frame is a non-regular pentagonal contour, namely, it includes a large end ring inner diameter surface connected in sequence, a large end surface perpendicular to the large end ring inner diameter surface, a large end ring outer diameter surface perpendicular to the large end surface, a large end ring outer cone surface with an angle of 45° to the large end ring outer diameter surface, and a large end ring arm partition beam connecting surface perpendicular to the large end ring outer cone surface. The profile of the cross section is also a non-regular pentagon, namely, it includes the inner diameter surface of the small end ring connected in sequence, the small end surface perpendicular to the inner diameter surface of the small end ring, the outer conical surface of the small end ring with an angle of 45° to the small end surface, the small end ring partition beam connection surface with an angle of 45° to the outer conical surface of the small end ring, and the inner conical surface of the small end ring with an angle of 45° to the small end ring partition beam connection surface; the diameter of the inner diameter surface of the small end ring of the retaining frame is adapted to the diameter of the outer diameter surface of the small end of the inner ring; the length of the small end ring partition beam connection surface is shorter than the length of the large end ring partition beam connection surface; the axial section of the partition beam is trapezoidal and connected between the large end ring partition beam connection surface and the small end ring partition beam connection surface;

[0009] A plurality of cylindrical rollers are arranged in a one-to-one correspondence in a plurality of pockets on the cage and are located between the inner ring raceway surface and the outer ring raceway surface.

[0010] In the above-mentioned bearing for a heavy-load industrial robot reducer, both side surfaces of the partition beam are arc surfaces that match the diameter of the roller.

[0011] Another technical solution for achieving the purpose of the present invention is: a bearing for a heavy-duty industrial robot reducer, comprising two angular contact cylindrical roller bearings, one inner and one outer, mounted back to back on the main shaft of the reducer, each angular contact cylindrical roller bearing comprising an inner ring, an outer ring, a cage and a plurality of cylindrical rollers; wherein,

[0012] The inner ring has an inner ring large end outer diameter surface, an inner ring small end outer diameter surface, a small rib, a large rib and an inner ring raceway surface; the small rib is formed by bending inward from the inner ring small end outer diameter surface close to the inner ring small end, and the angle between the small rib and the inner ring small end outer diameter surface is 45°; the large rib is formed by bending inward from the inner ring large end outer diameter surface close to the inner ring large end, the length of the large rib is the same as the length of the small rib, and the angle between the large rib and the inner ring large end outer diameter surface is 45°; the inner ring raceway surface is connected between the root of the small rib and the root of the large rib, the length of the inner ring raceway surface is adapted to the length of the roller, and the angle between the inner ring raceway surface and the inner diameter surface of the inner ring is 45°;

[0013] The outer ring has an outer ring big end, an outer ring small end and an outer ring raceway surface; the outer ring raceway surface is connected between the inner diameter surface of the outer ring big end and the inner diameter surface of the outer ring small end, and the angle between the outer ring raceway surface and the outer diameter surface of the outer ring big end is 45°;

[0014] The retaining frame is an inverted cone ring and includes a large end ring, a small end ring and a plurality of partition beams connected between the large end ring and the small end ring, and the adjacent partition beams form a pocket for mounting cylindrical rollers; the contour of the axial section of the large end ring of the retaining frame is a non-regular pentagon, that is, it includes the end face of the large end ring connected in sequence, the outer diameter surface of the large end ring perpendicular to the end face of the large end ring, the outer conical surface of the large end ring with an angle of 45° to the outer diameter surface of the large end ring, the connecting surface of the large end ring partition beam perpendicular to the outer conical surface of the large end ring and the inner conical surface of the large end ring with an angle of 45° to the connecting surface of the large end ring partition beam; the contour of the axial section of the small end ring of the retaining frame is also a non-regular pentagon The polygon includes a small end ring inner diameter surface, a small end ring end surface perpendicular to the small end ring inner diameter surface, a small end ring outer conical surface with an angle of 45° to the small end ring end surface, a small end ring partition beam connection surface with an angle of 45° to the small end ring outer conical surface, and a small end ring inner conical surface with an angle of 45° to the small end ring partition beam connection surface; the diameter of the small end ring inner diameter surface of the retaining frame is adapted to the diameter of the inner ring small end outer diameter surface; the length of the small end ring partition beam connection surface is the same as the length of the large end ring partition beam connection surface; the axial section of the partition beam is rectangular and is connected between the large end ring partition beam connection surface and the small end ring partition beam connection surface;

[0015] A plurality of cylindrical rollers are arranged in a one-to-one correspondence in a plurality of pockets on the cage and are located between the inner ring raceway surface and the outer ring raceway surface.

[0016] In the above-mentioned bearing for a heavy-load industrial robot reducer, both side surfaces of the partition beam are arc surfaces that match the diameter of the roller.

[0017] The angular contact cylindrical roller bearing for a heavy-duty industrial robot reducer of the present invention is characterized by:

[0018] 1. Bearings have strong anti-overturning torque capability

[0019] Since angular contact cylindrical roller bearings are used instead of ordinary angular contact two-point contact ball bearings, the contact area inside the bearing is increased, which greatly improves the bearing's support stability and anti-overturning ability, and can ensure the transmission efficiency and positioning accuracy of the reducer.

[0020] 2. Under the same mechanical environment, the bearing has high rigidity, small contact load and long service life.

[0021] Since the contact condition of angular contact cylindrical roller bearings is line contact, the contact load and deformation can be reduced, so that the rigidity of the bearing is increased and the service life is prolonged. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a bearing used in a heavy-duty industrial robot reducer in the prior art;

[0023] Figure 2 It is a schematic diagram of the installation of the first bearing used in the heavy-load industrial robot reducer of the present invention;

[0024] Figure 3 It is an axial cross-sectional view of the first bearing used in the heavy-load industrial robot reducer of the present invention;

[0025] Figure 3a is an axial cross-sectional view of the inner ring of the first bearing of the present invention;

[0026] Figure 3b is a perspective view of a retainer in a first bearing of the present invention;

[0027] Figure 3c is an axial cross-sectional view of a retainer in a first bearing of the present invention;

[0028] Figure 4 It is a schematic diagram of the installation of the second bearing used in the heavy-load industrial robot reducer of the present invention;

[0029] Figure 5 is an axial cross-sectional view of a second bearing used in a heavy-load industrial robot reducer of the present invention;

[0030] Figure 5a is an axial cross-sectional view of the inner ring of the second bearing of the present invention;

[0031] Figure 5b It is an axial cross-sectional view of the retainer in the second bearing of the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings.

[0033] See also Figures 2 to 3cThe first bearing of the present invention for a heavy-loaded industrial robot reducer includes two angular contact cylindrical roller bearings 2, one inside and one outside, which are installed back to back on the main shaft 10 of the reducer; each angular contact cylindrical roller bearing 2 includes an inner ring 21, an outer ring 22, a retaining frame 23 and a plurality of cylindrical rollers 24.

[0034] The inner ring 21 has an inner ring large end outer diameter surface 21a, an inner ring small end outer diameter surface 21b, a small rib 21c and an inner ring raceway surface 21d; the outer diameter of the inner ring large end is adapted to the inner diameter of the large end ring of the retaining frame 23, and the outer diameter of the inner ring small end 21b is adapted to the inner diameter of the small end ring of the retaining frame 23; the small rib 21c is formed by bending inward from the inner ring small end outer diameter surface 21b close to the inner ring small end, and the angle between the small rib 21c and the inner ring small end outer diameter surface 21b is 45°; the inner ring raceway surface 21d is connected between the root of the small rib 21c and the inner ring large end outer diameter surface 21a, the length of the inner ring raceway surface 21d is greater than the length of the roller 24, and the angle between the inner ring raceway surface 21d and the inner diameter surface of the inner ring 21 is 45°.

[0035] The outer ring 22 has an outer ring big end, an outer ring small end and an outer ring raceway surface 220; the outer ring raceway surface 220 is arranged between the inner diameter surface of the outer ring big end and the inner diameter surface of the outer ring small end, and the angle between the inner raceway surface 220 and the outer diameter surface of the outer ring big end is 45°.

[0036] The retainer 23 includes a large end ring 23A, a small end ring 23B and a plurality of partition beams 230 connected between the large end ring 23A and the small end ring 23B, and the adjacent partition beams 230 form a pocket for mounting cylindrical rollers; the axial section profile of the large end ring 23A of the retainer 23 is a non-regular pentagon, namely, it includes a large end ring inner diameter surface 23a connected in sequence, a large end ring end surface 23b perpendicular to the large end ring inner diameter surface 23a, a large end ring outer diameter surface 23c perpendicular to the large end ring end surface 23b, a large end ring outer conical surface 23d with an angle of 45° to the large end ring outer diameter surface 23c and a large end partition beam connecting surface 23e perpendicular to the large end ring outer conical surface 23d; the diameter of the large end ring inner diameter surface 23a is adapted to the diameter of the inner ring large end outer diameter surface 21a; the axial section profile of the small end ring 23B of the retainer 23 It is also a non-regular pentagon, namely, it includes a small end ring inner diameter surface 23f connected in sequence, a small end ring end surface 23g perpendicular to the small end ring inner diameter surface 23f, a small end ring outer conical surface 23h with an angle of 45° to the small end ring end surface 23g, a small end ring partition beam connecting surface 23i with an angle of 45° to the small end ring outer conical surface 23h, and a small end ring inner conical surface 23j with an angle of 45° to the small end ring partition beam connecting surface 23i; the diameter of the small end ring inner diameter surface 23f is adapted to the diameter of the inner ring small end outer diameter surface 21b; the length of the small end ring partition beam connecting surface 23i is smaller than the length of the large end ring partition beam connecting surface 23e; the axial section of the partition beam 230 is trapezoidal and connected between the large end ring partition beam connecting surface 23e and the small end ring partition beam 23i connecting surface; the two side surfaces of the partition beam 230 are both arc surfaces adapted to the diameter of the roller 24.

[0037] The plurality of cylindrical rollers 24 are disposed in a one-to-one correspondence in the plurality of pockets on the retaining frame 23 and are located between the inner ring raceway surface 21 d and the outer ring raceway surface 220 .

[0038] In the first bearing of the present invention used for the heavy-duty industrial robot reducer, the inner ring small end outer diameter surface 21b and the inner ring large end outer diameter surface 21a of the inner ring 21 guide the small end ring inner diameter surface 23f and the large end ring inner diameter surface 23a of the retainer 23 in a one-to-one correspondence, and the small rib 21c of the inner ring 21 guides the inner end surface of the roller 24. The arc surfaces on both sides of the partition beam 330 of the retainer 33 are used to guide the side surfaces of the cylindrical roller 34, and then the cylindrical roller 34 is held in the pocket, which reduces the gap between the cylindrical roller 34 and the partition beam 330, and can reduce the noise when the bearing is working.

[0039] When assembling the bearing, first place the inner ring 21 with the large end facing downward, then put the retainer 23 on the outer surface of the inner ring 21, and then install the cylindrical roller 24 into the pocket from the outside of the retainer 23, so that the cylindrical roller 24, retainer 23 and inner ring 21 form an inseparable inner component, and finally put the outer ring 22 on the outside of multiple cylindrical rollers 24 in a manner such that the large end of the outer ring faces the small end of the inner ring, and the small end of the outer ring faces the large end of the inner ring.

[0040] Please see again Figures 4 to 5b The second type of bearing for a heavy-loaded industrial robot reducer of the present invention includes two angular contact cylindrical roller bearings 3, one inside and one outside, installed back to back on the main shaft 10 of the reducer. Each angular contact cylindrical roller bearing 3 includes an inner ring 31, an outer ring 32, a retaining frame 33 and a plurality of cylindrical rollers 34.

[0041] The inner ring 31 comprises an inner ring large end outer diameter surface 31a, an inner ring small end outer diameter surface 31b, a small rib 31c, a large rib 31d and an inner ring raceway surface 31e; the small rib 31c is formed by bending inward from the inner ring small end outer diameter surface 31b close to the inner ring small end, and the angle between the small rib 31c and the inner ring small end outer diameter surface 31b is 45°; the large rib 31d is formed by bending inward from the inner ring large end outer diameter surface 31a close to the inner ring large end The large rib 31d is formed after inner bending, and the length of the large rib 31d is the same as the length of the small rib 31c, and the angle between the large rib 31d and the outer diameter surface 31a of the large end of the inner ring is 45°; the inner ring raceway surface 31e is connected between the root of the small rib 31c and the root of the large rib 31d, and the length of the inner ring raceway surface 31e is adapted to the length of the roller 34, and the angle between the inner ring raceway surface 31e and the inner diameter surface of the inner ring is 45°.

[0042] The outer ring 32 has an outer ring big end, an outer ring small end and an outer ring raceway surface 320; the outer ring raceway surface 320 is connected between the inner diameter surface of the outer ring big end and the inner diameter surface of the outer ring small end, and the angle between the outer ring raceway surface 320 and the outer diameter surface of the outer ring big end is 45°.

[0043] The retainer 33 is an inverted cone ring and includes a large end ring 33A, a small end ring 33B and a plurality of partition beams 330 connected between the large end ring 33A and the small end ring 33B, and the adjacent partition beams 330 form a pocket for mounting the cylindrical roller 34; the large end ring 33A of the retainer 33 has an axial section profile of a non-regular pentagon, that is, it includes a large end ring end face 33a connected in sequence, a large end ring outer diameter face 33b perpendicular to the large end ring end face 33a, a large end ring outer conical face 33c with an angle of 45° to the large end ring outer diameter face 33b, a large end ring partition beam connecting face 33d perpendicular to the large end ring outer conical face 33c and a large end ring inner conical face 33e with an angle of 45° to the large end ring partition beam connecting face 33d; the axial section profile of the small end ring 33B of the retainer is also a non-regular pentagon, that is, It includes a small end ring inner diameter surface 33f connected in sequence, a small end ring end surface 33g perpendicular to the small end ring inner diameter surface 33f, a small end ring outer conical surface 33h with an angle of 45° to the small end ring end surface 33g, a small end ring partition beam connecting surface 33i with an angle of 45° to the small end ring outer conical surface 33h, and a small end ring inner conical surface 33j with an angle of 45° to the small end ring partition beam connecting surface 33i; the diameter of the small end ring inner diameter surface 33f is adapted to the diameter of the inner ring small end outer diameter surface 31b; the length of the small end ring partition beam connecting surface 33i is the same as the length of the large end ring partition beam connecting surface 33d; the axial section of the partition beam 330 is rectangular and is connected between the large end ring partition beam connecting surface 33d and the small end ring partition beam connecting surface 33i, and the two side surfaces of each partition beam 330 are arc surfaces adapted to the diameter of the roller 34.

[0044] The plurality of cylindrical rollers 34 are disposed in a one-to-one correspondence in the plurality of pockets on the retaining frame 33 and are located between the inner ring raceway surface 31 e and the outer ring raceway surface 320 .

[0045] The second type of bearing of the present invention is used for the reducer of a heavy-duty industrial robot. The small rib 31c and the large rib 31d in the inner ring 31 guide the two end faces of the roller 34 one by one, and the outer diameter surface 31b of the small end of the inner ring guides the inner diameter surface 33f of the small end ring of the retaining frame 33; the arc surfaces on both sides of the partition beam 330 of the retaining frame 33 are used to guide the side faces of the cylindrical roller 34, and then keep the cylindrical roller 34 in the pocket, thereby reducing the gap between the cylindrical roller 34 and the partition beam 330, and can reduce the noise when the bearing is working.

[0046] When assembling the bearing, first place the inner ring 31 with the large end of the inner ring 31 facing downward, then put the retainer 33 on the outer outer surface of the inner ring 31, and then install the cylindrical roller 34 into the pocket from the outside of the retainer 33, so that the cylindrical roller 34, retainer 33 and inner ring 31 form an inseparable inner component, and finally, put the outer ring 22 on the outside of multiple cylindrical rollers 34 in a manner such that the large end of the outer ring faces the small end of the inner ring, and the small end of the outer ring faces the large end of the inner ring.

[0047] The above embodiments are only used to illustrate the present invention, rather than to limit the present invention. Those skilled in the relevant technical field may make various changes or modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions should also belong to the scope of the present invention and should be defined by the claims.

Claims

1. A bearing for a heavy-duty industrial robot reducer, comprising two angular contact cylindrical roller bearings, one inner and one outer, mounted back to back on the main shaft of the reducer; each angular contact cylindrical roller bearing comprises an inner ring, an outer ring, a cage and a plurality of cylindrical rollers; characterized in that: The inner ring has an inner ring large end outer diameter surface, an inner ring small end outer diameter surface, a small rib and an inner ring raceway surface; the small rib is formed by bending inward from the inner ring small end outer diameter surface close to the inner ring small end, and the angle between the small rib and the inner ring small end outer diameter surface is 45°; the inner ring raceway surface is connected between the root of the small rib and the inner ring large end outer diameter surface, the length of the inner ring raceway surface is greater than the length of the roller, and the angle between the inner ring raceway surface and the inner diameter surface of the inner ring is 45°; The outer ring has an outer ring big end, an outer ring small end and an outer ring raceway surface; the outer ring raceway surface is connected between the inner diameter surface of the outer ring big end and the inner diameter surface of the outer ring small end, and the angle between the inner raceway surface and the outer diameter surface of the outer ring big end is 45°; The retaining frame is an inverted cone ring and includes a large end ring, a small end ring and a plurality of partition beams connected between the large end ring and the small end ring, and the adjacent partition beams form a pocket for mounting cylindrical rollers; the axial section of the large end ring of the retaining frame has a non-regular pentagonal contour, namely, it includes a large end ring inner diameter surface connected in sequence, a large end surface perpendicular to the large end ring inner diameter surface, a large end ring outer diameter surface perpendicular to the large end surface, a large end ring outer cone surface with an angle of 45° to the large end ring outer diameter surface and a large end ring arm partition beam connecting surface perpendicular to the large end ring outer cone surface; the diameter of the large end ring inner diameter surface is adapted to the diameter of the inner ring large end outer diameter surface; the axial section of the small end ring of the retaining frame is a non-regular pentagonal contour, namely, it includes a large end ring inner diameter surface connected in sequence, a large end surface perpendicular to the large end ring inner diameter surface, a large end ring outer diameter surface perpendicular to the large end surface, a large end ring outer cone surface with an angle of 45° to the large end ring outer diameter surface, and a large end ring arm partition beam connecting surface perpendicular to the large end ring outer cone surface. The profile of the cross section is also a non-regular pentagon, namely, it includes the inner diameter surface of the small end ring connected in sequence, the small end surface perpendicular to the inner diameter surface of the small end ring, the outer conical surface of the small end ring with an angle of 45° to the small end surface, the small end ring partition beam connection surface with an angle of 45° to the outer conical surface of the small end ring, and the inner conical surface of the small end ring with an angle of 45° to the small end ring partition beam connection surface; the diameter of the inner diameter surface of the small end ring of the retaining frame is adapted to the diameter of the outer diameter surface of the small end of the inner ring; the length of the small end ring partition beam connection surface is shorter than the length of the large end ring partition beam connection surface; the axial section of the partition beam is trapezoidal and connected between the large end ring partition beam connection surface and the small end ring partition beam connection surface; A plurality of cylindrical rollers are arranged in a one-to-one correspondence in a plurality of pockets on the cage and are located between the inner ring raceway surface and the outer ring raceway surface.

2. The bearing for a heavy-duty industrial robot reducer according to claim 1, characterized in that: Both side surfaces of the partition beam are arc surfaces matching the diameter of the roller.

3. A bearing for a heavy-duty industrial robot reducer, comprising two angular contact cylindrical roller bearings, one inner and one outer, mounted back to back on the main shaft of the reducer, each angular contact cylindrical roller bearing comprising an inner ring, an outer ring, a cage and a plurality of cylindrical rollers; characterized in that: The inner ring has an inner ring large end outer diameter surface, an inner ring small end outer diameter surface, a small rib, a large rib and an inner ring raceway surface; the small rib is formed by bending inward from the inner ring small end outer diameter surface close to the inner ring small end, and the angle between the small rib and the inner ring small end outer diameter surface is 45°; the large rib is formed by bending inward from the inner ring large end outer diameter surface close to the inner ring large end, the length of the large rib is the same as the length of the small rib, and the angle between the large rib and the inner ring large end outer diameter surface is 45°; the inner ring raceway surface is connected between the root of the small rib and the root of the large rib, the length of the inner ring raceway surface is adapted to the length of the roller, and the angle between the inner ring raceway surface and the inner diameter surface of the inner ring is 45°; The outer ring has an outer ring big end, an outer ring small end and an outer ring raceway surface; the outer ring raceway surface is connected between the inner diameter surface of the outer ring big end and the inner diameter surface of the outer ring small end, and the angle between the outer ring raceway surface and the outer diameter surface of the outer ring big end is 45°; The retaining frame is an inverted cone ring and includes a large end ring, a small end ring and a plurality of partition beams connected between the large end ring and the small end ring, and the adjacent partition beams form a pocket for mounting cylindrical rollers; the contour of the axial section of the large end ring of the retaining frame is a non-regular pentagon, that is, it includes the end face of the large end ring connected in sequence, the outer diameter surface of the large end ring perpendicular to the end face of the large end ring, the outer conical surface of the large end ring with an angle of 45° to the outer diameter surface of the large end ring, the connecting surface of the large end ring partition beam perpendicular to the outer conical surface of the large end ring and the inner conical surface of the large end ring with an angle of 45° to the connecting surface of the large end ring partition beam; the contour of the axial section of the small end ring of the retaining frame is also a non-regular pentagon The polygon includes a small end ring inner diameter surface, a small end ring end surface perpendicular to the small end ring inner diameter surface, a small end ring outer conical surface with an angle of 45° to the small end ring end surface, a small end ring partition beam connection surface with an angle of 45° to the small end ring outer conical surface, and a small end ring inner conical surface with an angle of 45° to the small end ring partition beam connection surface; the diameter of the small end ring inner diameter surface of the retaining frame is adapted to the diameter of the inner ring small end outer diameter surface; the length of the small end ring partition beam connection surface is the same as the length of the large end ring partition beam connection surface; the axial section of the partition beam is rectangular and is connected between the large end ring partition beam connection surface and the small end ring partition beam connection surface; A plurality of cylindrical rollers are arranged in a one-to-one correspondence in a plurality of pockets on the cage and are located between the inner ring raceway surface and the outer ring raceway surface.

4. The bearing for a heavy-duty industrial robot reducer according to claim 3, characterized in that: Both side surfaces of the partition beam are arc surfaces matching the diameter of the roller.

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