High-precision mute bearing of industrial robot

Abstract

The invention provides a high-precision mute bearing for an industrial robot, which is suitable for the technical field of bearings and comprises a steel ball frame assembly, and the steel ball frame assembly comprises a steel ball retainer and steel balls; the steel ball retainer comprises a positioning ring structure and a plurality of unit steel ball retainers, and the unit steel ball retainers are distributed on the positioning ring structure in an annular array; the steel balls are correspondingly and rotationally assembled on the unit steel ball retainers; the positioning ring structure comprises a positioning ring, a plurality of adjusting grooves are formed in the positioning ring, and the unit steel ball retainers are slidably mounted in the adjusting grooves in a one-to-one correspondence manner; the unit steel ball retainers finish the distance adjustment among the plurality of unit steel ball retainers through the positions of the telescopic structures arranged on the unit steel ball retainers in the adjusting grooves, and are used for adjusting the structures to adapt to the supporting strength; an adaptive adjusting structure adapts to the supporting strength, the bearing is prevented from being damaged easily, and the service life is prolonged; and the structure is switched timely for rotating use and hovering, and the structure is adjusted flexibly and reasonably according to force bearing points.

Description

Technical Field

[0001] The present invention relates to the technical field of bearings, and more specifically, to a high-precision silent bearing for industrial robots. Background Art

[0002] A bearing is an important component in contemporary mechanical equipment. Its main function is to support a mechanical rotating body and reduce the friction coefficient during its movement; according to the different friction properties of the moving elements, bearings can be divided into two major categories: rolling bearings and sliding bearings; among them, rolling bearings have been standardized and serialized, but compared with sliding bearings, their radial dimensions, vibration, and noise are larger, and the price is also higher; a rolling bearing generally consists of four parts: an outer ring, an inner ring, rolling elements, and a cage. According to the shape of the rolling elements, rolling bearings are divided into two major categories: ball bearings and roller bearings.

[0003] According to the requirements of the bearing working conditions and the working environment for the sealing degree, various sealing forms are often comprehensively used in engineering design to achieve a better sealing effect. In order to make the machine run smoothly, the bearing is to reduce friction and make the rotation smoother; the bearing is used between the rotating "shaft" and the rotating support part; the bearing can reduce friction, make the rotation smoother, and reduce energy consumption. This is the greatest function of the bearing; the bearing also protects the rotating support part and keeps the rotating "shaft" in the correct position. A large force will be borne between the rotating "shaft" and the rotating support part; the bearing can prevent the rotating support part from being damaged by this force and keep the rotating "shaft" in the correct position.

[0004] An industrial robot can be fixed in a certain place or movable and is used in an industrial automation system; it is a machine whose mechanism usually consists of a series of articulated or sliding joints, has several degrees of freedom, and has a motion function similar to that of a human arm; and the bearing plays a key role in it; During the process of an industrial robot grasping or handling an object, the industrial robot will bear a certain supporting force, especially when hovering at a certain position, in which case the bearing will bear a certain pressure. Since the existing bearing structure is fixed, it cannot well adjust its structure to adapt to the supporting strength, resulting in the problem that the bearing is easily damaged; Therefore, in view of the above problems, a high-precision silent bearing for industrial robots is specifically proposed. Summary of the Invention

[0005] Technical Problem. The object of the present invention is to solve the disadvantages existing in the prior art: during the process of an industrial robot grasping or handling an object, the industrial robot will bear a certain supporting force, especially when hovering at a certain position, in which case the bearing will bear a certain pressure. Since the existing bearing structure is fixed, it cannot well adjust its structure to adapt to the supporting strength, resulting in the problem that the bearing is easily damaged, and to propose a high-precision silent bearing for industrial robots.

[0006] The specific technical solution is as follows: a high-precision silent bearing for an industrial robot, including a primary bearing body. A bearing inner ring body is installed inside the primary bearing body. The primary bearing body includes a bearing outer ring. A steel ball cage assembly is installed between the bearing inner ring body and the bearing outer ring. The bearing outer ring, the steel ball cage assembly, and the bearing inner ring body form a main bearing. The steel ball cage assembly includes a steel ball retainer and a plurality of steel balls movably arranged on the steel ball retainer. The steel ball retainer includes a positioning ring structure and unit steel ball retainers. There are a plurality of unit steel ball retainers, which are annularly and arrayedly distributed on the positioning ring structure. The steel balls are rotatably assembled on the unit steel ball retainers correspondingly. The positioning ring structure includes a positioning ring. The positioning ring is provided with a plurality of adjustment grooves, and the plurality of adjustment grooves are annularly and arrayedly distributed on the positioning ring. The plurality of unit steel ball retainers are slidably installed in the plurality of adjustment grooves one by one. The position of the unit steel ball retainer in the adjustment groove is adjusted through its provided telescopic structure, so as to complete the distance adjustment between the plurality of unit steel ball retainers, and is used to adjust the structure to adapt to the support strength. The steel ball retainer drives the plurality of steel balls to roll through the positioning ring structure and the unit steel ball retainers, and completes that the bearing inner ring body and the bearing outer ring use the steel ball retainers on the steel ball cage assembly, and use the plurality of steel balls movably arranged on the steel ball retainers as the support for the mechanical rotating body, reducing the friction coefficient during its movement. After the industrial robot bears the supporting force, especially when hovering at a certain position, the bearing outer ring, the steel ball cage assembly, and the bearing inner ring body form a main bearing. The telescopic structure is used to adjust the position of the unit steel ball retainer in the adjustment groove, and complete the distance adjustment between the plurality of unit steel ball retainers, so that the plurality of unit steel ball retainers distributed in an array approach the support point, realizing the adaptive adjustment of the structure to adapt to the support strength, avoiding easy damage of the bearing, and improving the service life. When continuing to use after the hovering ends, the plurality of unit steel ball retainers are adjusted back to the array distribution through the telescopic structure. It realizes the timely switching of the structure between rotation and hovering, and flexibly adjusts the structure reasonably according to the stress point.

[0007] In the technical solution of the present invention, the positioning ring structure further includes an annular groove, which is opened on the outer side wall of the positioning ring. An inner insertion ring is arranged inside the bearing outer ring, and the sliding groove of the inner insertion ring is inserted into the annular groove. During the relative rotation of the bearing outer ring, the steel ball cage assembly, and the bearing inner ring body to form a main bearing, the inner insertion ring is driven to rotate inside the annular groove. The inner part of the annular groove is divided into a plurality of independent air guide cavities. A sealing gasket is installed between the inner insertion ring and the annular groove for sealing the air guide cavities. A plurality of unit air pressure adjustment holes are opened on the bearing outer ring.

[0008] Further, the telescopic structure is an arc-shaped pneumatic telescopic rod. One end of the arc-shaped pneumatic telescopic rod is fixed on the unit ball cage, and the other end is fixed inside the adjustment groove. The arc-shaped pneumatic telescopic rod is communicated with the air guide cavity. After the main bearing hovers with the bearing outer ring, the ball cage assembly and the bearing inner ring body, by increasing the air pressure in multiple local air guide cavities, the arc-shaped pneumatic telescopic rod is promoted to elongate to adjust the unit ball cage; by reducing the air pressure in multiple symmetric local air guide cavities on the other side, the arc-shaped pneumatic telescopic rod is promoted to shorten to adjust the unit ball cage, so that multiple unit ball cages distributed in an array approach the support point.

[0009] Optimally, the unit ball cage includes a positioning block, which is installed on the connecting column. The connecting column is slidably assembled inside the adjustment groove; the arc-shaped pneumatic telescopic rod is fixed on the connecting column; a positioning cavity is opened on the positioning block, and the positioning cavity is used for rotatably assembling the balls.

[0010] Optimally, the bearing outer ring includes an outer retaining ring, and a side retaining ring is fixed on each side of the outer retaining ring. The unit air pressure adjustment hole is opened on the side retaining ring and extends to the inner interpenetrating ring; the side retaining ring and the outer retaining ring enclose an inner positioning groove, and the inner interpenetrating ring is arranged inside the inner positioning groove.

[0011] In the technical solution of the present invention, a sealing ring is installed between the bearing outer ring and the bearing inner ring body on the outside of the ball cage assembly.

[0012] In the technical solution of the present invention, a rolling groove is opened on the outside of the bearing inner ring body, and the ball cage assembly is sleeved inside the rolling groove; a conduit is opened on the bearing inner ring body on the side of the rolling groove, and the conduit is used to replace the lubricant inside the rolling groove.

[0013] By opening a conduit on the bearing inner ring body, the lubricant can be replaced regularly to maintain the ball cage assembly and improve the overall service life; at the same time, it also avoids the need to disassemble the traditional bearing as a whole, especially when installed on an industrial robot, where maintenance is required on the basis of disassembling the industrial robot.

[0014] In the technical solution of the present invention, a secondary bearing body is installed inside the bearing inner ring body. The secondary bearing body includes a fitting and a ball hinge; the secondary bearing body is assembled through the fitting, and the secondary bearing body can be switched in real time at multiple angles through the ball hinge and cooperate with the primary bearing body to support the mechanical rotating body.

[0015] Further, the ball hinge includes an outer support tube, which is fixed inside the bearing inner ring body; the ball hinge further includes an inner hinge ball, and the inner hinge ball is hinged inside the outer support tube.

[0016] The secondary bearing body is switched in real time at multiple angles through a spherical hinge, and cooperates with the primary bearing body to support the mechanical rotating body. That is, the primary bearing body and the secondary bearing body form a multi-stage bearing to reduce the friction coefficient during its movement and achieve high-coverage real-time multi-angle switching for work. The improvement of the multi-stage bearing does not delay its normal operation after a failure occurs at one point.

[0017] Furthermore, the fitting includes a fixed tube and a fixed ring. The fixed tube is fixed on the spherical hinge, and the fixed ring is fixed on the end of the fixed tube away from the spherical hinge. A plurality of through-shaped insertion openings are formed around the fixed ring, and a plurality of support and abutting blocks are movably inserted inside the insertion openings. The plurality of support and abutting blocks are arranged in a circular array on the fixed ring. A plurality of locking bolts are inserted through the fixed ring in a threaded manner. Wedge-shaped surfaces are provided on both the locking bolts and the support and abutting blocks. After the fixed ring is inserted inside the outer installation tube, the locking bolts are rotated. The locking bolts act on the support and abutting blocks and drive the support and abutting blocks to abut against the outer installation tube for stable locking. When the fixed ring is sleeved on the inner installation rod and the support and abutting blocks are switched from the outside to the inside, the locking bolts are rotated. The locking bolts act on the support and abutting blocks and drive the support and abutting blocks to abut against the installation rod for stable locking.

[0018] During the process of adjusting and selecting the outer installation tube or the installation rod according to the specific parts of the industrial robot, after the fixed ring is inserted inside the outer installation tube, the locking bolts are rotated. The locking bolts act on the support and abutting blocks and drive the support and abutting blocks to abut against the outer installation tube for stable locking. When the fixed ring is sleeved on the inner installation rod and the support and abutting blocks are switched from the outside to the inside, the locking bolts are rotated. The locking bolts act on the support and abutting blocks and drive the support and abutting blocks to abut against the installation rod for stable locking. This realizes the improvement of the installation adaptability of the fitting, which can be flexibly adjusted according to the installation position and achieves stable installation.

[0019] Compared with the prior art, the high-precision silent bearing of the industrial robot of the present invention can achieve: During use, the ball cage drives multiple steel balls to roll through the positioning ring structure and the unit ball cage. The inner ring and the outer ring of the bearing are completed through the ball cage on the ball cage assembly. Multiple steel balls movably arranged on the ball cage are used to support the mechanical rotating body, reducing the friction coefficient ; After the industrial robot bears the supporting force, especially when hovering at a certain position, the outer ring of the bearing, the steel ball cage assembly and the inner ring body of the bearing form the main bearing. The telescopic structure is used to adjust the position of the unit steel ball cage inside the adjustment groove, complete the adjustment of the distance between multiple unit steel ball cages, so that the multiple unit steel ball cages distributed in an array approach the support point, realize the adaptive adjustment structure to adapt to the support strength, avoid easy damage of the bearing, and improve the service life; when continuing to use after the hovering ends, the multiple unit steel ball cages are adjusted back to the array distribution through the telescopic structure; realize the timely switching structure between rotation use and hovering, and flexibly adjust the structure reasonably according to the stress point; A conduit is opened on the inner ring body of the bearing to achieve regular replacement of the lubricant, maintain the steel ball cage assembly, and improve the overall service life; at the same time, it also avoids the need to disassemble the traditional bearing as a whole, especially when installed on an industrial robot, it needs to be maintained on the basis of disassembling the industrial robot; The secondary bearing body is switched at multiple angles in real time through the ball hinge, and cooperates with the primary bearing body to support the mechanical rotating body, that is, the primary bearing body and the secondary bearing body form a multi-stage bearing to reduce the friction coefficient during its movement, and realize high-coverage real-time multi-angle switching for work; the improvement of the multi-stage bearing does not delay its normal work after a failure occurs; During the process of adjusting and selecting the outer installation pipe or the installation rod according to the specific part of the industrial robot, after the fixing ring is inserted into the inner part of the outer installation pipe, rotate the locking bolt. The locking bolt acts on the supporting abutting block and drives the supporting abutting block to abut against the outer installation pipe for stable locking; when the fixing ring is sleeved on the inner installation rod, switch the supporting abutting block from the outside to the inside, rotate the locking bolt, the locking bolt acts on the supporting abutting block, and drives the supporting abutting block to abut against the installation rod for stable locking; realize the improvement of the installation adaptability of the fitting, which can be flexibly adjusted according to the installation part, and achieve stable installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings: Figure 1 is a schematic structural diagram of a high-precision silent bearing of an industrial robot in an embodiment of the present invention; Figure 2 is a schematic assembly structure diagram of a primary bearing body and an inner ring body of the bearing in an embodiment of the present invention; Figure 3 is Figure 2 the structural diagram after removing the sealing ring in Figure 4Schematic diagram of the assembly structure of the steel ball holder assembly and the bearing inner ring body in an embodiment of the present invention; Figure 5 Schematic diagram of the structure of the steel ball holder assembly in an embodiment of the present invention; Figure 6 Schematic diagram of the structure of the steel ball cage in an embodiment of the present invention; Figure 7 Schematic diagram of the structure of the positioning ring structure in an embodiment of the present invention; Figure 8 Schematic diagram of the structure of the unit steel ball cage in an embodiment of the present invention; Figure 9 Schematic diagram of the structure of the bearing outer ring in an embodiment of the present invention; Figure 10 Schematic diagram of the structure of the secondary bearing body in an embodiment of the present invention; Figure 11 Schematic diagram of the structure of the fitting in an embodiment of the present invention; Figure 12 is Figure 11 Demonstration diagram of the fitting assembled on the outer mounting tube; Figure 13 is Figure 11 Demonstration diagram of the fitting assembled on the inner mounting rod; Figure 14 Schematic diagram of the structure of the ball hinge in an embodiment of the present invention; Figure 15 Demonstration diagram of the steel ball holder assembly adjusting the distance between multiple unit steel ball cages in an embodiment of the present invention.

[0021] In the drawings, the list of components represented by each reference numeral is as follows: 100, primary bearing body; 110, bearing outer ring, 120, sealing ring, 130, steel ball holder assembly; 131, steel ball cage, 132, steel ball; 1101, outer retaining ring, 1102, unit air pressure adjustment hole, 1103, side retaining ring, 1104, inner positioning groove, 1105, inner insertion ring; 1311, positioning ring structure, 1312, unit steel ball cage; 13111, annular groove, 13112, positioning ring, 13113, adjustment groove; 13121, connecting column, 13122, positioning block, 13123, positioning cavity, 13124, arc-shaped air pressure expansion rod; 200, bearing inner ring body; 210, conduit, 220, rolling groove; 300. Secondary bearing body; 310. Fitting; 320. Ball hinge; 3101. Fixed tube; 3102. Support abutment block; 3103. Fixed ring; 3104. Locking bolt; 3105. Intersection opening; 3201. Outer support tube; 3202. Inner hinge ball; 400. Outer installation tube; 500. Inner installation rod. Detailed implementation manner

[0022] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0023] In the embodiment of the present invention, as Figures 1 - 9 shown: The high-precision silent bearing of the industrial robot includes a primary bearing body 100. The bearing inner ring body 200 is installed inside the primary bearing body 100. The primary bearing body 100 includes a bearing outer ring 110. A steel ball cage assembly 130 is installed between the bearing inner ring body 200 and the bearing outer ring 110; The bearing outer ring 110, the steel ball cage assembly 130 and the bearing inner ring body 200 form the main bearing; Therefore, summarizing the above situation, it can be known that: The bearing outer ring 110, the steel ball cage assembly 130 and the bearing inner ring body 200 form the main bearing. During use, the bearing inner ring body 200 and the bearing outer ring 110 use the steel ball cage assembly 130 as a support for the mechanical rotating body to reduce the friction coefficient during its movement; The steel ball cage assembly 130 includes a steel ball retainer 131 and a plurality of steel balls 132 movably arranged on the steel ball retainer 131; It should be noted that: The specific shape and the material used for the steel balls 132 are both prior arts. Their detailed structures can be known from existing literature and periodicals, and they can also be directly purchased on the market, or the components can be purchased on the market for composition, etc.; They are not what the present invention intends to protect and will not be elaborated in detail here; Therefore, summarizing the above situation, it can be known that: During use, the bearing outer ring 110, the steel ball cage assembly 130 and the bearing inner ring body 200 form the main bearing. The bearing inner ring body 200 and the bearing outer ring 110 use the steel ball retainer 131 on the steel ball cage assembly 130 and use a plurality of steel balls 132 movably arranged on the steel ball retainer 131 as a support for the mechanical rotating body to reduce the friction coefficient during its movement; The steel ball cage 131 includes a positioning ring structure 1311 and unit steel ball cages 1312. A plurality of unit steel ball cages 1312 are provided and are annularly arrayed on the positioning ring structure 1311; the steel balls 132 are rotatably assembled on the unit steel ball cages 1312 correspondingly; Therefore, summarizing the above-described situation, it can be known that: the bearing outer ring 110, the steel ball cage assembly 130, and the bearing inner ring body 200 constitute the main bearing. During use, the steel ball cage 131 drives a plurality of steel balls 132 to roll through the positioning ring structure 1311 and the unit steel ball cages 1312, and the bearing inner ring body 200 and the bearing outer ring 110 are completed through the steel ball cage 131 on the steel ball cage assembly 130. A plurality of steel balls 132 movably arranged on the steel ball cage 131 are used as the support for the mechanical rotating body, reducing the friction coefficient during its movement; The positioning ring structure 1311 includes a positioning ring 13112. The positioning ring 13112 is provided with a plurality of adjustment slots 13113. The plurality of adjustment slots 13113 are annularly arrayed on the positioning ring 13112, and a plurality of unit steel ball cages 1312 are slidably installed in the plurality of adjustment slots 13113 one by one; the unit steel ball cages 1312 complete the distance adjustment between the plurality of unit steel ball cages 1312 through the position of the telescopic structure provided therein inside the adjustment slot 13113, for adjusting the structure to adapt to the support strength (for details, refer to Figure 15 the demonstration diagram of the steel ball cage assembly 130 adjusting the distance between the plurality of unit steel ball cages 1312); Therefore, summarizing the above-described situation, it can be known that: during use, the steel ball cage 131 drives a plurality of steel balls 132 to roll through the positioning ring structure 1311 and the unit steel ball cages 1312, and the bearing inner ring body 200 and the bearing outer ring 110 are completed through the steel ball cage 131 on the steel ball cage assembly 130. A plurality of steel balls 132 movably arranged on the steel ball cage 131 are used as the support for the mechanical rotating body, reducing the friction coefficient during its movement; after the industrial robot bears the supporting force, especially when hovering at a certain position, the bearing outer ring 110, the steel ball cage assembly 130, and the bearing inner ring body 200 constitute the main bearing. The telescopic structure is used to adjust the position of the unit steel ball cage 1312 inside the adjustment slot 13113, and the distance adjustment between the plurality of unit steel ball cages 1312 is completed, so that the plurality of unit steel ball cages 1312 arranged in an array approach the support point, realizing the adaptive adjustment of the structure to adapt to the support strength, avoiding easy damage of the bearing, and improving the service life; when continuing to use after the hovering ends, the plurality of unit steel ball cages 1312 are adjusted back to the array distribution through the telescopic structure; realizing the timely switching of the structure between rotation use and hovering, and flexibly adjusting the structure reasonably according to the stress point.

[0024] In the embodiment of the present invention, as Figure 6 、7 As shown in FIGS. 8 and 9: The positioning ring structure 1311 further includes an annular groove 13111, which is opened on the outer side wall of the positioning ring 13112; An inner insertion ring 1105 is provided inside the outer ring 110 of the bearing. The sliding groove of the inner insertion ring 1105 is inserted inside the annular groove 13111. During the relative rotation of the main bearing composed of the outer ring 110 of the bearing, the steel ball holder assembly 130, and the inner ring body 200 of the bearing, the inner insertion ring 1105 is driven to rotate inside the annular groove 13111; The inside of the annular groove 13111 is divided into a plurality of independent air guide cavities. A gasket is installed between the inner insertion ring 1105 and the annular groove 13111 for sealing the air guide cavities. A plurality of unit air pressure adjustment holes 1102 are opened on the outer ring 110 of the bearing.

[0025] In the embodiment of the present invention, as Figure 8 shown: The telescopic structure is an arc-shaped pneumatic telescopic rod 13124. One end of the arc-shaped pneumatic telescopic rod 13124 is fixed on the unit steel ball holder 1312, and the other end is fixed inside the adjustment groove 13113. The arc-shaped pneumatic telescopic rod 13124 is communicated with the air guide cavity (it should be noted that the arc-shaped pneumatic telescopic rod 13124 corresponds to the unit steel ball holders 1312, and is divided into multiple parts in multiple places and communicated with one air guide cavity); After the main bearing composed of the outer ring 110 of the bearing, the steel ball holder assembly 130, and the inner ring body 200 of the bearing hovers, by increasing the air pressure in a local plurality of air guide cavities, the arc-shaped pneumatic telescopic rod 13124 is promoted to extend to adjust the unit steel ball holder 1312; by reducing the air pressure in the symmetrically local plurality of air guide cavities on the other side, the arc-shaped pneumatic telescopic rod 13124 is promoted to shorten to adjust the unit steel ball holder 1312, so that the array-distributed unit steel ball holders 1312 move closer to the support point.

[0026] Therefore, summarizing the above situation, it can be known that: After the industrial robot bears the supporting force, especially when hovering at a certain position, the main bearing composed of the outer ring 110 of the bearing, the steel ball holder assembly 130, and the inner ring body 200 of the bearing uses the unit air pressure adjustment hole 1102 to increase the air pressure in a local plurality of air guide cavities, promoting the arc-shaped pneumatic telescopic rod 13124 to extend to adjust the unit steel ball holder 1312; by reducing the air pressure in the symmetrically local plurality of air guide cavities on the other side, the arc-shaped pneumatic telescopic rod 13124 is promoted to shorten to adjust the unit steel ball holder 1312, so that the array-distributed unit steel ball holders 1312 move closer to the support point, realizing an adaptive adjustment structure to adapt to the support strength, avoiding easy damage of the bearing, and improving the service life; It should be noted that: the air intake mode of the unit air pressure adjusting hole 1102 and the connection mode to the air extraction device are both prior arts, and their detailed structures can be obtained from existing literature and periodicals. At the same time, they can also be directly purchased on the market, or the components can be purchased on the market for assembly, etc.; they are not what the present invention aims to protect and will not be elaborated in detail here.

[0027] In an embodiment of the present invention, as Figure 8 shown: the unit ball retainer 1312 includes a positioning block 13122, the positioning block 13122 is installed on the connecting column 13121, and the connecting column 13121 is slidably assembled inside the adjusting groove 13113; the arc-shaped air pressure telescopic rod 13124 is fixed on the connecting column 13121; a positioning cavity 13123 is formed on the positioning block 13122, and the inside of the positioning cavity 13123 is used for rotatably assembling the steel ball 132.

[0028] In an embodiment of the present invention, as Figure 9 shown: the bearing outer ring 110 includes an outer retaining ring 1101, a side retaining ring 1103 is fixed on each side of the outer retaining ring 1101, the unit air pressure adjusting hole 1102 is opened on the side retaining ring 1103 and extends to the inner inserting ring 1105; the side retaining ring 1103 and the outer retaining ring 1101 enclose an inner positioning groove 1104, and the inner inserting ring 1105 is arranged inside the inner positioning groove 1104.

[0029] In an embodiment of the present invention, as Figure 2 shown: a sealing ring 120 is installed between the bearing outer ring 110 and the bearing inner ring body 200 on the outside of the ball retainer assembly 130.

[0030] In an embodiment of the present invention, as Figure 3 and Figure 4 shown: a rolling groove 220 is opened on the outside of the bearing inner ring body 200, and the ball retainer assembly 130 is sleeved inside the rolling groove 220; a conduit 210 is opened on the bearing inner ring body 200 on the side of the rolling groove 220, and the conduit 210 is used to replace the lubricant inside the rolling groove 220.

[0031] It should be noted that: the lubricant for lubricating the ball retainer assembly 130 is a prior art, and its detailed structure can be obtained from existing literature and periodicals. At the same time, it can also be directly purchased on the market, or the components can be purchased on the market for assembly, etc.; it is not what the present invention aims to protect and will not be elaborated in detail here; Therefore, summarizing the above - described situation, it can be known that: a conduit 210 is provided on the inner ring body 200 of the bearing, enabling regular replacement of the lubricant, maintaining the steel ball cage assembly 130, and increasing the overall service life; at the same time, it also avoids the need to disassemble the traditional bearing as a whole, especially when installed on an industrial robot, where maintenance requires disassembling the industrial robot.

[0032] In an embodiment of the present invention, as Figure 1 and Figure 10 shown: A secondary bearing body 300 is installed inside the bearing inner ring body 200. The secondary bearing body 300 includes a fitting 310 and a ball hinge 320; The secondary bearing body 300 is assembled through the fitting 310. The secondary bearing body 300 can perform real - time multi - angle switching through the ball hinge 320, and cooperate with the primary bearing body 100 to support the mechanical rotating body.

[0033] In an embodiment of the present invention, as Figure 10 and Figure 14 shown: The ball hinge 320 includes an outer support tube 3201, and the outer support tube 3201 is fixed inside the bearing inner ring body 200; The ball hinge 320 further includes an inner hinge ball 3202, and the inner hinge ball 3202 is ball - hinged inside the outer support tube 3201.

[0034] Therefore, summarizing the above - described situation, it can be known that: The secondary bearing body 300 can perform real - time multi - angle switching through the ball hinge 320, and cooperate with the primary bearing body 100 to support the mechanical rotating body, that is, the primary bearing body 100 and the secondary bearing body 300 form a multi - stage bearing, reducing the friction coefficient during its movement, achieving high - coverage real - time multi - angle switching for work; the improvement of the multi - stage bearing does not delay its normal work after a failure occurs at one location.

[0035] In an embodiment of the present invention, as Figures 1 - 13 shown: The fitting 310 includes a fixed tube 3101 and a fixed ring 3103. The fixed tube 3101 is fixed on the ball hinge 320, and the fixed ring 3103 is fixed on the end of the fixed tube 3101 away from the ball hinge 320; A plurality of through - shaped insertion ports 3105 are provided around the fixed ring 3103. A plurality of support abutment blocks 3102 are movably inserted inside the insertion ports 3105, and the plurality of support abutment blocks 3102 are distributed in a circular array on the fixed ring 3103; A plurality of locking bolts 3104 are threaded through the fixed ring 3103; The locking bolt 3104 and the supporting abutting block 3102 are both provided with wedge-shaped surfaces; after the fixing ring 3103 is inserted into the inner part of the outer mounting pipe 400, the locking bolt 3104 is rotated, and the locking bolt 3104 acts on the supporting abutting block 3102, and drives the supporting abutting block 3102 to abut against the outer mounting pipe 400 for stable locking; when the fixing ring 3103 is sleeved on the inner mounting rod 500, the supporting abutting block 3102 is switched from the outside to the inside, the locking bolt 3104 is rotated, the locking bolt 3104 acts on the supporting abutting block 3102, and drives the supporting abutting block 3102 to abut against the mounting rod 500 for stable locking.

[0036] It should be noted that: both the outer mounting pipe 400 and the mounting rod 500 are components on the industrial robot, and the fitting 310 is not fixed on the outer mounting pipe 400 and the mounting rod 500 at the same time. The outer mounting pipe 400 or the mounting rod 500 is adjusted and selected according to the specific part of the industrial robot; Therefore, summarizing the above situation, it can be known that: during the process of adjusting and selecting the outer mounting pipe 400 or the mounting rod 500 according to the specific part of the industrial robot, after the fixing ring 3103 is inserted into the inner part of the outer mounting pipe 400, the locking bolt 3104 is rotated, the locking bolt 3104 acts on the supporting abutting block 3102, and drives the supporting abutting block 3102 to abut against the outer mounting pipe 400 for stable locking; when the fixing ring 3103 is sleeved on the inner mounting rod 500, the supporting abutting block 3102 is switched from the outside to the inside, the locking bolt 3104 is rotated, the locking bolt 3104 acts on the supporting abutting block 3102, and drives the supporting abutting block 3102 to abut against the mounting rod 500 for stable locking; the installation adaptability of the fitting 310 is improved, and it can be flexibly adjusted according to the installation position, achieving stable installation.

[0037] During the process of the industrial robot grasping or carrying an object, the industrial robot will bear a certain supporting force, especially when hovering at a certain position, so the bearing will bear a certain pressure. Due to the fixed structure of the existing bearing, it cannot well adjust its structure to adapt to the supporting strength, resulting in the problem that the bearing is easily damaged; the high-precision silent bearing of the industrial robot of the present invention can achieve: During use, the steel ball cage 131 drives multiple steel balls 132 to roll through the positioning ring structure 1311 and the unit steel ball cage 1312, and the inner ring body 200 of the bearing and the outer bearing ring 110 are completed through the steel ball cage 131 on the steel ball cage assembly 130. Multiple steel balls 132 movably arranged on the steel ball cage 131 are used as the support for the mechanical rotating body to reduce the friction coefficient during its movement. After the industrial robot bears the supporting force, especially when hovering at a certain position, the outer bearing ring 110, the steel ball cage assembly 130 and the inner ring body 200 of the bearing form the main bearing. The telescopic structure is used to adjust the position of the unit steel ball cage 1312 inside the adjustment groove 13113, and the distance adjustment between multiple unit steel ball cages 1312 is completed, so that the multiple unit steel ball cages 1312 distributed in an array approach the support point, realizing an adaptive adjustment structure to adapt to the support strength, avoiding easy damage of the bearing and improving the service life. When continuing to use after the hovering ends, the multiple unit steel ball cages 1312 are adjusted back to the array distribution through the telescopic structure; realizing a structure for timely switching between rotation use and hovering, and flexibly adjusting the structure reasonably according to the stress point.

[0038] The structures, ratios, sizes, etc. shown in this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with this technology to understand and read, and are not used to limit the limited conditions under which the present invention can be implemented. Therefore, they do not have technical substance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present invention. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0039] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. High-precision silent bearing for industrial robots, characterized in that it includes a primary bearing body (100), and a bearing inner ring body (200) is installed inside the primary bearing body (100). The primary bearing body (100) includes a bearing outer ring (110), and a steel ball cage assembly (130) is installed between the bearing inner ring body (200) and the bearing outer ring (110); the bearing outer ring (110), the steel ball cage assembly (130) and the bearing inner ring body (200) form the main bearing; The steel ball cage assembly (130) includes a steel ball retainer (131), and a plurality of steel balls (132) movably arranged on the steel ball retainer (131); The steel ball retainer (131) includes a positioning ring structure (1311) and unit steel ball retainers (1312). There are a plurality of unit steel ball retainers (1312), which are annularly and arrayedly distributed on the positioning ring structure (1311); the steel balls (132) are rotatably assembled on the unit steel ball retainers (1312) correspondingly; The positioning ring structure (1311) includes a positioning ring (13112), and a plurality of adjustment grooves (13113) are opened on the positioning ring (13112). The plurality of adjustment grooves (13113) are annularly and arrayedly distributed on the positioning ring (13112), and a plurality of unit steel ball retainers (1312) are slidably installed in the plurality of adjustment grooves (13113) one by one; the unit steel ball retainers (1312) complete the distance adjustment between the plurality of unit steel ball retainers (1312) through the position of the telescopic structure provided thereon inside the adjustment groove (13113), so as to adjust the structure to adapt to the support strength.

2. The high-precision silent bearing for industrial robots according to claim 1, characterized in that the positioning ring structure (1311) further includes an annular groove (13111), and the annular groove (13111) is opened on the outer side wall of the positioning ring (13112); An inner insertion ring (1105) is arranged inside the bearing outer ring (110), and the sliding groove of the inner insertion ring (1105) is inserted into the annular groove (13111); during the relative rotation of the main bearing formed by the bearing outer ring (110), the steel ball cage assembly (130) and the bearing inner ring body (200), the inner insertion ring (1105) is driven to rotate inside the annular groove (13111); The inner part of the annular groove (13111) is divided into a plurality of independent air guide cavities, and a sealing gasket is installed between the inner insertion ring (1105) and the annular groove (13111) for sealing the air guide cavities; a plurality of unit air pressure adjustment holes (1102) are opened on the bearing outer ring (110).

3. The high-precision silent bearing for industrial robots according to claim 2, characterized in that the telescopic structure is an arc-shaped pneumatic telescopic rod (13124), one end of the arc-shaped pneumatic telescopic rod (13124) is fixed on the unit steel ball retainer (1312), and the other end is fixed inside the adjustment groove (13113). The arc-shaped pneumatic telescopic rod (13124) is communicated with the air guide cavity; After the main bearing is formed by the bearing outer ring (110), the steel ball cage assembly (130) and the bearing inner ring body (200) and hovers, by increasing the air pressure in multiple local air guide cavities, the arc-shaped air pressure telescopic rod (13124) is extended to adjust the unit steel ball cage (1312); by reducing the air pressure in multiple symmetric local air guide cavities on the other side, the arc-shaped air pressure telescopic rod (13124) is shortened to adjust the unit steel ball cage (1312), so that multiple unit steel ball cages (1312) distributed in an array move closer to the support point.

4. The high-precision silent bearing for an industrial robot according to claim 3, wherein the unit steel ball cage (1312) includes a positioning block (13122), the positioning block (13122) is installed on the connecting column (13121), and the connecting column (13121) is slidably assembled inside the adjustment groove (13113); the arc-shaped air pressure telescopic rod (13124) is fixed on the connecting column (13121); a positioning cavity (13123) is formed on the positioning block (13122), and the inside of the positioning cavity (13123) is used for rotatably assembling the steel ball (132).

5. The high-precision silent bearing for an industrial robot according to claim 3, wherein the bearing outer ring (110) includes an outer retaining ring (1101), a side retaining ring (1103) is fixed on each side of the outer retaining ring (1101), a unit air pressure adjustment hole (1102) is formed on the side retaining ring (1103) and extends to the inner insertion ring (1105); the side retaining ring (1103) and the outer retaining ring (1101) enclose an inner positioning groove (1104), and the inner insertion ring (1105) is arranged inside the inner positioning groove (1104).

6. The high-precision silent bearing for an industrial robot according to claim 1, wherein, A sealing ring (120) is installed between the bearing outer ring (110) and the bearing inner ring body (200) on the outside of the steel ball cage assembly (130).

7. The high-precision silent bearing for an industrial robot according to claim 1, wherein a rolling groove (220) is formed on the outside of the bearing inner ring body (200), and the steel ball cage assembly (130) is sleeved inside the rolling groove (220); a conduit (210) is formed on the bearing inner ring body (200) on the side of the rolling groove (220), and the conduit (210) is used to replace the lubricant inside the rolling groove (220).

8. The high-precision silent bearing for an industrial robot according to claim 1, wherein a secondary bearing body (300) is installed inside the bearing inner ring body (200), and the secondary bearing body (300) includes a fitting (310) and a ball hinge (320); The secondary bearing body (300) is assembled through the fitting (310), the secondary bearing body (300) can be switched in real time at multiple angles through the ball hinge (320), and cooperates with the primary bearing body (100) to support the mechanical rotating body.

9. The high-precision silent bearing for an industrial robot according to claim 8, wherein the ball hinge (320) includes an outer support tube (3201), and the outer support tube (3201) is fixed inside the bearing inner ring body (200); The spherical hinge (320) further includes an inner hinge ball (3202), and the inner hinge ball (3202) is spherically hinged inside the outer support pipe (3201).

10. The high-precision silent bearing for an industrial robot according to claim 8, wherein the fitting (310) includes a fixed pipe (3101) and a fixed ring (3103). The fixed pipe (3101) is fixed on the spherical hinge (320), and the fixed ring (3103) is fixed on the end of the fixed pipe (3101) away from the spherical hinge (320); a plurality of through insertion openings (3105) are formed around the fixed ring (3103), and a plurality of support abutting blocks (3102) are movably inserted inside the insertion openings (3105). The plurality of support abutting blocks (3102) are annularly arrayed on the fixed ring (3103); a plurality of locking bolts (3104) are threadedly inserted into the fixed ring (3103); wedge-shaped surfaces are formed on both the locking bolts (3104) and the support abutting blocks (3102); after the fixed ring (3103) is inserted inside the outer mounting pipe (400), the locking bolts (3104) are rotated. The locking bolts (3104) act on the support abutting blocks (3102) and drive the support abutting blocks (3102) to abut against the outer mounting pipe (400) for stable locking; when the fixed ring (3103) is sleeved on the inner mounting rod (500), the support abutting blocks (3102) are switched from the outside to the inside, and the locking bolts (3104) are rotated. The locking bolts (3104) act on the support abutting blocks (3102) and drive the support abutting blocks (3102) to abut against the mounting rod (500) for stable locking.

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