Flexible bearing for harmonic reducer of industrial robot

Abstract

The invention discloses a flexible bearing for a harmonic reducer of an industrial robot, and relates to the technical field of industrial robot bearings, the flexible bearing comprises a first retainer and a second retainer fixedly connected with the first retainer, and thin-wall flexible bearings are arranged on the outer surfaces of the first retainer and the second retainer. When the flexible gear is used, the second thin-wall flexible ring diffuses stress generated by deformation of the flexible gear to the surrounding area through elastic deformation of the second thin-wall flexible ring, and the stress is preliminarily dispersed. The multiple hexagonal units of the honeycomb-shaped supporting structure bear transmitted stress together, the stress is dispersed into the whole honeycomb structure through deformation, and the stress is prevented from being concentrated at a certain position. The high-elasticity damping material can buffer stress transmission, reduce the influence of vibration and impact on the structure and facilitate stable stress transmission. And the first thin-wall flexible ring further uniformly transmits the stress to the part in contact with the cam.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot bearings, and in particular to a flexible bearing for an industrial robot harmonic reducer. Background Art

[0002] Industrial robot bearings are mechanical components used in the joints of industrial robots to support rotating shafts or other moving parts, reducing friction and ensuring motion accuracy and stability. The harmonic reducer for industrial robots is a mechanical transmission device that uses flexible components to generate controllable elastic deformation waves to transmit motion and power. It offers advantages such as a large transmission ratio, high precision, and a compact structure, making it a core component of industrial robot joint transmission. During operation, the harmonic reducer causes the flexspline to undergo periodic elastic deformation, and the flexible bearing deforms accordingly, ensuring smooth transmission.

[0003] In the prior art, when a conventional flexible bearing is in use, its exterior generally adopts a single-piece steel outer ring. When the flexible pulley undergoes periodic deformation, the conventional single steel ring has relatively large rigidity and insufficient flexibility, and the contact state between the flexible pulley and the steel outer ring is constantly changing. The single steel outer ring is prone to stress concentration in certain parts. Over time, it is easy to cause plastic deformation or even cracking of the steel outer ring, reducing the service life of the flexible bearing and affecting the normal operation of the harmonic reducer.

[0004] Therefore, the present invention proposes a flexible bearing for an industrial robot harmonic reducer to solve the problems in the above-mentioned background technology. Summary of the Invention

[0005] The purpose of the present invention is to provide a flexible bearing for an industrial robot harmonic reducer to solve the problem raised in the above-mentioned background technology that the traditional flexible bearing has relatively large rigidity during use, the contact state between the flexible wheel and the steel outer ring changes continuously, and stress concentration is prone to occur in certain parts, causing plastic deformation or even cracking of the steel outer ring, reducing the service life of the flexible bearing, and affecting the normal operation of the harmonic reducer.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a flexible bearing for an industrial robot harmonic reducer, comprising a first retaining frame and a second retaining frame fixedly connected to the first retaining frame, thin-walled flexible bearings being provided on the outer surfaces of the first retaining frame and the second retaining frame, and an auxiliary buffer assembly being provided on the front surface of the first retaining frame; The thin-walled flexible bearing includes an inner ring, a plurality of steel balls are arranged on the outer surface of the inner ring, a first thin-walled flexible ring is arranged on the outer surface of the steel balls, the outer surface of the first thin-walled flexible ring is fixedly connected to a support structure, the outer surface of the support structure is fixedly connected to a second thin-walled flexible ring, a plurality of honeycomb holes are opened inside the support structure, and high elastic damping materials are arranged inside the plurality of honeycomb holes. The second thin-walled flexible ring has high flexibility and is responsible for quickly and relatively evenly deforming following the shape changes of the flexible wheel. The support structure is honeycomb-shaped and is responsible for bearing the stress transmitted from the second thin-walled flexible ring and dispersing the stress. The first thin-walled flexible ring is responsible for evenly transmitting the stress to the part in contact with the cam.

[0007] Preferably, the auxiliary buffer assembly includes two curved fins, C-shaped wing rings are fixedly installed on opposite sides of the two curved fins, fixed plates are provided at the edges of opposite sides of the two curved fins, wavy wings are fixedly installed on opposite sides of the two fixed plates, two buffer springs are fixedly connected to the opposite sides of the two fixed plates, two buffer rods are fixedly installed on the opposite sides of the two curved fins, and the outer surfaces of one end of the four buffer rods are movably sleeved with conical cylinders.

[0008] Preferably, the auxiliary buffer assembly also includes two connecting boxes, and an arc-shaped plate is fixedly installed on the outer surface of one side of the two connecting boxes, and three rolling grooves are opened inside the two arc-shaped plates, and balls are movably embedded inside the multiple rolling grooves. Sealing ball covers are fixedly installed on the inside of the two arc-shaped plates near the three rolling grooves, and solid lubricating oil is set inside the multiple sealing ball covers, and multiple micropores are opened on the inner walls of the multiple rolling grooves.

[0009] Preferably, a conical sleeve is fixedly installed at one end of the four buffer rods, each two adjacent conical cylinders of the four conical cylinders form a group, a pressure plate is fixedly installed on the outer surface of one side of the two groups of conical cylinders, and a connecting spring is movably sleeved on the outer surface of the four buffer rods.

[0010] Preferably, the outer surfaces of the four buffer rods are fixedly installed with fixed blocks, the outer surfaces of one side of the four conical sleeves are provided with trapezoidal blocks, the outer surfaces of one side of the four trapezoidal blocks are fixedly installed with two fixed rods, the outer surfaces of the eight fixed rods are movably sleeved with return springs, and the four conical sleeves are respectively against the outer surfaces of the other side of the two arc-shaped plates.

[0011] Preferably, each two adjacent fixing rods of the eight fixing rods form a group, one end of the four groups of fixing rods are fixedly installed with a connecting block, one end of the four groups of fixing rods are movable through the outer surfaces of both sides of the two connecting boxes, each two adjacent reset springs of the eight reset springs form a group, one end of the four groups of reset springs are respectively fixedly connected to the outer surface of one side of the four trapezoidal blocks, and the other ends of the four groups of reset springs are respectively fixedly connected to the two sides of the inside of the two connecting boxes.

[0012] Preferably, two movable holes are provided on the outer surface of the other side of the two connecting boxes, and the outer surfaces of the four conical cylinders are movably embedded in the four movable holes respectively. Two limit blocks are fixedly installed on the inner walls of the four conical cylinders, and two limit grooves are provided on the outer surface of the four buffer rods. The outer surfaces of the multiple limit blocks are movably embedded in the multiple limit grooves respectively, and the outer surfaces of the four trapezoidal blocks are in contact with the outer surfaces of the four conical cylinders respectively.

[0013] Preferably, the opposite sides of the two curved fins are respectively fixedly mounted on the outer surfaces of both sides of the first retaining frame, and each two adjacent buffer springs of the four buffer springs form a group, and one end of the two groups of buffer springs are respectively fixedly connected to the opposite sides of the two curved fins.

[0014] Preferably, the outer surfaces of the two C-shaped wing rings are in contact with each other, the outer surfaces of the four buffer rods are movably embedded in the interior of the two pressure plates, one end of the four connecting springs is fixedly connected to the outer surface of one side of the four fixed blocks, and the other end of the four connecting springs is fixedly connected to the outer surface of one side of the two pressure plates.

[0015] Preferably, the outer surfaces of the plurality of steel balls are coated with a diamond-like carbon coating, and the plurality of steel balls are movably embedded between the first retaining frame and the second retaining frame, and the outer surfaces of the plurality of steel balls are in contact with the outer surface of the inner ring and the inner wall of the first thin-walled flexible ring respectively.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. When the present invention is used, the second thin-walled flexible ring diffuses the stress generated by the deformation of the flexible wheel to the surrounding area through its own elastic deformation, and the stress is initially dispersed. The multiple hexagonal units of the honeycomb support structure jointly bear the transmitted stress, and disperse the stress to the entire honeycomb structure through deformation, avoiding stress concentration in a certain place. High-elasticity damping materials can buffer the transfer of stress, reduce the impact of vibration and impact on the structure, and facilitate the smooth transmission of stress. The first thin-walled flexible ring further transfers the stress evenly to the part in contact with the cam. The second thin-walled flexible ring, the honeycomb support structure and the first thin-walled flexible ring cooperate with each other and coordinate deformation to jointly maintain the shape and performance of the outer ring. This collaborative deformation mechanism enables the stress to be more reasonably distributed in the entire outer ring structure, reduces the occurrence of local stress concentration, and ensures the stable operation of the flexible bearing under complex working conditions.

[0017] 2. When used, the auxiliary buffer assembly, through the coordinated operation of multiple elastic components, effectively absorbs and buffers vibration and impact energy, reducing damage to internal bearing components, extending bearing service life, and better adapting to complex operating conditions. The curved fins and C-shaped wing rings enhance the strength of the cage, while the buffer springs and wavy wings absorb vibration and impact. The buffer rods and balls work together to evenly transmit force to the inner and outer rings, ensuring rotational accuracy and stability while reducing transmission errors caused by deformation.

[0018] 3. When the present invention is used, the heat generated by the rotation of the ball causes the solid lubricating oil to melt and enter the rolling groove through the micropores to form an oil film on the surface of the ball, which plays a self-lubricating role, reduces friction and wear, and extends the service life of the ball. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a front perspective view of a flexible bearing for an industrial robot harmonic reducer according to the present invention; Figure 2 This is a structural expansion perspective view of a thin-walled flexible bearing in a flexible bearing for an industrial robot harmonic reducer according to the present invention; Figure 3 This is a schematic cross-sectional view of a portion of the structure of a first thin-walled flexible ring in a flexible bearing for an industrial robot harmonic reducer according to the present invention; Figure 4 This is a perspective view of the structure of the first retainer in a flexible bearing for an industrial robot harmonic reducer according to the present invention; Figure 5 This is a perspective view of the structure of an auxiliary buffer component in a flexible bearing for an industrial robot harmonic reducer according to the present invention; Figure 6 This is a perspective view of the structure of a curved fin in a flexible bearing for an industrial robot harmonic reducer according to the present invention; Figure 7 This is a schematic cross-sectional view of the structure of a connection box in a flexible bearing for an industrial robot harmonic reducer according to the present invention; Figure 8 The figure is a schematic cross-sectional view of the structure of a tapered cylinder in a flexible bearing for an industrial robot harmonic reducer according to the present invention.

[0020] In the picture: 1. First retainer; 2. Thin-walled flexible bearing; 201. Inner ring; 202. Steel ball; 203. First thin-walled flexible ring; 204. Support structure; 205. Second thin-walled flexible ring; 206. Honeycomb hole; 207. High-elasticity damping material; 3. Auxiliary buffer assembly; 301. Curved fin; 302. C-shaped wing ring; 303. Fixing plate; 304. Buffer spring; 305. Wave-shaped wing; 306. Buffer rod; 307. Conical cylinder; 308. Connecting box; 309. Arc plate; 310. Rolling groove; 311. Ball; 312. Sealing ball cover; 313. Solid lubricant; 314. Micropore; 315. Fixed block; 316. Connecting spring; 317. Conical sleeve; 318. Trapezoidal block; 319. Fixed rod; 320. Connecting block; 321. Return spring; 322. Press plate; 323. Movable hole; 324. Limiting groove; 325. Limiting block; 4. Second retaining frame. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0022] Example 1: Please refer to Figures 1-8 As shown, the present invention provides a technical solution: Figure 1As shown, the flexible bearing for the harmonic reducer of an industrial robot in this embodiment includes a first retaining frame 1 and a second retaining frame 4 fixedly connected to the first retaining frame 1, a thin-walled flexible bearing 2 is provided on the outer surfaces of the first retaining frame 1 and the second retaining frame 4, and an auxiliary buffer component 3 is provided on the front surface of the first retaining frame 1; the thin-walled flexible bearing 2 includes an inner ring 201, a plurality of steel balls 202 are provided on the outer surface of the inner ring 201, a first thin-walled flexible ring 203 is provided on the outer surface of the steel balls 202, the outer surface of the first thin-walled flexible ring 203 is fixedly connected to a support structure 204, the outer surface of the support structure 204 is fixedly connected to a second thin-walled flexible ring 205, and the interior of the support structure 204 is provided with a plurality of honeycomb holes 20 6. High-elastic damping material 207 is provided inside the multiple honeycomb holes 206. The second thin-walled flexible ring 205 has high flexibility and is responsible for quickly and relatively evenly following the shape change of the flexible wheel and deforming. The support structure 204 is honeycomb-shaped and is responsible for bearing the stress transmitted by the second thin-walled flexible ring 205 and dispersing the stress. The first thin-walled flexible ring 203 is responsible for evenly transmitting the stress to the part in contact with the cam. The outer surfaces of the multiple steel balls 202 are coated with diamond-like carbon coating. The multiple steel balls 202 are movably embedded between the first retaining frame 1 and the second retaining frame 4. The outer surfaces of the multiple steel balls 202 are in contact with the outer surface of the inner ring 201 and the inner wall of the first thin-walled flexible ring 203 respectively.

[0023] In this embodiment, when in use, the structure of the thin-walled flexible bearing 2 is as follows: Figure 1 and Figure 2As shown, a steel ball 202 is positioned outside the inner ring 201, and an outer ring is positioned on the outer surface of the steel ball 202. The outer ring comprises a first thin-walled flexible ring 203, a honeycomb support structure 204, and a second thin-walled flexible ring 205. Both the first thin-walled flexible ring 203 and the second thin-walled flexible ring 205 are highly flexible. When the flexspline deforms, the second thin-walled flexible ring 205 deforms quickly and evenly to follow the flexspline's shape changes. This is because its thin-walled structure makes it more susceptible to elastic deformation when subjected to stress. Made of an alloy with good ductility and elasticity, it can adapt to the flexspline's shape changes through its own elastic deformation. When the stress generated by the flexspline's deformation is transmitted to the second thin-walled flexible ring 205, it diffuses the stress to the surrounding area through its own elastic deformation. Due to its thin-walled structure's ability to deform in all directions, the stress is not concentrated in a single location but is instead distributed throughout the second thin-walled flexible ring 205, reducing the magnitude of the localized stress and laying the foundation for subsequent further stress dispersion, achieving initial stress dispersion. The honeycomb support structure 204 exhibits excellent mechanical properties. When stress transmitted from the second thin-walled flexible ring 205 acts on the honeycomb support structure 204, the multiple hexagonal cells of the honeycomb share the stress. Each cell deforms to a certain degree when subjected to stress. This deformation distributes the stress throughout the entire honeycomb structure, preventing stress concentration in a single location. The honeycomb pores 206 are filled with a highly elastic damping material 207, which exhibits viscoelastic properties. Under stress, the highly elastic damping material 207 generates internal intermolecular friction, which not only buffers stress transmission and reduces peak stress, but also mitigates the effects of vibration and shock on the structure, facilitating adjustment of the dynamic response characteristics of the entire structure and ensuring smoother stress transmission. After the stress has been dispersed and buffered by the honeycomb support structure 204, the first thin-walled flexible ring 203 can further evenly transfer the stress to the area in contact with the cam. The first thin-walled flexible ring 203 exhibits a certain degree of flexibility, adapting to stress changes to a certain extent. Through its own elastic deformation, it fine-tunes the stress distribution, ensuring relatively uniform stress in the area in contact with the cam and preventing excessive stress accumulation in a localized area. During the operation of the thin-walled flexible bearing 2, the second thin-walled flexible ring 205, the honeycomb support structure 204 and the first thin-walled flexible ring 203 work together. When the deformation of the flexible wheel causes the overall shape of the outer ring to change, the first thin-walled flexible ring 203 will coordinate with the deformation of other parts to jointly maintain the shape and performance of the outer ring. This collaborative deformation mechanism enables the stress to be more reasonably distributed in the entire outer ring structure, reduces the occurrence of local stress concentration, ensures the stable operation of the flexible bearing under complex working conditions, and solves the problem that traditional flexible bearings have relatively large rigidity during use, the contact state between the flexible wheel and the steel outer ring is constantly changing, and stress concentration is prone to occur in certain parts, causing plastic deformation or even cracking of the steel outer ring, reducing the service life of the flexible bearing, and affecting the normal operation of the harmonic reducer.The surface of the steel ball 202 is coated with a diamond-like carbon coating, forming a diamond-like carbon protective layer with high hardness, low friction coefficient and good chemical stability. It can greatly improve the wear resistance and corrosion resistance of the steel ball 202, reduce frictional heat, and is conducive to the application of flexible bearings in high-speed and high-precision occasions.

[0024] Example 2: Figure 6-Figure 8As shown, the auxiliary buffer component 3 includes two curved fins 301, and C-shaped wing rings 302 are fixedly installed on the opposite sides of the two curved fins 301. Fixed plates 303 are provided at the edges of the opposite sides of the two curved fins 301. Wave-shaped wings 305 are fixedly installed on the opposite sides of the two fixed plates 303. Two buffer springs 304 are fixedly connected to the opposite sides of the two fixed plates 303. Two buffer rods 306 are fixedly installed on the opposite sides of the two curved fins 301. The outer surfaces of one end of the four buffer rods 306 are movably sleeved with conical cylinders 307. The auxiliary buffer component 3 also includes two connecting boxes 308. The outer surfaces of one side of the two connecting boxes 308 are fixedly installed with arc plates 309. The two arc plates 309 are fixedly sleeved with conical cylinders 307. Three rolling grooves 310 are provided inside, and balls 311 are movably embedded in the interiors of the multiple rolling grooves 310. Sealing ball covers 312 are fixedly installed near the three rolling grooves 310 in the two arc plates 309. Solid lubricating oil 313 is provided inside the multiple sealing ball covers 312. Multiple micropores 314 are provided on the inner walls of the multiple rolling grooves 310. One end of the four buffer rods 306 is fixedly installed with a conical sleeve 317. Each adjacent two conical cylinders 307 of the four conical cylinders 307 form a group. A pressure plate 322 is fixedly installed on the outer surface of one side of the two groups of conical cylinders 307. The outer surfaces of the four buffer rods 306 are movably sleeved with connecting springs 316. The outer surfaces of the four buffer rods 306 are fixedly installed with fixed blocks 315. The outer surface of one side of the conical sleeve 317 is provided with a trapezoidal block 318, and the outer surface of one side of the four trapezoidal blocks 318 are fixedly installed with two fixing rods 319. The outer surfaces of the eight fixing rods 319 are movably sleeved with a return spring 321. The four conical sleeves 317 are respectively against the outer surface of the other side of the two arc plates 309. Every two adjacent fixing rods 319 of the eight fixing rods 319 form a group. One end of the four groups of fixing rods 319 is fixedly installed with a connecting block 320. One end of the four groups of fixing rods 319 is respectively movably penetrated to the outer surfaces of both sides of the two connecting boxes 308. Every two adjacent return springs 321 of the eight return springs 321 form a group. One end of the four groups of return springs 321 is respectively fixed to the outer surface of one side of the four trapezoidal blocks 318 The other ends of the four groups of return springs 321 are fixedly connected to the two sides of the inside of the two connecting boxes 308 respectively. The outer surfaces of the other sides of the two connecting boxes 308 are respectively provided with two movable holes 323. The outer surfaces of the four conical cylinders 307 are respectively movably embedded in the four movable holes 323. The inner walls of the four conical cylinders 307 are fixedly installed with two limit blocks 325. The outer surfaces of the four buffer rods 306 are respectively provided with two limit grooves 324. The outer surfaces of multiple limit blocks 325 are respectively movably embedded in the multiple limit grooves 324. The outer surfaces of the four trapezoidal blocks 318 are respectively in contact with the outer surfaces of the four conical cylinders 307. The opposite sides of the two curved fins 301 are respectively fixedly mounted on the outer surfaces of both sides of the first retaining frame 1.Each pair of adjacent buffer springs 304 forms a group of four buffer springs 304. One end of each group of buffer springs 304 is fixedly connected to the opposite side of the two curved fins 301, and the outer surfaces of the two C-shaped wing rings 302 are in contact. The outer surfaces of the four buffer rods 306 are movably embedded in the interior of the two pressure plates 322. One end of the four connecting springs 316 is fixedly connected to the outer surface of one side of the four fixing blocks 315, and the other end of the four connecting springs 316 is fixedly connected to the outer surface of one side of the two pressure plates 322.

[0025] In this embodiment, when in use, a plurality of auxiliary buffer components 3 are provided, which are respectively mounted on the outer surfaces of both sides of the first retaining frame 1 and the second retaining frame 4. Figure 4 After the first retainer 1 and the second retainer 4 are installed on the outer surface of the steel ball 202, the two arc-shaped plates 309 are respectively oriented toward the first thin-walled flexible ring 203 and the inner ring 201, so that the ball 311 contacts the inner wall of the first thin-walled flexible ring 203 and the outer surface of the inner ring 201, as shown. Figure 5 As shown. Multiple auxiliary buffer components 3 elastically constrain the first and second retainers 1 and 4 between the inner and outer rings. As the flexible bearing undergoes elastic deformation as the flexspline deforms, the curved fins 301 and C-shaped wing rings 302 elastically bend with the deformation of the first and second retainers 1 and 4. By absorbing and dispersing the stress transmitted by the flexspline deformation, they reduce the deformation of the retainers, protecting the first and second retainers 1 and 4 from fatigue damage and maintaining their basic shape. Simultaneously, under the buffering action of the buffer springs 304, the wavy wings 305, through their own wavy elastic deformation, can flexibly adapt to changes in the relative position between the retainer and the inner and outer rings of the bearing. They also assist the buffer springs 304 in providing buffering and shock absorption, further improving the operating stability and reliability of the flexible bearing under complex operating conditions. The buffer rods 306, connecting box 308, and curved plate 309 cooperate to constrain the first and second retainers 1 and 4, dispersing the pressure and deformation forces from the inner and outer rings.

[0026] Furthermore, as the flexible bearing rotates, it drives the ball 311 to rotate together and generates heat. The heat is transferred to the solid lubricant 313 (the solid lubricant 313 is provided in a thin layer), causing it to melt. Then, the heat enters the rolling groove 310 through the micropores 314, forming an oil film on the surface of the ball 311, which has a self-lubricating effect and extends the service life of the ball 311.

[0027] Furthermore, the first retainer 1 and the second retainer 4 are first removed from between the inner and outer rings of the bearing. Then, the pressing plate 322 is used to push the conical cylinder 307 toward the conical sleeve 317, so that the conical end of the conical cylinder 307 first contacts the trapezoidal block 318. As the conical cylinder 307 continues to move, an outward thrust is generated on the trapezoidal block 318, pushing the trapezoidal block 318 out of the conical sleeve 317 and squeezing the return spring 321 at the same time. When the trapezoidal block 318 is forced out from between the conical sleeve 317 and the conical cylinder 307, the conical end of the conical cylinder 307 enters the interior of the conical sleeve 317. Then pull the curved plate 309 to move, driving the connecting box 308 to move together, and at the same time drive the fixing rod 319 and the trapezoidal block 318 to move, so that the trapezoidal block 318 moves from the outer surface of the conical cylinder 307 to the outer surface of the conical sleeve 317, and the movable hole 323 gradually moves from the conical cylinder 307 to the conical sleeve 317, and finally slides out completely, thereby pulling the buffer rod 306 and the conical sleeve 317 out of the connecting box 308, separating the buffer rod 306 and the connecting box 308, and then replacing the new curved plate 309.

[0028] The effect and working principle achieved by the entire mechanism are as follows: when the stress generated by the deformation of the flexible wheel is transmitted to the second thin-walled flexible ring 205, the second thin-walled flexible ring 205 diffuses the stress to the surrounding area through its own elastic deformation. The stress will not be concentrated in a certain local position, but will be dispersed to the entire second thin-walled flexible ring 205, and the stress is initially dispersed. When the stress transmitted by the second thin-walled flexible ring 205 acts on the honeycomb support structure 204, the multiple hexagonal units of the honeycomb will bear the stress together and disperse the stress to the entire honeycomb structure. The high-elasticity damping material 207 can not only buffer the transfer of stress and reduce the peak value of stress, but also reduce the impact of vibration and impact on the structure. Under the action of the stress dispersed and buffered by the honeycomb support structure 204, the first thin-walled flexible ring 203 further evenly transfers the stress to the part in contact with the cam to prevent excessive accumulation of stress in local areas. The surface of the steel ball 202 is coated with a diamond-like carbon (DLC) coating, forming a protective layer with high hardness, low friction coefficient, and excellent chemical stability. This enhances the wear and corrosion resistance of the steel ball 202 and reduces frictional heat generation. The curved fins 301 and C-shaped wing rings 302 are able to elastically flex with the deformation of the first and second retainers 1 and 4. By absorbing and dissipating the stress transmitted by the flexspline deformation, they reduce the deformation of the retainer and maintain its basic shape. Simultaneously, the wavy wings 305, cushioned by the buffer springs 304, can flexibly adapt to changes in the relative position between the retainer and the inner and outer races of the bearing. The buffer rods 306, connecting box 308, and curved plates 309 cooperate to limit the position of the first and second retainers 1 and 4, dissipating the pressure and deformation forces from the inner and outer races. The rotation of the ball 311 generates heat, which is transferred to the solid lubricant 313, causing it to melt. The heat then enters the rolling groove 310 through the micropores 314, forming an oil film on the surface of the ball 311.

[0029] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible bearing for an industrial robot harmonic reducer, comprising a first retaining frame (1) and a second retaining frame (4) fixedly connected to the first retaining frame (1), characterized in that: Thin-walled flexible bearings (2) are provided on the outer surfaces of the first retaining frame (1) and the second retaining frame (4), and an auxiliary buffer component (3) is provided on the front surface of the first retaining frame (1); The thin-walled flexible bearing (2) comprises an inner ring (201), a plurality of steel balls (202) are arranged on the outer surface of the inner ring (201), a first thin-walled flexible ring (203) is arranged on the outer surface of the steel balls (202), the outer surface of the first thin-walled flexible ring (203) is fixedly connected to a support structure (204), the outer surface of the support structure (204) is fixedly connected to a second thin-walled flexible ring (205), a plurality of honeycomb holes (206) are provided inside the support structure (204), and a high elastic damping material (207) is arranged inside the plurality of honeycomb holes (206), the second thin-walled flexible ring (205) has high flexibility and is responsible for quickly and relatively evenly following the shape change of the flexible wheel to deform, the support structure (204) is honeycomb-shaped and is responsible for bearing the stress transmitted by the second thin-walled flexible ring (205) and dispersing the stress, and the first thin-walled flexible ring (203) is responsible for evenly transmitting the stress to the part in contact with the cam.

2. The flexible bearing for an industrial robot harmonic reducer according to claim 1, characterized in that: The auxiliary buffer assembly (3) comprises two curved fins (301), each of the two curved fins (301) being fixedly mounted with a C-shaped wing ring (302) on one opposite side, a fixing plate (303) being provided at the edge of each of the two curved fins (301), each of the two fixing plates (303) being fixedly mounted with a wavy wing (305) on one opposite side, two buffer springs (304) being fixedly connected to each other on opposite sides of the two fixing plates (303), and two buffer rods (306) being fixedly mounted on each of the two curved fins (301), and a conical cylinder (307) being movably sleeved on the outer surface of one end of each of the four buffer rods (306).

3. The flexible bearing for an industrial robot harmonic reducer according to claim 2, characterized in that: The auxiliary buffer assembly (3) further comprises two connecting boxes (308), wherein an arc-shaped plate (309) is fixedly mounted on the outer surface of one side of the two connecting boxes (308), three rolling grooves (310) are provided inside the two arc-shaped plates (309), and balls (311) are movably embedded inside the plurality of rolling grooves (310), and sealing ball covers (312) are fixedly mounted on the interior of the two arc-shaped plates (309) near the three rolling grooves (310), solid lubricating oil (313) is provided inside the plurality of sealing ball covers (312), and a plurality of micropores (314) are provided on the inner walls of the plurality of rolling grooves (310).

4. The flexible bearing for an industrial robot harmonic reducer according to claim 3, characterized in that: One end of each of the four buffer rods (306) is fixedly mounted with a conical sleeve (317); each two adjacent conical cylinders (307) of the four conical cylinders (307) form a group; a pressure plate (322) is fixedly mounted on the outer surface of one side of each of the two groups of conical cylinders (307); and a connecting spring (316) is movably mounted on the outer surface of each of the four buffer rods (306).

5. The flexible bearing for an industrial robot harmonic reducer according to claim 4, characterized in that: The outer surfaces of the four buffer rods (306) are fixedly mounted with fixed blocks (315), the outer surfaces of one side of the four conical sleeves (317) are provided with trapezoidal clamping blocks (318), the outer surfaces of one side of the four trapezoidal clamping blocks (318) are fixedly mounted with two fixed rods (319), the outer surfaces of the eight fixed rods (319) are movably sleeved with return springs (321), and the four conical sleeves (317) are respectively abutted against the outer surfaces of the other sides of the two arc-shaped plates (309).

6. The flexible bearing for an industrial robot harmonic reducer according to claim 5, characterized in that: Each adjacent two fixing rods (319) of the eight fixing rods (319) form a group, and one end of each of the four groups of fixing rods (319) is fixedly mounted with a connecting block (320), and one end of each of the four groups of fixing rods (319) is movably passed through the outer surfaces of both sides of the two connecting boxes (308), and each adjacent two returning springs (321) of the eight returning springs (321) form a group, and one end of each of the four groups of returning springs (321) is fixedly connected to the outer surface of one side of the four trapezoidal blocks (318), and the other ends of each of the four groups of returning springs (321) are fixedly connected to both sides of the inside of the two connecting boxes (308).

7. The flexible bearing for an industrial robot harmonic reducer according to claim 6, characterized in that: Two movable holes (323) are respectively provided on the outer surfaces of the other sides of the two connecting boxes (308), the outer surfaces of the four conical cylinders (307) are respectively movably embedded in the inside of the four movable holes (323), the inner walls of the four conical cylinders (307) are respectively fixedly mounted with two limit blocks (325), the outer surfaces of the four buffer rods (306) are respectively provided with two limit grooves (324), the outer surfaces of the plurality of limit blocks (325) are respectively movably embedded in the inside of the plurality of limit grooves (324), and the outer surfaces of the four trapezoidal clamping blocks (318) are respectively in contact with the outer surfaces of the four conical cylinders (307).

8. The flexible bearing for an industrial robot harmonic reducer according to claim 7, characterized in that: The opposite sides of the two curved fins (301) are respectively fixedly mounted on the outer surfaces of both sides of the first retaining frame (1); each two adjacent buffer springs (304) of the four buffer springs (304) form a group; one end of the two groups of buffer springs (304) is respectively fixedly connected to the opposite sides of the two curved fins (301).

9. The flexible bearing for an industrial robot harmonic reducer according to claim 8, characterized in that: The outer surfaces of the two C-shaped wing rings (302) are in contact with each other, the outer surfaces of the four buffer rods (306) are movably embedded in the interior of the two pressure plates (322), one end of the four connecting springs (316) is fixedly connected to the outer surface of one side of the four fixing blocks (315), and the other end of the four connecting springs (316) is fixedly connected to the outer surface of one side of the two pressure plates (322).

10. The flexible bearing for an industrial robot harmonic reducer according to claim 1, characterized in that: The outer surfaces of the plurality of steel balls (202) are coated with a diamond-like carbon coating, and the plurality of steel balls (202) are movably embedded between the first retaining frame (1) and the second retaining frame (4). The outer surfaces of the plurality of steel balls (202) are in contact with the outer surface of the inner ring (201) and the inner wall of the first thin-walled flexible ring (203), respectively.

Images