A flexible bearing for harmonic reducers in industrial robots

Abstract

This invention discloses a flexible bearing for a harmonic reducer in an industrial robot, relating to the field of industrial robot bearing technology. It includes a first cage and a second cage fixedly connected to the first cage, with thin-walled flexible bearings disposed on the outer surfaces of both cages. In use, the second thin-walled flexible ring diffuses the stress generated by the deformation of the flexible ring to the surrounding area through its own elastic deformation, initially dispersing the stress. Multiple hexagonal units of the honeycomb support structure jointly bear the transmitted stress, dispersing it throughout the honeycomb structure through deformation, preventing stress concentration in any one area. The highly elastic damping material buffers stress transmission, reducing the impact of vibration and impact on the structure, and facilitating stable stress transmission. The first thin-walled flexible ring further evenly transmits the stress to the part in contact with the cam.

Description

Technical Field

[0001] This invention relates to the field of industrial robot bearing technology, specifically a flexible bearing for an industrial robot harmonic reducer. Background Technology

[0002] Industrial robot bearings are mechanical parts used in the joints of industrial robots to support rotating shafts or other moving components, reducing friction and ensuring motion accuracy and stability. Industrial robot harmonic reducers are mechanical transmission devices that use flexible components to generate controllable elastic deformation waves to transmit motion and power. They have advantages such as large transmission ratio, high precision, and compact structure, and are one of the core components of industrial robot joint transmission. During operation, the flex wheel of the harmonic reducer undergoes periodic elastic deformation, and the flexible bearing can follow the deformation of the flex wheel to undergo elastic deformation, ensuring smooth transmission.

[0003] In existing technologies, traditional flexible bearings typically use a single-piece steel outer ring. When the flex wheel undergoes periodic deformation, the traditional single steel ring has relatively high rigidity but insufficient flexibility. The contact state between the flex wheel and the steel outer ring changes continuously, and stress concentration can easily occur in certain parts of the individual steel outer ring. Over time, this can easily lead to 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, this invention proposes a flexible bearing for harmonic reducers of industrial robots to solve the problems mentioned in the background art. Summary of the Invention

[0005] The purpose of this invention is to provide a flexible bearing for harmonic reducers in industrial robots, in order to solve the problems mentioned in the background art. Traditional flexible bearings have relatively high rigidity during use, and the contact state between the flexible wheel and the steel outer ring is constantly changing. Stress concentration is prone to occur in certain parts, which can lead to plastic deformation or even cracking of the steel outer ring, reduce the service life of the flexible bearing, and affect 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 a harmonic reducer of an industrial robot, comprising a first cage and a second cage fixedly connected to the first cage, wherein a thin-walled flexible bearing is provided on the outer surfaces of the first cage and the second cage, and an auxiliary buffer assembly is provided on the front surface of the first cage;

[0007] The thin-walled flexible bearing includes an inner ring, with multiple steel balls disposed on the outer surface of the inner ring. A first thin-walled flexible ring is disposed on the outer surface of the steel balls. A support structure is fixedly connected to the outer surface of the first thin-walled flexible ring, and a second thin-walled flexible ring is fixedly connected to the outer surface of the support structure. The support structure has multiple honeycomb holes inside, and each of the multiple honeycomb holes is filled with a highly elastic damping material. The second thin-walled flexible ring has high flexibility and is responsible for rapidly and relatively uniformly deforming to follow 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 uniformly transmitting the stress to the part in contact with the cam.

[0008] Preferably, the auxiliary buffer assembly includes two curved fins, each with a C-shaped fin ring fixedly installed on one side of the two curved fins, a fixing plate provided at the edge of each side of the two curved fins, a wave-shaped fin fixedly installed on one side of each fixing plate, two buffer springs fixedly connected to opposite sides of each fixing plate, two buffer rods fixedly installed on opposite sides of each curved fin, and a conical cylinder movably sleeved on the outer surface of one end of each of the four buffer rods.

[0009] Preferably, the auxiliary buffer assembly further includes two connecting boxes. An arc-shaped plate is fixedly installed on one outer surface of each of the two connecting boxes. Three rolling grooves are opened inside each of the two arc-shaped plates. Rolling balls are movably embedded inside the multiple rolling grooves. Sealing ball covers are fixedly installed inside the two arc-shaped plates near the three rolling grooves. Solid lubricating oil is provided inside the multiple sealing ball covers. Multiple micropores are opened on the inner wall of the multiple rolling grooves.

[0010] Preferably, a conical sleeve is fixedly installed at one end of each of the four buffer rods, and each pair of adjacent conical cylinders forms a group. A pressure plate is fixedly installed on one outer surface of each of the two groups of conical cylinders, and a connecting spring is movably sleeved on the outer surface of each of the four buffer rods.

[0011] Preferably, a fixing block is fixedly installed on the outer surface of each of the four buffer rods, a trapezoidal locking block is provided on one side of the outer surface of each of the four conical sleeves, two fixing rods are fixedly installed on one side of the outer surface of each of the four trapezoidal locking blocks, and a return spring is movably sleeved on the outer surface of each of the eight fixing rods, and the four conical sleeves abut against the other side of the outer surface of the two arc-shaped plates respectively.

[0012] Preferably, each pair of the eight fixing rods forms a group, and one end of each of the four groups of fixing rods is fixedly installed with a connecting block. One end of each of the four groups of fixing rods extends movably through to the outer surfaces of both sides of the two connecting boxes. Each pair of the eight return springs forms a group, and one end of each of the four groups of return springs is fixedly connected to one side of the outer surface of the four trapezoidal blocks. The other end of each of the four groups of return springs is fixedly connected to both sides inside the two connecting boxes.

[0013] Preferably, two movable holes are opened on the other outer surface of each of the two connecting boxes, the outer surfaces of the four conical cylinders are respectively movably embedded in the four movable holes, two limiting blocks are fixedly installed on the inner walls of the four conical cylinders, two limiting grooves are opened on the outer surfaces of the four buffer rods, the outer surfaces of the multiple limiting blocks are respectively movably embedded in the multiple limiting grooves, and the outer surfaces of the four trapezoidal blocks are respectively in contact with the outer surfaces of the four conical cylinders.

[0014] Preferably, the opposite sides of the two curved fins are fixedly mounted on the outer surfaces of the two sides of the first retainer, and the four buffer springs are grouped into two adjacent buffer springs, with one end of each of the two groups of buffer springs fixedly connected to the opposite side of the two curved fins.

[0015] 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 respectively movably embedded in the interior of the two pressure plates, one end of the four connecting springs is fixedly connected to one side of the outer surface of the four fixing blocks, and the other end of the four connecting springs is fixedly connected to one side of the outer surface of the two pressure plates.

[0016] Preferably, the outer surfaces of the plurality of steel balls are coated with a diamond-like carbon coating, the plurality of steel balls are movably embedded between the first retainer and the second retainer, 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.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In use, 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, thus initially dispersing the stress. Multiple hexagonal units of the honeycomb support structure jointly bear the transmitted stress, dispersing it throughout the honeycomb structure through deformation, preventing stress concentration in any one area. The highly elastic damping material buffers stress transmission, reducing the impact of vibration and impact on the structure, and facilitating stable stress transmission. The first thin-walled flexible ring further distributes the stress evenly to the part in contact with the cam. Through the coordinated deformation of the second thin-walled flexible ring, the honeycomb support structure, and the first thin-walled flexible ring, the outer ring's shape and performance are maintained. This coordinated deformation mechanism allows for a more rational distribution of stress throughout the outer ring structure, reducing localized stress concentration and ensuring stable operation of the flexible bearing under complex working conditions.

[0019] 2. When this invention is used, the auxiliary buffer assembly, through the coordinated work of multiple elastic components, can effectively absorb and buffer vibration and impact energy, reduce damage to the internal components of the bearing, extend the bearing's service life, and better adapt to complex working conditions. The combination of curved fins and C-shaped fin rings helps to enhance the cage strength, while the buffer spring and wave-shaped fins can absorb vibration and impact. The combination of buffer rods and balls helps to evenly transmit force to the inner and outer rings, ensuring rotational accuracy and stability, and reducing transmission errors caused by deformation.

[0020] 3. When the present invention is used, the heat generated by the rotation of the ball melts the solid lubricating oil, which enters the groove through the micropores and forms an oil film on the surface of the ball, playing a self-lubricating role, reducing friction and wear, and extending the service life of the ball. Attached Figure Description

[0021] Figure 1 This is a front perspective view of a flexible bearing for a harmonic reducer of an industrial robot according to the present invention.

[0022] Figure 2 This is a three-dimensional view of the structure of a thin-walled flexible bearing in a flexible bearing for a harmonic reducer of an industrial robot according to the present invention.

[0023] Figure 3 This is a partial cross-sectional schematic diagram of the first thin-walled flexible ring in a flexible bearing for an industrial robot harmonic reducer according to the present invention.

[0024] Figure 4 This is a three-dimensional view of the structure of the first cage in a flexible bearing for an industrial robot harmonic reducer according to the present invention;

[0025] Figure 5 This is a three-dimensional view of the structure of the auxiliary buffer assembly in the flexible bearing for the harmonic reducer of an industrial robot according to the present invention.

[0026] Figure 6 This is a three-dimensional view of the structure of the curved fins in a flexible bearing for a harmonic reducer of an industrial robot according to the present invention.

[0027] Figure 7 This is a cross-sectional schematic diagram of the connecting box in a flexible bearing for a harmonic reducer of an industrial robot according to the present invention.

[0028] Figure 8 This is a cross-sectional schematic diagram of the conical cylinder in a flexible bearing for a harmonic reducer of an industrial robot according to the present invention.

[0029] In the picture:

[0030] 1. First cage; 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 holes; 207. High-elasticity damping material; 3. Auxiliary buffer assembly; 301. Bending fin; 302. C-shaped fin ring; 303. Fixing plate; 304. Buffer spring; 305. Wave-shaped fin; 306. Buffer rod; 307. Conical cylinder; 308. Connecting box; 309. Arc plate; 310. Groove; 311. Ball bearing; 312. Sealing ball cover; 313. Solid lubricant; 314. Microhole; 315. Fixing block; 316. Connecting spring; 317. Conical sleeve; 318. Trapezoidal locking block; 319. Fixing rod; 320. Connecting block; 321. Return spring; 322. Pressure plate; 323. Movable hole; 324. Limiting groove; 325. Limiting block; 4. Second retainer. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] 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 the industrial robot in this embodiment includes a first cage 1 and a second cage 4 fixedly connected to the first cage 1. A thin-walled flexible bearing 2 is disposed on the outer surface of the first cage 1 and the second cage 4. An auxiliary buffer assembly 3 is disposed on the front surface of the first cage 1. The thin-walled flexible bearing 2 includes an inner ring 201. Multiple steel balls 202 are disposed on the outer surface of the inner ring 201. A first thin-walled flexible ring 203 is disposed on the outer surface of the steel balls 202. A support structure 204 is fixedly connected to the outer surface of the first thin-walled flexible ring 203. A second thin-walled flexible ring 205 is fixedly connected to the outer surface of the support structure 204. Multiple honeycomb holes 205 are formed inside the support structure 204. 6. The interior of each of the multiple honeycomb holes 206 is provided with a highly elastic damping material 207. The second thin-walled flexible ring 205 has high flexibility and is responsible for rapidly and relatively uniformly deforming in accordance with the shape changes of the flexible wheel. 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 uniformly transmitting the stress to the part in contact with the cam. The outer surfaces of the multiple steel balls 202 are coated with a diamond-like carbon coating. The multiple steel balls 202 are movably embedded between the first retainer 1 and the second retainer 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.

[0033] In this embodiment, the structure of the thin-walled flexible bearing 2 during use is as follows: Figure 1 and Figure 2As shown, a steel ball 202 is disposed outside the inner ring 201, and an outer ring is disposed on the outer surface of the steel ball 202. The outer ring consists of 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 have high flexibility. When the flexible wheel deforms, the second thin-walled flexible ring 205 can quickly and relatively uniformly deform in accordance with the shape change of the flexible wheel. This is because the thin-walled structure makes it easier for it to undergo elastic deformation under stress. Its material is an alloy material with good ductility and elasticity, which can adapt to the shape change of the flexible wheel through its own elastic deformation when the flexible wheel deforms. When the stress generated by the deformation of the flexible wheel is transmitted to the second thin-walled flexible ring 205, it will diffuse the stress to the surrounding area through its own elastic deformation. Since its thin-walled structure has a certain deformation capacity in all directions, the stress will not be concentrated in a certain local position, but will be dispersed throughout the second thin-walled flexible ring 205, reducing the magnitude of local stress and laying the foundation for further stress dispersion. The stress is initially dispersed. The honeycomb-shaped support structure 204 possesses excellent mechanical properties. When the stress transmitted from the second thin-walled flexible ring 205 acts on the honeycomb support structure 204, the multiple hexagonal units of the honeycomb share the stress. Each unit deforms to a certain extent under stress, dispersing the stress throughout the honeycomb structure and preventing stress concentration in one area. The honeycomb holes 206 are filled with a highly elastic damping material 207, which exhibits viscoelasticity. Under stress, the highly elastic damping material 207 undergoes internal molecular friction, which not only buffers stress transmission and reduces stress peaks but also reduces the impact of vibration and impact on the structure. This facilitates adjusting the dynamic response characteristics of the entire structure, making stress transmission more stable. Under the stress dispersed and buffered by the honeycomb support structure 204, the first thin-walled flexible ring 203 can further evenly transmit the stress to the part in contact with the cam. The first thin-walled flexible ring 203 has a certain degree of flexibility, enabling it to adapt to stress changes to a certain extent. Through its own elastic deformation, it fine-tunes the stress distribution, ensuring relatively uniform stress in the cam contact area and preventing excessive stress accumulation in localized areas. During operation, 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 a change in the overall shape of the outer ring, the first thin-walled flexible ring 203 will deform in coordination with other parts to maintain the shape and performance of the outer ring. This coordinated deformation mechanism allows the stress to be distributed more reasonably throughout the outer ring structure, reducing the occurrence of local stress concentration. This ensures the stable operation of the flexible bearing under complex working conditions and solves the problem that traditional flexible bearings have relatively high rigidity, and the contact state between the flexible wheel and the steel outer ring is constantly changing, which can easily lead to stress concentration 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 steel ball 202 is coated with a diamond-like carbon coating, forming a diamond-like carbon protective layer with high hardness, low coefficient of friction and good chemical stability. This can significantly improve the wear resistance and corrosion resistance of steel ball 202, reduce frictional heat generation, and is beneficial for the application of flexible bearings in high-speed and high-precision applications.

[0034] Example 2: Figures 6-8As shown, the auxiliary buffer assembly 3 includes two curved fins 301. C-shaped fin rings 302 are fixedly installed on opposite sides of each of the two curved fins 301. Fixing plates 303 are provided at the edges of opposite sides of each of the two curved fins 301. Wave-shaped fins 305 are fixedly installed on opposite sides of each of the two fixing plates 303. Two buffer springs 304 are fixedly connected to opposite sides of each of the two fixing plates 303. Two buffer rods 306 are fixedly installed on opposite sides of each of the two curved fins 301. A conical cylinder 307 is movably fitted onto the outer surface of one end of each of the four buffer rods 306. The auxiliary buffer assembly 3 also includes two connecting boxes 308. Arc-shaped plates 309 are fixedly installed on the outer surface of one side of each of the two connecting boxes 308. The two arc-shaped plates 309... Each of the four buffer rods 306 has three internal grooves 310, and each groove 310 has a ball bearing 311 that is movably embedded inside. Two arc-shaped plates 309 are fixedly installed with sealing ball covers 312 near the three grooves 310. Solid lubricating oil 313 is placed inside each sealing ball cover 312. Multiple micropores 314 are formed on the inner walls of each groove 310. A conical sleeve 317 is fixedly installed at one end of each of the four buffer rods 306. Each pair of adjacent conical cylinders 307 forms a group. A pressure plate 322 is fixedly installed on one outer surface of each group of conical cylinders 307. A connecting spring 316 is movably fitted onto the outer surface of each of the four buffer rods 306. A fixing block 315 is fixedly installed on the outer surface of each of the four buffer rods 306. Each conical sleeve 317 has a trapezoidal locking block 318 on one outer surface. Two fixing rods 319 are fixedly installed on one outer surface of each of the four trapezoidal locking blocks 318. Return springs 321 are movably fitted onto the outer surfaces of each of the eight fixing rods 319. The four conical sleeves 317 abut against the other outer surfaces of the two arc-shaped plates 309. Each pair of adjacent fixing rods 319 forms a group. A connecting block 320 is fixedly installed at one end of each of the four groups of fixing rods 319. One end of each of the four groups of fixing rods 319 movably extends through to the outer surfaces of both sides of the two connecting boxes 308. Each pair of adjacent return springs 321 forms a group. One end of each of the four groups of return springs 321 is fixedly fitted onto one outer surface of each of the four trapezoidal locking blocks 318. The four sets of return springs 321 are fixedly connected to the other ends of the two connecting boxes 308 on both sides. Two movable holes 323 are opened on the outer surface of the other side of each of the two connecting boxes 308. The outer surfaces of the four conical cylinders 307 are movably embedded inside the four movable holes 323. Two limiting blocks 325 are fixedly installed on the inner walls of the four conical cylinders 307. Two limiting grooves 324 are opened on the outer surfaces of the four buffer rods 306. The outer surfaces of the multiple limiting blocks 325 are movably embedded inside the multiple limiting grooves 324. The outer surfaces of the four trapezoidal locking blocks 318 are in contact with the outer surfaces of the four conical cylinders 307. The opposite sides of the two curved fins 301 are fixedly installed on the outer surfaces of the two sides of the first retainer 1.Four buffer springs 304 are arranged in pairs, with one end of each pair fixedly connected to the opposite side of two curved fins 301. The outer surfaces of the two C-shaped fin rings 302 are in contact with each other. The outer surfaces of the four buffer rods 306 are movably embedded inside the two pressure plates 322. One end of each of the four connecting springs 316 is fixedly connected to one side of the outer surface of the four fixing blocks 315, and the other end of each connecting spring 316 is fixedly connected to one side of the outer surface of the two pressure plates 322.

[0035] In this embodiment, during use, multiple auxiliary buffer components 3 are provided, respectively installed on the outer surfaces of the first retainer 1 and the second retainer 4 on both sides, such as... Figure 4 As shown. After the first cage 1 and the second cage 4 are installed on the outer surface of the steel ball 202, the two arc-shaped plates 309 face the first thin-walled flexible ring 203 and the inner ring 201 respectively, 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 respectively, as shown. Figure 5 As shown, multiple auxiliary buffer components 3 elastically limit the first cage 1 and the second cage 4 between the inner and outer rings. During the elastic deformation of the flexible bearing as the flexure deforms, the bent fins 301 and C-shaped fin rings 302 can elastically bend along with the deformation of the first cage 1 and the second cage 4. Through their own deformation, they absorb and disperse the stress transmitted by the deformation of the flexure, reducing the deformation of the cage and helping to protect the first cage 1 and the second cage 4 from fatigue damage and maintain the basic shape of the cage. At the same time, under the buffering action of the buffer spring 304, the wave-shaped fins 305 can flexibly adapt to the relative position changes between the cage and the inner and outer rings of the bearing through their own wave-shaped elastic deformation. They can also assist the buffer spring 304 in buffering and shock absorption, further improving the working stability and reliability of the flexible bearing under complex working conditions. Through the cooperation of the buffer rod 306, the connecting box 308 and the arc plate 309, the first cage 1 and the second cage 4 are limited and the pressure and deformation force from the inner and outer rings are dispersed.

[0036] Furthermore, as the flexible bearing rotates, it drives the ball bearing 311 to rotate as well, generating heat. The heat is transferred to the solid lubricant 313 (which is a thin layer), causing it to melt. Then, it enters the groove 310 through the micropores 314, forming an oil film on the surface of the ball bearing 311, which plays a self-lubricating role and extends the service life of the ball bearing 311.

[0037] Furthermore, firstly, the first cage 1 and the second cage 4 are removed from between the inner and outer rings of the bearing. Then, the pressure plate 322 pushes the tapered cylinder 307 towards the tapered sleeve 317, so that the tapered end of the tapered cylinder 307 first contacts the trapezoidal locking block 318. As the tapered cylinder 307 continues to move, it generates an outward pushing force on the trapezoidal locking block 318, pushing the trapezoidal locking block 318 out of the tapered sleeve 317. At the same time, the return spring 321 is compressed. When the trapezoidal locking block 318 is forced out from between the tapered sleeve 317 and the tapered cylinder 307, the tapered end of the tapered cylinder 307 enters the interior of the tapered sleeve 317. Next, pull the arc plate 309 to move it, which will move the connecting box 308 together. At the same time, it will move the fixing rod 319 and the trapezoidal block 318, 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. The movable hole 323 gradually moves from the conical cylinder 307 to the conical sleeve 317 and finally slides out completely, thereby pulling out the buffer rod 306 and the conical sleeve 317 from the connecting box 308. Separating the buffer rod 306 from the connecting box 308 allows for the replacement of the new arc plate 309.

[0038] The overall effect and working principle of the 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 is not concentrated in a certain local position, but is dispersed throughout the entire second thin-walled flexible ring 205, thus initially dispersing the stress. When the stress transmitted from the second thin-walled flexible ring 205 acts on the honeycomb support structure 204, the multiple hexagonal units of the honeycomb will jointly bear the stress, dispersing the stress throughout the entire honeycomb structure. The highly elastic damping material 207 can not only buffer the transmission of stress and reduce the peak 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 transmits the stress to the part in contact with the cam, preventing excessive stress accumulation in a local area. 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 coefficient of friction, and good chemical stability, which improves the wear resistance and corrosion resistance of the steel ball 202 and reduces frictional heat generation. The curved fins 301 and C-shaped fin rings 302 can elastically bend with the deformation of the first cage 1 and the second cage 4, absorbing and dispersing the stress transmitted by the deformation of the flexible wheel through their own deformation, reducing the amount of cage deformation and maintaining the basic shape of the cage. At the same time, the wave-shaped fins 305 can flexibly adapt to the relative position changes between the cage and the inner and outer rings of the bearing under the buffering action of the buffer spring 304. Through the cooperation of the buffer rod 306, the connecting box 308, and the arc plate 309, the first cage 1 and the second cage 4 are limited and the pressure and deformation force from the inner and outer rings are dispersed. The rotation of the ball 311 generates heat, which is transferred to the solid lubricating oil 313 and melts it. Then, it enters the groove 310 through the micropores 314 and forms an oil film on the surface of the ball 311.

[0039] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible bearing for an industrial robot harmonic reducer, comprising a first cage (1) and a second cage (4) fixedly connected to the first cage (1), characterized in that: Thin-walled flexible bearings (2) are provided on the outer surfaces of the first cage (1) and the second cage (4), and an auxiliary buffer assembly (3) is provided on the front surface of the first cage (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), a support structure (204) is fixedly connected to the outer surface of the first thin-walled flexible ring (203), a second thin-walled flexible ring (205) is fixedly connected to the outer surface of the support structure (204), a plurality of honeycomb holes (206) are opened inside the support structure (204), and a highly elastic damping material (207) is provided inside the plurality of honeycomb holes (206). The second thin-walled flexible ring (205) has high flexibility and is responsible for rapidly and relatively uniformly deforming in accordance with the shape change of the flexible wheel. The support structure (204) is honeycomb-shaped and is responsible for bearing the stress transmitted from the second thin-walled flexible ring (205) and dispersing the stress. The first thin-walled flexible ring (203) is responsible for uniformly transmitting the stress to the part in contact with the cam. The auxiliary buffer assembly (3) includes two curved fins (301), and C-shaped fin rings (302) are fixedly installed on the opposite side of the two curved fins (301). Fixing 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 side of the two fixing plates (303). Two buffer springs (304) are fixedly connected to the opposite side of the two fixing plates (303). Two buffer rods (306) are fixedly installed on the opposite side of the two curved fins (301). A conical cylinder (307) is movably sleeved on the outer surface of one end of each of the four buffer rods (306). The two curved fins (301) are fixedly installed on opposite sides of the outer surfaces of the first retainer (1). The four buffer springs (304) are arranged in groups of two adjacent buffer springs (304). One end of each of the two groups of buffer springs (304) is fixedly connected to the opposite side of the two curved fins (301). The auxiliary buffer assembly (3) also includes two connecting boxes (308). An arc plate (309) is fixedly installed on one side of the outer surface of each of the two connecting boxes (308). The two arc plates (309) face the first thin-walled flexible ring (203) and the inner ring (201) respectively. Through the cooperation of the buffer rod (306), the connecting box (308) and the arc plate (309), the first retainer (1) and the second retainer (4) are limited, and the pressure and deformation force from the inner and outer rings are dispersed.

2. The flexible bearing for an industrial robot harmonic reducer according to claim 1, characterized in that: Each of the two arc-shaped plates (309) has three grooves (310) inside, and each of the multiple grooves (310) has a ball (311) movably embedded inside. Each of the two arc-shaped plates (309) has a sealing ball cover (312) fixedly installed near the three grooves (310) inside. Each of the multiple sealing ball covers (312) has a solid lubricating oil (313) inside. Each of the multiple grooves (310) has multiple micropores (314) on its inner wall.

3. The flexible bearing for an industrial robot harmonic reducer according to claim 2, characterized in that: A conical sleeve (317) is fixedly installed at one end of each of the four buffer rods (306). Each pair of adjacent conical cylinders (307) forms a group. A pressure plate (322) is fixedly installed on one side of the outer surface of each group of conical cylinders (307). A connecting spring (316) is movably sleeved on the outer surface of each of the four buffer rods (306).

4. The flexible bearing for an industrial robot harmonic reducer according to claim 3, characterized in that: The outer surfaces of the four buffer rods (306) are fixedly equipped with fixing blocks (315), the outer surfaces of the four conical sleeves (317) are provided with trapezoidal locking blocks (318), the outer surfaces of the four trapezoidal locking blocks (318) are fixedly equipped with two fixing rods (319), the outer surfaces of the eight fixing rods (319) are movably fitted with return springs (321), and the four conical sleeves (317) abut against the outer surfaces of the other side of the two arc plates (309).

5. The flexible bearing for an industrial robot harmonic reducer according to claim 4, characterized in that: Each pair of the eight fixed rods (319) forms a group, and a connecting block (320) is fixedly installed at one end of each of the four groups of fixed rods (319). One end of each of the four groups of fixed rods (319) extends movably through to the outer surfaces of both sides of the two connecting boxes (308). Each pair of the eight return springs (321) forms a group, and one end of each of the four groups of return springs (321) is fixedly connected to the outer surface of one side of the four trapezoidal blocks (318). The other end of each of the four groups of return springs (321) is fixedly connected to the two sides inside the two connecting boxes (308).

6. The flexible bearing for an industrial robot harmonic reducer according to claim 5, characterized in that: Two movable holes (323) are opened on the outer surface of the other side of the two connecting boxes (308). The outer surfaces of the four conical cylinders (307) are respectively movably embedded in the four movable holes (323). Two limiting blocks (325) are fixedly installed on the inner walls of the four conical cylinders (307). Two limiting grooves (324) are opened on the outer surfaces of the four buffer rods (306). The outer surfaces of the multiple limiting blocks (325) are respectively movably embedded in the multiple limiting 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).

7. The flexible bearing for an industrial robot harmonic reducer according to claim 4, 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 respectively movably embedded in the interior of the two pressure plates (322), one end of the four connecting springs (316) is fixedly connected to one side of the outer surface of the four fixing blocks (315), and the other end of the four connecting springs (316) is fixedly connected to one side of the outer surface of the two pressure plates (322).

8. 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 diamond-like carbon coating. The plurality of steel balls (202) are movably embedded between the first retainer (1) and the second retainer (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.

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