Cross roller bearing matched with harmonic speed reducer

Abstract

The invention relates to the technical field of bearings, in particular to a crossed roller bearing matched with a harmonic speed reducer, and adopts the technical scheme that a bearing body comprises a bearing inner ring, a bearing outer ring is rotationally mounted on the outer side of the bearing inner ring, a roller is arranged between the bearing inner ring and the bearing outer ring, outer ring inner teeth are arranged on the inner wall of the bearing outer ring, and the outer ring inner teeth are meshed with the outer ring inner teeth. Inner ring inner teeth are arranged on the outer wall of the bearing inner ring, and a flexible wheel can be installed on the inner side of the bearing inner ring. The flexible wheel has the beneficial effects that the inner teeth are arranged on the outer ring and the inner ring of the bearing, a traditional double steel wheel and a bearing ring are integrated, the overall rigidity is improved by 30%-50%, the weight and complexity of the whole system are effectively reduced, the flexible wheel is installed in the outer ring and the inner ring of the bearing, and through relative rotation of the inner ring and the outer ring of the bearing, the service life of the flexible wheel is prolonged. In addition, the flexible wheel can be fixed on the inner ring or the outer ring of the bearing to drive the inner ring of the bearing to rotate, so that the effect of simplifying the installation process is achieved, and harmonic speed reduction of a single steel wheel or double steel wheels is freely switched according to actual conditions.

Description

Technical Field

[0001] This invention relates to the field of bearing technology, specifically to crossed roller bearings for harmonic reducers. Background Technology

[0002] Harmonic reducers, as precision transmission devices in industrial fields, mainly consist of bearings, internally geared steel wheels, externally geared flexible wheels, and harmonic generators. Currently, harmonic reducers used in general applications typically employ a single steel wheel design. Figure 14 As shown, its structure is as follows: the steel wheel with internal teeth is fixedly connected to the outer ring of the bearing, the flexible wheel with external teeth is fixedly connected to the inner ring of the bearing, and the harmonic generator is installed inside the flexible wheel with external teeth. The working principle of the single steel wheel harmonic reducer is: the rotation of the harmonic generator generates a deformation (usually elliptical), which causes the tooth profile of the flexible wheel with external teeth to deform. The flexible wheel with external teeth meshes with the steel wheel with internal teeth. Since the number of teeth on the flexible wheel and the steel wheel is different, the internal teeth on the steel wheel and the external teeth on the flexible wheel make asynchronous contact to achieve the deceleration effect. For applications requiring heavy loads, high precision, or limited installation space, a double-wheel design is necessary. Harmonic reducers with a double-wheel design typically use crossed roller bearings at the output end, requiring two sets of bearings to achieve relative rotation of the two wheels. The structure is as follows: two internally geared wheels are mounted on the outer rings of the two sets of bearings, while an externally geared flexible wheel is mounted on the inner ring of one of the bearings. The harmonic generator is installed inside the externally geared flexible wheel. The working principle of the double-wheel harmonic reducer is as follows: the rotation of the harmonic generator generates a deformation (usually elliptical), causing the tooth profile of the externally geared flexible wheel to deform. The two internally geared wheels simultaneously mesh with the externally geared flexible wheel while rotating relative to each other, achieving power transmission, ensuring high-precision meshing, and effectively transmitting large torques. In summary, single-wheel harmonic reducers are simple in structure and compact in space, but have poor load-bearing capacity. Double-wheel harmonic reducers are suitable for high load, high precision, and high stability requirements, but have a complex structure and occupy more space. This may lead to trade-offs and selections based on different working requirements and scenarios in practical applications, making it difficult for existing harmonic reducer structures to simultaneously achieve the effects of simple structure, compact space, high load, high precision, and high stability. Furthermore, due to differences in material properties and heat treatment methods, existing bearings and steel wheels are generally designed separately, processed independently, and finally connected together by threads during assembly. This processing and assembly method also has the following problems: 1. Manufacturing tolerances and differences in assembly processes can lead to concentricity and perpendicularity errors, which can reduce the transmission accuracy of harmonic reducers and even shorten the overall lifespan of the machine. 2. Separate design may reduce the overall rigidity of the system, affecting transmission efficiency and shock resistance. Under heavy load and high speed conditions, it is prone to elastic deformation, which also leads to increased transmission error. 3. Bearings and steel wheels need to be maintained separately, and multiple parts need to be disassembled when replacing them, which increases maintenance time and cost.

[0003] Therefore, it is necessary to invent a cross roller bearing to match the harmonic reducer. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution: a harmonic reducer equipped with a crossed roller bearing, comprising a bearing body and matching connecting parts; The bearing body includes an inner bearing ring, an outer bearing ring rotatably mounted on the outer side of the inner bearing ring, rollers disposed between the inner and outer bearing rings, a skeleton oil seal structure installed on the inner wall of the outer bearing ring, inner teeth on the inner wall of the outer bearing ring, inner teeth on the outer wall of the inner bearing ring, a flexible wheel installed on the inner side of the inner bearing ring, outer teeth on the outer wall of the flexible wheel, the outer teeth of the flexible wheel meshing with the inner teeth of the outer and inner rings, and a harmonic generator installed inside the flexible wheel. The matching connector includes an inner ring connecting sleeve and an outer ring connecting sleeve. Both the inner ring connecting sleeve and the outer ring connecting sleeve are provided with a buffer tooth structure. The inner ring connecting sleeve is installed and connected to the inner ring of the bearing, and the outer ring connecting sleeve is installed and connected to the outer ring of the bearing. Both the inner ring connecting sleeve and the outer ring connecting sleeve are equipped with flexible wheels.

[0005] Preferably, one side of the bearing outer ring is wrapped around one side of the bearing inner ring, the outer wall of the bearing inner ring is provided with a V-shaped groove, the inner wall of the bearing outer ring is provided with a V-shaped groove, the rollers are cross-filled between the V-shaped grooves of the bearing inner ring and the bearing outer ring, and a gap is provided between the bearing outer ring and the bearing inner ring.

[0006] Preferably, the skeleton oil seal structure includes an oil seal outer sleeve, which is embedded in the inner wall of the bearing outer ring. A sealing lip is provided on the inner side of the oil seal outer sleeve, and the sealing lip of the oil seal outer sleeve contacts the outer wall of the bearing inner ring. The oil seal outer sleeve is located on the outer wall of the bearing inner ring that is not covered by the bearing outer ring. An oil seal skeleton is embedded in the oil seal outer sleeve, and an oil seal spring is installed inside the oil seal outer sleeve.

[0007] Preferably, the outer ring of the bearing has a plurality of outer ring connecting holes that penetrate the outer ring, an outer ring connecting tube is installed on the side of the outer ring away from the inner ring, and an inner ring connecting tube is embedded on the side of the inner ring away from the outer ring.

[0008] Preferably, the bottom of the bearing outer ring is provided with a groove, the groove passing through and cutting off one of the outer ring connecting holes at the bottom of the bearing outer ring, a plug is inserted and installed in the groove at the bottom of the bearing outer ring, the top surface of the plug is connected to the V-shaped groove of the bearing outer ring, and a pin is inserted and installed in the cut-off outer ring connecting hole, the pin passing through the plug.

[0009] Preferably, the buffer tooth protection structure on the inner ring connecting sleeve includes an inner ring buffer sleeve, which is installed on one side of the inner ring connecting sleeve and can be inserted into the inner side of the bearing inner ring. The outer wall of the inner ring buffer sleeve is provided with an inner ring tooth protection sleeve, which can be inserted into the tooth gap of the inner ring.

[0010] Preferably, the buffer tooth protection structure on the outer ring connecting sleeve includes an outer ring buffer sleeve, which is installed on one side of the outer ring connecting sleeve. The outer ring buffer sleeve can be inserted into the inner side of the bearing outer ring. An outer ring tooth protection sleeve is provided on the outer wall of the outer ring buffer sleeve, which can be inserted into the tooth gap of the inner tooth of the outer ring.

[0011] Preferably, an inner ring connecting bolt is installed on the inner ring connecting sleeve, and the inner ring connecting bolt is inserted into the inner ring connecting tube for connection; an outer ring connecting bolt is installed on the outer ring connecting sleeve, and the outer ring connecting bolt is inserted into the outer ring connecting tube for connection.

[0012] Preferably, the flexible wheel is equipped with bolts, which can be installed on the inner ring connecting sleeve and also on the outer ring connecting sleeve.

[0013] The beneficial effects of this invention are: (1) By setting internal teeth on the outer and inner rings of the bearing, the traditional double steel wheel and bearing ring are integrated, which increases the overall rigidity by 30%-50%, thereby improving the overall rigidity and impact resistance and strengthening the load capacity of the harmonic reducer. (2) The design of double steel wheel and bearing ring is adopted. The double steel wheel harmonic deceleration effect can be achieved by a set of bearings, which effectively reduces the weight and complexity of the whole system. Through the transmission accuracy of the harmonic reducer, energy loss during transmission can also be reduced, improving the accuracy and stability of the harmonic reducer and extending the service life of the whole machine. (3) The flexible wheel is directly installed in the outer ring and inner ring of the bearing, so that the inner teeth of the outer ring and the inner ring mesh with the outer teeth of the flexible wheel at the same time. Through the relative rotation of the inner and outer rings of the bearing, the double steel wheel harmonic deceleration effect is achieved. Alternatively, the flexible wheel can be fixed on the inner or outer ring of the bearing through the inner ring connecting sleeve or the outer ring connecting sleeve, and the inner ring of the bearing can be driven to rotate to achieve the single steel wheel harmonic deceleration effect. This simplifies the installation process and allows for easy switching between single steel wheel and double steel wheel harmonic deceleration according to the actual situation. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the various components provided in this invention; Figure 2 Cross-sectional views of the components provided in this invention; Figure 3 This is a schematic diagram of the installation of the inner ring connecting sleeve with the flexible wheel provided by the present invention; Figure 4 This is a schematic diagram of the installation of the outer ring connecting sleeve with the flexible wheel provided by the present invention; Figure 5 A cross-sectional view of the inner ring connecting sleeve provided by the present invention; Figure 6 A cross-sectional view of the outer ring connecting sleeve provided by the present invention; Figure 7 A cross-sectional view of the inner ring connecting sleeve and the flexible wheel installation provided by the present invention; Figure 8 A cross-sectional view of the outer ring connecting sleeve and the flexible wheel provided by the present invention; Figure 9 This is a cross-sectional view of the outer ring connecting sleeve provided by the present invention; Figure 10 The inner ring connecting sleeve installation cross-sectional view provided by the present invention; Figure 11 This is a schematic diagram of roller loading provided by the present invention; Figure 12 The bearing inner and outer ring cross-sectional views provided for this invention; Figure 13 for Figure 12 Enlarged view of point A; Figure 14 The present invention provides a schematic diagram of the structure and assembly of a conventional single steel wheel harmonic reducer.

[0015] In the diagram: bearing outer ring 111, outer ring connecting tube 112, outer ring internal gear 113, outer ring connecting hole 114, plug 115, pin 116, bearing inner ring 121, inner ring connecting tube 122, inner ring internal gear 123, roller 13, oil seal outer sleeve 141, oil seal skeleton 142, oil seal spring 143, inner ring connecting sleeve 151, inner ring buffer sleeve 152, inner ring tooth sleeve 153, inner ring connecting bolt 154, outer ring connecting sleeve 161, outer ring buffer sleeve 162, outer ring tooth sleeve 163, outer ring connecting bolt 164, flexible wheel 171, flexible wheel external gear 172, bolt 173. Detailed Implementation

[0016] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0017] Example 1, as Figures 1-10As shown, the harmonic reducer equipped with a crossed roller bearing in the first aspect embodiment of the present invention includes a bearing body and a matching connecting member. The bearing body includes an inner bearing ring 121, an outer bearing ring 111 rotatably mounted on the outside of the inner bearing ring 121, a roller 13 disposed between the inner bearing ring 121 and the outer bearing ring 111, a skeleton oil seal structure installed on the inner wall of the outer bearing ring 111, an outer ring internal tooth 113 disposed on the inner wall of the outer bearing ring 111, an inner ring internal tooth 123 disposed on the outer wall of the inner bearing ring 121, a flexible wheel 171 installed on the inner side of the inner bearing ring 121, a flexible wheel external tooth 172 disposed on the outer wall of the flexible wheel 171, the flexible wheel external tooth 172 meshing with the outer ring internal tooth 113 and the inner ring internal tooth 123, and a harmonic generator installed inside the flexible wheel 171; The matching connecting parts include an inner ring connecting sleeve 151 and an outer ring connecting sleeve 161. Both the inner ring connecting sleeve 151 and the outer ring connecting sleeve 161 are provided with a buffer tooth structure. The inner ring connecting sleeve 151 is installed and connected to the inner ring 121 of the bearing, and the outer ring connecting sleeve 161 is installed and connected to the outer ring 111 of the bearing. Both the inner ring connecting sleeve 151 and the outer ring connecting sleeve 161 are equipped with flexible wheels 171.

[0018] In the above embodiments, it should be noted that the inner diameter of the bearing outer ring 111 and the inner diameter of the bearing inner ring 121 are the same. By setting the outer ring internal teeth 113 and the inner ring internal teeth 123 on the bearing outer ring 111 and the bearing inner ring 121, both the bearing outer ring 111 and the bearing inner ring 121 can be used as steel wheels, thereby achieving the purpose of integrating the bearing ring and the double steel wheel, increasing the overall rigidity by 30%-50%, thereby improving the overall rigidity and impact resistance, and enhancing the load capacity of the harmonic reducer. Furthermore, by adopting the integrated design of the double steel wheel and the bearing ring, the effect of double steel wheel harmonic reduction can be achieved with a single set of bearings, effectively reducing the weight and complexity of the entire system. Through the transmission accuracy of the harmonic reducer, energy loss during transmission can also be reduced, improving the accuracy and stability of the harmonic reducer and extending the overall lifespan. The outer ring 111 of the bearing is used as a fixed steel wheel, and the inner ring 121 of the bearing is used as a moving steel wheel. The inner ring 121 of the bearing is connected to the input shaft (high-speed shaft), and the outer ring 111 of the bearing is connected to the output shaft (reduction shaft). The number of teeth on the inner ring 121 is two fewer than the number of teeth on the outer ring 111 of the bearing. The outer ring 111 and inner ring 121 of the bearing, together with the flexible wheel 171, can form a double steel wheel harmonic reduction system. Alternatively, it can be switched to a single steel wheel harmonic reduction system with the connection of matching connectors. The specific configuration is as follows: In the dual steel wheel harmonic reduction system, the flexible wheel 171 is simply installed inside the outer ring 111 and inner ring 121 of the bearing, so that the inner teeth 113 and 123 of the outer ring mesh with the outer teeth 172 of the flexible wheel 171. The input shaft drives the inner ring 121 of the bearing to rotate in the forward direction. The inner ring 121 of the bearing drives the flexible wheel 171 to rotate in the forward direction through the meshing of the inner teeth 123 and the outer teeth 172. At the same time, the harmonic generator of the flexible wheel 171 is activated. The harmonic generator causes the flexible wheel 171 to deform, thereby transmitting the power to the outer ring 111 of the bearing through the inner teeth 113 of the outer ring. At this time, the outer ring 111 of the bearing drives the output shaft to rotate in the reverse direction. Through this relative rotation and meshing, the harmonic reducer achieves high-precision and high-torque power transmission. In the single steel wheel harmonic reduction system, there are two scenarios: 1. The flexible wheel 171 is installed on the inner ring connecting sleeve 151, and then the inner ring connecting sleeve 151 is installed on the bearing inner ring 121, so that the external teeth 172 of the flexible wheel 171 mesh with the internal teeth 113 of the outer ring. The input shaft drives the bearing inner ring 121 to rotate in the forward direction. The bearing inner ring 121 drives the bearing inner ring 121 and the flexible wheel 171 to rotate in the forward direction. The harmonic generator of the flexible wheel 171 is activated. The harmonic generator causes the flexible wheel 171 to deform, thereby transmitting power to the bearing outer ring 111 through the internal teeth 113. At this time, the bearing outer ring 111 drives the output shaft to rotate in the reverse direction. This relative rotation and meshing achieves the desired effect. 1. Deceleration effect; 2. Install the flexible wheel 171 on the outer ring connecting sleeve 161, and then install the outer ring connecting sleeve 161 on the outer ring 111 of the bearing, so that the flexible wheel external teeth 172 on the flexible wheel 171 mesh with the inner ring internal teeth 123. The input shaft drives the bearing inner ring 121 to rotate in the forward direction, and starts the harmonic generator of the flexible wheel 171. The inner ring internal teeth 123 of the bearing inner ring 121 mesh with the flexible wheel external teeth 172 on the flexible wheel 171, causing the flexible wheel 171 to rotate in the rotation direction of the bearing inner ring 121. The flexible wheel 171 drives the bearing outer ring 111 and the output shaft to rotate in the forward direction through the outer ring connecting sleeve 161. The deceleration effect is achieved through the deformation, rotation and meshing of the flexible wheel 171. The above installation method allows for the free switching between single and double steel wheel harmonic deceleration based on actual conditions. In addition, the buffer tooth protection structure provided on the inner ring connecting sleeve 151 and the outer ring connecting sleeve 161 can wrap the inner ring inner tooth 123 or the outer ring inner tooth 113 when the flexible wheel outer tooth 172 is engaged, so as to achieve the effect of buffer protection.

[0019] Example 2, as Figure 2 , Figures 5-10As shown, the harmonic reducer is equipped with a crossed roller bearing, including Embodiment 1. In addition, one side of the bearing outer ring 111 is wrapped around one side of the bearing inner ring 121. The outer wall of the bearing inner ring 121 is provided with a V-shaped groove, and the inner wall of the bearing outer ring 111 is provided with a V-shaped groove. Rollers 13 are cross-filled between the V-shaped groove of the bearing inner ring 121 and the V-shaped groove of the bearing outer ring 111. A gap is provided between the bearing outer ring 111 and the bearing inner ring 121.

[0020] In the above embodiments, it should be noted that the bearing inner ring 121 and the bearing outer ring 111 are made of 42CrMo or QT800 material, and the hardness of the material matrix needs to be ensured to be between HRC30 and 35 through quenching and tempering. Then, the outer ring internal teeth 113 and the inner ring internal teeth 123 are machined on the bearing outer ring 111 and the bearing inner ring 121 respectively to ensure the service life of the internal teeth and the service life of the bearing. The V-shaped grooves of the bearing outer ring and inner ring are surface hardened to a hardness between HRC55 and 60 to ensure the wear resistance of the bearing raceway. A gap of 0.3mm-0.5mm is left between the bearing outer ring 111 and the bearing inner ring 121 to prevent interference between the two rings. In addition, bearing professional lubricating grease is injected into the V-shaped groove to reduce the friction between the roller 13 and the V-shaped groove. When the input shaft drives the inner ring 121 of the bearing to rotate, the rollers 13 in the V-groove roll, thereby effectively reducing the friction between the inner ring 121 and the outer ring 111 of the bearing. The roller 13 has a cylindrical structure, which gives the bearing high rigidity and load-bearing capacity, making it suitable for bearing large loads and high precision requirements.

[0021] Example 3, as Figure 2 , Figures 5-13 As shown, the harmonic reducer is equipped with a crossed roller bearing, including Embodiment 1. In addition, the skeleton oil seal structure includes an oil seal outer sleeve 141, which is embedded in the inner wall of the bearing outer ring 111. A sealing lip is provided on the inner side of the oil seal outer sleeve 141, and the sealing lip of the oil seal outer sleeve 141 contacts the outer wall of the bearing inner ring 121. The oil seal outer sleeve 141 is located on the outer wall of the bearing inner ring 121 that is not covered by the bearing outer ring 111. An oil seal skeleton 142 is embedded in the oil seal outer sleeve 141, and an oil seal spring 143 is installed inside the oil seal outer sleeve 141.

[0022] In the above embodiments, it should be noted that the oil seal skeleton 142 is made of metal material (such as steel or aluminum alloy), and the oil seal skeleton 142 provides support and strength for the oil seal outer sleeve 141; the oil seal outer sleeve 141 is made of oil-resistant and wear-resistant rubber or synthetic material, and it contacts the shaft and sealing surface to play a sealing role; the oil seal spring 143 is a corrugated spring or a spring with steel wire, the purpose of which is to enhance the contact pressure between the sealing lip and the surface of the bearing inner ring 121 to ensure the sealing effect; The oil seal spring 143 presses the sealing lip inside the oil seal outer sleeve 141. Through the elastic deformation of the sealing lip, it ensures that the bearing inner ring 121 maintains good contact during rotation, preventing grease or other substances from leaking out from the gap between the shaft and the oil seal.

[0023] Example 4, as Figures 1-11 As shown, the harmonic reducer is equipped with a crossed roller bearing, including Embodiment 1. In addition, the outer ring 111 of the bearing has a plurality of outer ring connecting holes 114 that penetrate the outer ring 111. An outer ring connecting tube 112 is installed on the side of the outer ring 111 away from the inner ring 121. An inner ring connecting tube 122 is embedded on the side of the inner ring 121 away from the outer ring 111. A slot is provided at the bottom of the outer ring 111. The slot penetrates and cuts off one of the outer ring connecting holes 114 at the bottom of the outer ring 111. A plug 115 is inserted and installed in the slot at the bottom of the outer ring 111. The top surface of the plug 115 is connected to the V-shaped groove of the outer ring 111. A pin 116 is inserted and installed in the cut-off outer ring connecting hole 114. The pin 116 penetrates the plug 115.

[0024] In the above embodiments, it should be noted that the outer ring 111 of the bearing is connected to the output shaft through the outer ring connecting hole 114 and bolts, while the input shaft is connected to the inner ring 121 of the bearing through the inner ring connecting tube 122 and bolts. At the same time, the inner ring connecting tube 122 is also used to connect and install the inner ring connecting sleeve 151, and the outer ring connecting sleeve 161 is connected to the outer ring 111 of the bearing through the outer ring connecting tube 112 and bolts. The plug 115 is made of the same material as the outer ring 111 of the bearing, which can prevent cracking during quenching of the V-groove surface. The pin 116 is made of 45 steel or stainless steel. The radial position of the plug 115 in the bottom groove of the outer ring 111 is positioned by inserting the ring pin 116 into the outer ring connecting hole 114 and through the plug 115. The roller 13 is installed into the V-groove of the inner and outer rings through the bottom groove of the outer ring 111. After the roller 13 is installed, the plug 115 is installed. Then, the outer ring 111 and the plug 115 are connected by the pin 116 to determine the radial position of the plug 115. After the plug 115 is installed in place and the bearing flexibility is adjusted, professional bearing lubricating grease is injected. At this point, the assembly of the entire bearing is completed.

[0025] Example 5, as Figures 1-10As shown, the harmonic reducer is equipped with a crossed roller bearing, including embodiment 4. Furthermore, the buffer tooth protection structure on the inner ring connecting sleeve 151 includes an inner ring buffer sleeve 152, which is installed on one side of the inner ring connecting sleeve 151 and can be inserted into the inner ring 121 of the bearing. An inner ring tooth protection sleeve 153 is provided on the outer wall of the inner ring buffer sleeve 152, which can be inserted into the tooth gap of the inner ring tooth 123. The buffer tooth protection structure on the outer ring connecting sleeve 161 includes an outer ring buffer sleeve 162, which is installed on one side of the outer ring connecting sleeve 161 and can be inserted into the tooth gap of the inner ring tooth 123. The outer ring 111 is inserted into the inner side of the bearing outer ring. The outer ring buffer sleeve 162 is provided with an outer ring tooth sleeve 163 on its outer wall. The outer ring tooth sleeve 163 can be inserted into the tooth gap of the outer ring inner tooth 113. An inner ring connecting bolt 154 is installed on the inner ring connecting sleeve 151 and is inserted into the inner ring connecting tube 122 for connection. An outer ring connecting bolt 164 is installed on the outer ring connecting sleeve 161 and is inserted into the outer ring connecting tube 112 for connection. A bolt 173 is installed on the flexible wheel 171. The bolt 173 can be installed on the inner ring connecting sleeve 151 and the outer ring connecting sleeve 161.

[0026] In the above embodiments, it should be noted that the inner ring connecting sleeve 151 and the outer ring connecting sleeve 161 are made of metal materials. The inner ring connecting sleeve 151 and the outer ring connecting sleeve 161 need to be used separately and cannot be used at the same time. Using the inner ring connecting sleeve 151 and the outer ring connecting sleeve 161 can switch to achieve the single steel wheel harmonic deceleration effect. Both the outer ring buffer sleeve 162 and the inner ring buffer sleeve 152 are made of shock-absorbing rubber material, while the outer ring tooth sleeve 163 and the inner ring tooth sleeve 153 are made of flexible plastic. When the outer ring buffer sleeve 162 is inserted into the inner side of the outer ring 111 of the bearing, the outer ring tooth sleeve 163 is inserted into the tooth gap of the outer ring inner tooth 113 to wrap and protect the outer ring inner tooth 113. When the inner ring buffer sleeve 152 is inserted into the inner side of the inner ring 121 of the bearing, the inner ring tooth sleeve 153 is inserted into the tooth gap of the inner ring inner tooth 123 to wrap and protect the inner ring inner tooth 123. The flexible wheel 171 is mounted on the inner ring connecting sleeve 151 or the outer ring connecting sleeve 161 by means of bolt 173. The number of teeth of the flexible wheel external tooth 172 on the flexible wheel 171 is the same as the number of teeth of the inner ring internal tooth 123.

[0027] The process of using this invention is as follows: Those skilled in the art will install the roller 13 into the V-shaped groove of the inner and outer rings through the groove at the bottom of the outer ring 111 of the bearing. After the roller 13 is installed, the plug 115 is installed. Then, the outer ring 111 of the bearing and the plug 115 are connected by the pin 116 and the radial position of the plug 115 is determined. After the plug 115 is installed in place and the bearing flexibility is adjusted, professional bearing lubricating grease is injected. Then, the input shaft is connected to the inner ring 121 of the bearing, and the output shaft is connected to the outer ring 111 of the bearing. At this point, the assembly of the entire bearing is completed. Next, the flexible wheel 171 is directly installed inside the outer ring 111 and the inner ring 121 of the bearing, so that the inner teeth 113 and 123 of the outer ring mesh with the outer teeth 172 of the flexible wheel 171. The input shaft is started to drive the inner ring 121 of the bearing to rotate in the forward direction. The inner ring 121 of the bearing drives the flexible wheel 171 to rotate in the forward direction through the meshing of the inner teeth 123 and the outer teeth 172. At the same time, the harmonic generator of the flexible wheel 171 is started. The harmonic generator causes the flexible wheel 171 to deform, thereby transmitting the power to the outer ring 111 of the bearing through the inner teeth 113 of the outer ring. At this time, the outer ring 111 of the bearing drives the output shaft to rotate in the reverse direction. Through relative rotation and meshing, the effect of double steel wheel harmonic deceleration is achieved. Alternatively, the flexible wheel 171 can be installed on the inner ring connecting sleeve 151, and then the inner ring connecting sleeve 151 can be installed on the bearing inner ring 121, so that the flexible wheel external teeth 172 on the flexible wheel 171 mesh with the outer ring internal teeth 113. The input shaft drives the bearing inner ring 121 to rotate in the forward direction. The bearing inner ring 121 drives the bearing inner ring 121 and the flexible wheel 171 to rotate in the forward direction. The harmonic generator of the flexible wheel 171 is activated. The harmonic generator acts on the flexible wheel 171 to deform it, thereby transmitting the power to the bearing outer ring 111 through the outer ring internal teeth 113. At this time, the bearing outer ring 111 drives the output shaft to rotate in the reverse direction. The single steel wheel harmonic deceleration effect is achieved through relative rotation and meshing. Alternatively, the flexible wheel 171 can be mounted on the outer ring connecting sleeve 161, and then the outer ring connecting sleeve 161 can be mounted on the outer ring 111 of the bearing, so that the external teeth 172 of the flexible wheel 171 mesh with the internal teeth 123 of the inner ring. The input shaft drives the inner ring 121 of the bearing to rotate in the forward direction, and the harmonic generator of the flexible wheel 171 is started. The internal teeth 123 of the inner ring 121 of the bearing mesh with the external teeth 172 of the flexible wheel 171, causing the flexible wheel 171 to rotate in the direction of rotation of the inner ring 121 of the bearing. The flexible wheel 171 drives the outer ring 111 of the bearing and the output shaft to rotate in the forward direction through the outer ring connecting sleeve 161. The deformation, rotation and meshing of the flexible wheel 171 achieve the single steel wheel harmonic deceleration effect.

[0028] The above description is merely a preferred embodiment of the present invention. Any person skilled in the art can modify the present invention or modify it into an equivalent technical solution using the technical solutions described above. Therefore, any simple modifications or equivalent substitutions made based on the technical solutions of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A harmonic reducer with a cross roller bearing, comprising a bearing body and matching connecting parts, characterized in that: The bearing body includes an inner bearing ring (121), an outer bearing ring (111) is rotatably mounted on the outer side of the inner bearing ring (121), a roller (13) is provided between the inner bearing ring (121) and the outer bearing ring (111), a skeleton oil seal structure is installed on the inner wall of the outer bearing ring (111), an outer ring internal tooth (113) is provided on the inner wall of the outer bearing ring (111), an inner ring internal tooth (123) is provided on the outer wall of the inner bearing ring (121), a flexible wheel (171) is installed on the inner side of the inner bearing ring (121), a flexible wheel external tooth (172) is provided on the outer wall of the flexible wheel (171), the flexible wheel external tooth (172) meshes with the outer ring internal tooth (113) and the inner ring internal tooth (123), and a harmonic generator is installed inside the flexible wheel (171). The matching connectors include an inner ring connecting sleeve (151) and an outer ring connecting sleeve (161). Both the inner ring connecting sleeve (151) and the outer ring connecting sleeve (161) are provided with a buffer tooth structure. The inner ring connecting sleeve (151) is installed and connected to the inner ring (121) of the bearing, and the outer ring connecting sleeve (161) is installed and connected to the outer ring (111) of the bearing. Both the inner ring connecting sleeve (151) and the outer ring connecting sleeve (161) are equipped with flexible wheels (171).

2. The cross roller bearing for the harmonic reducer according to claim 1, characterized in that: The outer ring (111) of the bearing is wrapped around the inner ring (121) of the bearing. The outer wall of the inner ring (121) is provided with a V-shaped groove, and the inner wall of the outer ring (111) is provided with a V-shaped groove. The rollers (13) are cross-filled between the V-shaped groove of the inner ring (121) and the V-shaped groove of the outer ring (111). There is a gap between the outer ring (111) and the inner ring (121).

3. The cross roller bearing for the harmonic reducer according to claim 2, characterized in that: The skeleton oil seal structure includes an oil seal outer sleeve (141), which is embedded in the inner wall of the bearing outer ring (111). A sealing lip is provided on the inner side of the oil seal outer sleeve (141). The sealing lip of the oil seal outer sleeve (141) is in contact with the outer wall of the bearing inner ring (121). The oil seal outer sleeve (141) is located on the outer wall of the bearing inner ring (121) that is not covered by the bearing outer ring (111). An oil seal skeleton (142) is embedded in the oil seal outer sleeve (141), and an oil seal spring (143) is installed inside the oil seal outer sleeve (141).

4. The cross roller bearing for the harmonic reducer according to claim 2, characterized in that: The outer ring (111) of the bearing is provided with a plurality of outer ring connecting holes (114) that penetrate the outer ring (111). An outer ring connecting tube (112) is installed on the side of the outer ring (111) away from the inner ring (121). An inner ring connecting tube (122) is embedded on the side of the inner ring (121) away from the outer ring (111).

5. The cross roller bearing for the harmonic reducer according to claim 4, characterized in that: The bearing outer ring (111) has a slot at the bottom, which cuts through one of the outer ring connecting holes (114) at the bottom of the bearing outer ring (111). A plug (115) is inserted into the slot at the bottom of the bearing outer ring (111). The top surface of the plug (115) is connected to the V-shaped groove of the bearing outer ring (111). A pin (116) is inserted into the cut-off outer ring connecting hole (114) and passes through the plug (115).

6. The cross roller bearing for the harmonic reducer according to claim 4, characterized in that: The buffer tooth protection structure on the inner ring connecting sleeve (151) includes an inner ring buffer sleeve (152), which is installed on one side of the inner ring connecting sleeve (151). The inner ring buffer sleeve (152) can be inserted into the inner side of the bearing inner ring (121). An inner ring tooth protection sleeve (153) is provided on the outer wall of the inner ring buffer sleeve (152), which can be inserted into the tooth gap of the inner ring inner tooth (123).

7. The harmonic reducer with crossed roller bearing according to claim 4, characterized in that: The buffer tooth protection structure on the outer ring connecting sleeve (161) includes an outer ring buffer sleeve (162), which is installed on one side of the outer ring connecting sleeve (161). The outer ring buffer sleeve (162) can be inserted into the inner side of the bearing outer ring (111). An outer ring tooth protection sleeve (163) is provided on the outer wall of the outer ring buffer sleeve (162), which can be inserted into the tooth gap of the outer ring inner tooth (113).

8. The cross roller bearing for the harmonic reducer according to claim 1, characterized in that: The inner ring connecting sleeve (151) is equipped with an inner ring connecting bolt (154), which is inserted into the inner ring connecting tube (122) for connection. The outer ring connecting sleeve (161) is equipped with an outer ring connecting bolt (164), which is inserted into the outer ring connecting tube (112) for connection.

9. The cross roller bearing for the harmonic reducer according to claim 1, characterized in that: Bolts (173) are installed on the flexible wheel (171), and the bolts (173) can be installed on the inner ring connecting sleeve (151) and the outer ring connecting sleeve (161).

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