Integrated bearing and speed reducer

Abstract

The invention belongs to the technical field of bearings, and relates to an integrated bearing and a speed reducer.The bearing comprises a main outer ring base body, an inner ring base body and a roller, the main outer ring base body is connected with an auxiliary outer ring, a first outer ring channel is formed in the end of the main outer ring base body, and a second outer ring channel is formed in the end of the auxiliary outer ring; an inner ring channel is formed in the side wall of the inner ring base body, the first outer ring channel, the second outer ring channel and the inner ring channel jointly form a roller path, the rollers are arranged in the roller path, and the inner ring base body is in running fit with the main outer ring base body through the rollers; the problems that when a traditional independent bearing is matched with a speed reducer, the structure is redundant, the number of assembly interfaces is large, rigidity is insufficient, and assembly is complex are solved, the compact structure is achieved, and meanwhile the bearing performance, the adaptation precision and the assembly convenience of the bearing are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of bearing technology, and specifically to an integrated bearing and a speed reducer. Background Technology

[0002] In the field of robotics and exoskeletons, the performance of the joint drive system directly determines the dynamic response and load capacity of the entire machine. Especially for applications such as industrial robots and humanoid knee joints, the reduction gear in the drive unit must achieve high torque density, high torsional stiffness, and ultra-long service life within an extremely compact volume, which poses a severe challenge to the design of traditional reducers.

[0003] To meet the requirements of miniaturization, existing reduction gears for robot joints or exoskeleton joints generally use crossed roller bearings as output supports. However, mainstream technology still installs this bearing as a separate standard component inside the reduction gear housing. This split architecture leads to a series of systemic defects: First, the separate bearing, housing, and flange components result in a long axial dimension of the device, a complex assembly chain, and the mating interfaces are prone to fretting wear under alternating loads, causing a gradual decrease in overall stiffness and accuracy; second, the split structure relies on assembly precision to achieve bearing preload, which is difficult to guarantee in mass production, easily leading to poor backlash control and affecting control performance.

[0004] Even with some improved designs aimed at integration, such as the solution disclosed in patent CN102518654A, the aforementioned problems have not been fundamentally solved. This solution, by setting plunger holes in the outer ring to achieve roller filling, reduces the number of components to some extent, but the opening in the outer ring compromises the structural integrity of the load-bearing structure, creating weak areas of rigidity and increasing the risk of stress concentration. Simultaneously, roller assembly is limited by the narrow filling hole structure, resulting in a cumbersome and inefficient assembly process, which is detrimental to mass production. Therefore, existing technologies still struggle to balance high rigidity, high precision, and high reliability while achieving efficient mass production under the premise of miniaturization. Summary of the Invention

[0005] This invention provides an integrated bearing, which aims to solve the problems of multiple assembly interfaces, insufficient rigidity, and complex assembly in existing bearings. This invention also provides a speed reducer, which aims to solve the problem that existing speed reducers cannot guarantee high rigidity and high precision while miniaturizing.

[0006] To achieve the above objectives, the present invention proposes the following technical solution:

[0007] According to one aspect of the present invention, an integral bearing is provided, comprising a main outer ring base, an inner ring base, and rollers. The main outer ring base is connected to a secondary outer ring ring. A first outer ring groove is formed at the end of the main outer ring base, and a second outer ring groove is formed at the end of the secondary outer ring ring. An inner ring groove is formed on the sidewall of the inner ring base. The first outer ring groove, the second outer ring groove, and the inner ring groove together form a raceway. The rollers are disposed within the raceway, and the inner ring base is rotatably engaged with the main outer ring base through the rollers.

[0008] Furthermore, a sealing ring is connected between the inner ring base and the secondary outer ring.

[0009] Furthermore, a threaded hole is provided on the outer end face of the inner ring base.

[0010] Furthermore, the secondary outer ring and the main outer ring base are detachably connected for axial assembly of the roller.

[0011] Furthermore, the inner wall of the main outer ring substrate is provided with a toothed structure, and the hardness of the main outer ring substrate is 58~62 HRC, and the surface roughness Ra≤0.4 μm.

[0012] According to another aspect of the present invention, a speed reducer is also provided, using the aforementioned integrated bearing, including an end cover and a speed reduction mechanism, wherein one end of the main outer ring base is connected to the end cover and the other end is connected to the secondary outer ring; wherein a receiving cavity is formed between the main outer ring base and the end cover, the speed reduction mechanism is disposed in the receiving cavity, and the speed reduction mechanism meshes with the inner wall of the main outer ring base.

[0013] Furthermore, the end cap is also connected to a power input mechanism, which includes at least an input shaft and a drive assembly. The input shaft is connected to the drive assembly and is also connected to the reduction mechanism.

[0014] Furthermore, the inner end face of the inner ring base is provided with a first mounting groove, and a first support bearing is provided in the first mounting groove; the inner end face of the end cover is provided with a second mounting groove, and a second support bearing is provided in the second mounting groove; and the outer end face of the end cover is provided with a threaded hole.

[0015] Furthermore, the end cap has a through hole for the input shaft to pass through.

[0016] Furthermore, both the first support bearing and the second support bearing are connected to the input shaft.

[0017] The beneficial effects of this invention are as follows:

[0018] The integrated bearing provided by this invention solves the problems of structural redundancy, multiple assembly interfaces, insufficient rigidity, and complex assembly when traditional independent bearings are used with reducers through the coordinated design and functional integration of the main outer ring base, inner ring base, and secondary outer ring. While achieving a compact structure, it effectively improves the bearing's load-bearing capacity, fitting accuracy, and assembly convenience; specifically as follows:

[0019] The main outer ring base of this bearing not only has a first outer ring groove, but also has a toothed structure on its inner side adapted to the reduction mechanism. This integrated design allows the main outer ring base to simultaneously function as both a traditional bearing outer ring and a reducer wheel, eliminating the traditional "bearing outer ring - reducer wheel" assembly interface, shortening the force transmission path, improving the fit rigidity between the bearing and the reducer, reducing axial space occupation, and solving the structural redundancy problem caused by separate assembly. The inner ring base has an inner ring groove and a threaded hole on its outer end face, allowing it to simultaneously bear the connection function of the traditional bearing inner ring and output flange, eliminating the need for a separate flange shaft. The improved space utilization efficiency and connection structure avoids the risk of fretting wear in the traditional "bearing inner ring-output flange" connection. The secondary outer ring is machined with a second outer ring groove and is detachably connected to the main outer ring base. While forming a complete roller raceway with the main outer ring base and inner ring base, it does not damage the structural integrity of the main outer ring base. This effectively avoids the problems of local stiffness reduction, stress concentration and complicated assembly caused by the plunger hole in the outer ring in existing solutions (such as patent CN102518654A). The detachable structure simplifies the roller assembly process and improves the efficiency of mass production.

[0020] The speed reducer provided by this invention, by integrating the aforementioned one-piece bearing and combining it with the functional integration design of the end cover, further solves the problems of precision attenuation, low space utilization, and insufficient operational reliability caused by the split structure of traditional speed reducers ("bearing-housing-flange-cover"), while maintaining an extremely compact structure. Specifically, it significantly improves the rigidity, transmission accuracy, and long-term operational stability of the speed reducer; as detailed below:

[0021] Leveraging the structural advantages of an integrated bearing, the reducer integrates the triple functions of the reducer housing, bearing outer ring, and rigid wheel in its main outer ring base. This completely eliminates the multiple assembly interfaces of "housing-bearing outer ring-rigid wheel" in traditional structures, minimizing the force transmission path and significantly improving the overall rigidity and transmission accuracy. Meanwhile, the inner ring base continues the integrated function of "bearing inner ring + output flange," while the end cover further combines the dual functions of the input flange and reducer cover. This avoids the risk of fretting wear in the traditional "reducer cover-input flange" connection and further saves the axial space of the independent input flange, making the overall structure more compact and significantly improving space utilization efficiency.

[0022] Furthermore, the reduction mechanism is directly assembled into the cavity formed by the main outer ring base and the end cover, precisely meshing with the tooth structure of the main outer ring base. With the high-precision positioning foundation brought by the integrated bearing, the matching error between the reduction mechanism and the bearing is reduced. Combined with the assembly convenience brought by the secondary outer ring, it not only simplifies the overall assembly process of the reducer, but also ensures the consistency of precision in mass production, ultimately achieving high torque density, high torsional stiffness and long service life of the reducer in a compact volume. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a cross-sectional view of the bearing provided by the present invention;

[0025] Figure 2 This is a top view of the speed reducer provided by the present invention;

[0026] Figure 3 This is a cross-sectional view of the speed reducer provided by the present invention;

[0027] Figure 4 This is an exploded structural diagram of the speed reducer provided by the present invention;

[0028] Figure 5 This is a three-dimensional structural schematic diagram of the speed reducer provided by the present invention;

[0029] Figure 6 This is a side view of the speed reducer provided by the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1-Main outer ring base; 2-Secondary outer ring; 3-Sealing ring; 4-Inner ring base; 5-Roller; 6-First bolt; 7-First outer ring groove; 8-Second outer ring groove; 9-Inner ring groove; 10-First support bearing; 11-End cover; 12-Second support bearing; 13-Second bolt; 14-Reduction mechanism; 15-Input shaft. Detailed Implementation

[0032] To make the objectives, technical solutions, and beneficial effects of the embodiments of the present invention clearer, 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. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should be considered to fall within the protection scope of the present invention.

[0033] In the description of this invention, it should be understood that the terms indicating orientation or positional relationship are based only on the orientation or positional relationship shown in the drawings and are used to facilitate the description of this invention and to simplify the explanation, rather than indicating or implying that the device or element must be constructed or operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0034] Example 1

[0035] Please refer to this as well. Figures 1-6 This invention provides an integrated bearing, including a main outer ring base 1, an inner ring base 4, and rollers 5. The main outer ring base is connected to a secondary outer ring ring. The end of the main outer ring base 1 has a first outer ring groove 7, the end of the secondary outer ring ring 2 has a second outer ring groove 8, and the side wall of the inner ring base 4 has an inner ring groove 9. The first outer ring groove 7, the second outer ring groove 8, and the inner ring groove 9 together form a raceway. The rollers 5 are disposed in the raceway, and the inner ring base 4 is rotatably engaged with the main outer ring base 1 through the rollers 5.

[0036] In this embodiment, the main outer ring base 1 provides the mounting base for all internal parts; secondly, the first outer ring groove 7 machined at the end of the main outer ring base 1 undertakes part of the outer ring raceway function of the roller 5.

[0037] The first outer groove 7 and the second outer groove 8 both have a quarter-rhombus cross-section, and the inner groove 9 has a half-rhombus cross-section. Together, they form a complete roller raceway. The rollers 5 are cylindrical rollers, and multiple sets are provided. Adjacent rollers 5 are arranged alternately at 90° intervals and are separated and positioned by cages.

[0038] Furthermore, a sealing ring 3 is connected between the inner ring base 4 and the secondary outer ring 2.

[0039] An annular groove is formed between the inner ring base 4 and the secondary outer ring 2. The sealing ring 3 is set in the annular groove to seal the fitting gap between the inner ring base 4 and the secondary outer ring 2. The sealing ring 3 can effectively prevent grease leakage and external contaminants from entering the device, ensuring the long-term reliability of the device under harsh working conditions.

[0040] Furthermore, a threaded hole is provided on the outer end face of the inner ring base 4.

[0041] The inner ring base 4 combines the functions of a traditional bearing inner ring and an output flange. The threaded holes evenly distributed on its outer end face are used to connect power output mechanisms such as robot linkages. This design eliminates the risk of fretting wear in the traditional "bearing inner ring-output flange" connection and saves axial installation space.

[0042] Furthermore, the secondary outer ring 2 and the main outer ring base 1 are detachably connected for the axial assembly of the roller 5.

[0043] The secondary outer ring 2 is a detachable structural component, connected to the main outer ring base 1 by the first bolt 6. Its purpose is to solve the assembly process problems of crossed roller bearings in the prior art. Through this detachable structure, the roller 5 and the cage can be axially inserted into the second outer ring groove 8 on its inner wall, and then docked with the main outer ring base 1 and the inner ring base 4 to form a complete raceway. The secondary outer ring 2 ensures the structural integrity of the main outer ring base 1, thereby effectively avoiding the problems of local stiffness reduction and stress concentration, cumbersome assembly process, and unfavorable mass production caused by the addition of plunger holes in the outer ring in existing improved solutions (such as patent CN102518654A). This invention, through the detachable secondary outer ring 2, achieves higher assembly convenience and manufacturing efficiency, further simplifying the roller assembly process.

[0044] Furthermore, the inner wall of the main outer ring substrate 1 is provided with a toothed structure, and the hardness of the main outer ring substrate 1 is 58~62HRC, and the surface roughness Ra≤0.4 μm.

[0045] The inner wall of the main outer ring base 1 has a toothed structure for meshing with the reduction mechanism 14. The module and number of teeth of the toothed structure on the inner wall of the main outer ring base 1 are designed according to the parameters of the adapted reduction mechanism. This toothed structure assumes the function of the rigid wheel component of the traditional harmonic reduction mechanism, so that the main outer ring base 1 integrates the functions of the reducer housing, bearing outer ring, and rigid wheel into one unit. This "integrated" design eliminates the assembly interface between "reducer housing-bearing outer ring-rigid wheel" in the traditional structure, shortening the force transmission path.

[0046] In addition, to achieve the aforementioned hardness and surface roughness, the main outer ring substrate 1 needs to undergo carburizing or quenching heat treatment, and be subjected to precision grinding or honing processes to ensure the hardness and precision of its contact surface with the roller 5 and its meshing surface with the deceleration mechanism.

[0047] Example 2

[0048] Please refer to this as well. Figures 1-6Based on Embodiment 1, this embodiment of the invention also provides a speed reducer, including an end cover 11 and a speed reduction mechanism 14. One end of the main outer ring base 1 is connected to the end cover 11, and the other end is connected to the secondary outer ring 2. A receiving cavity is formed between the main outer ring base 1 and the end cover 11. The speed reduction mechanism 14 is disposed in the receiving cavity, and the speed reduction mechanism 14 meshes with the inner wall of the main outer ring base 1.

[0049] Furthermore, the end cover 11 is also connected to a power input mechanism, which includes at least an input shaft 15 and a drive assembly. The input shaft 15 is connected to the drive assembly and is also connected to the reduction mechanism 14.

[0050] Furthermore, the inner end face of the inner ring base 4 is provided with a first mounting groove, and a first support bearing 10 is provided in the first mounting groove; the inner end face of the end cover 11 is provided with a second mounting groove, and a second support bearing 12 is provided in the second mounting groove, and a threaded hole is provided on the outer end face of the end cover 11.

[0051] Furthermore, the end cap 11 has a through hole for the input shaft 15 to pass through.

[0052] The end cap 11 is connected to the main outer ring base 1 by the second bolt 13, and a cavity for accommodating the deceleration mechanism 14 is formed between the end cap 11 and the main outer ring base 1; and a threaded hole is provided on the outer end face of the end cap 11, so that the end cap 11 can also serve as an input flange and can be used to connect with the drive assembly.

[0053] The input shaft 15 is a key component for transmitting power and motion. One end of it is connected to the output end of the drive component (such as the rotor of a servo motor) via a coupling or direct connection, and the other end is connected to the input end of the reduction mechanism 14.

[0054] In this embodiment, the input shaft 15 also constitutes the central shaft of the reduction mechanism 14. The portion of it passing through the end cover 11 is used to receive external power, and the portion inside the receiving cavity is used to drive the reduction mechanism 14, thereby realizing the reduction transmission.

[0055] A drive component refers to a power device capable of outputting rotary motion. For reference, the drive component is a servo motor. It is understood that the drive component is not limited to a servo motor, but can also be a stepper motor, a hydraulic motor, or other power source capable of outputting rotary motion. Its connection with the end cover 11 can be achieved by means of a stop fit and bolt fastening, which are known in the art.

[0056] Furthermore, both the first support bearing 10 and the second support bearing 12 are connected to the input shaft 15.

[0057] The first support bearing 10 is installed in the first mounting groove of the inner ring base 4, and the second support bearing 12 is press-fitted into the second mounting groove of the end cover 11, together forming the support structure of the input shaft 15.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been described in detail through specific embodiments, those skilled in the art can make various equivalent substitutions, improvements, or modifications without departing from the spirit and scope of the present invention, and such equivalent substitutions, improvements, or modifications should all be considered to fall within the protection scope of the present invention.

Claims

1. An integral bearing, characterized in that, The system includes a main outer ring base (1), an inner ring base (4), and a roller (5). The main outer ring base is connected to a secondary outer ring ring. The end of the main outer ring base (1) is provided with a first outer ring groove (7), the end of the secondary outer ring ring (2) is provided with a second outer ring groove (8), and the side wall of the inner ring base (4) is provided with an inner ring groove (9). The first outer ring groove (7), the second outer ring groove (8), and the inner ring groove (9) together form a raceway. The roller (5) is disposed in the raceway, and the inner ring base (4) rotates with the main outer ring base (1) through the roller (5).

2. The bearing according to claim 1, characterized in that, A sealing ring (3) is connected between the inner ring base (4) and the secondary outer ring (2).

3. The bearing according to claim 1, characterized in that, The outer end face of the inner ring base (4) is provided with a threaded hole.

4. The bearing according to claim 1, characterized in that, The secondary outer ring (2) is detachably connected to the main outer ring base (1) for axial assembly of the roller (5).

5. The bearing according to claim 1, characterized in that, The inner wall of the main outer ring substrate (1) is provided with a toothed structure, and the hardness of the main outer ring substrate (1) is 58~62 HRC, and the surface roughness Ra≤0.4 μm.

6. A speed reducer, characterized in that, The integral bearing according to any one of claims 1-5 includes an end cap (11) and a reduction mechanism (14), one end of the main outer ring base (1) is connected to the end cap (11) and the other end is connected to the secondary outer ring (2); wherein, a receiving cavity is formed between the main outer ring base (1) and the end cap (11), the reduction mechanism (14) is disposed in the receiving cavity, and the reduction mechanism (14) meshes with the inner wall of the main outer ring base (1).

7. The speed reducer according to claim 6, characterized in that, The end cap (11) is also connected to a power input mechanism, which includes at least an input shaft (15) and a drive assembly. The input shaft (15) is connected to the drive assembly and is also connected to the deceleration mechanism (14).

8. The speed reducer according to claim 7, characterized in that, The inner end face of the inner ring base (4) is provided with a first mounting groove, and a first support bearing (10) is provided in the first mounting groove; the inner end face of the end cover (11) is provided with a second mounting groove, and a second support bearing (12) is provided in the second mounting groove, and a threaded hole is provided on the outer end face of the end cover (11).

9. The speed reducer according to claim 7, characterized in that, The end cap (11) has a through hole for the input shaft (15) to pass through.

10. The speed reducer according to claim 8, characterized in that, Both the first support bearing (10) and the second support bearing (12) are connected to the input shaft (15).

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