Crossed roller bearing for high-precision robot

Abstract

The invention discloses a crisscrossed roller bearing for a high-precision robot, and relates to the technical field of crisscrossed roller bearing appliances, the crisscrossed roller bearing comprises two spliced upper outer rings and two spliced lower outer rings, and inner rings are mounted between the upper outer rings and the lower outer rings; through cooperation of the first connecting mechanism and the second connecting mechanism, the positioning and splicing functions of the upper outer ring and the lower outer ring can be achieved; the sealing ring is matched with the sealing groove, so that external dust and impurities are conveniently prevented from entering the bearing, the protection effect of the bearing is improved, the rectangular groove is matched with the roller frame, the load borne by the bearing is conveniently dispersed, and the precision and stability of the bearing are improved; the reinforcing plate is matched with the upper reinforcing groove and the lower reinforcing groove, so that the structure reinforcing function of the bearing can be realized; finally, the problems that a traditional cross roller bearing is not stable in splicing, poor in sealing performance and insufficient in load bearing capacity are solved, and the requirement for the high-precision working environment of the robot is met.

Description

Technical Field

[0001] This invention relates to the field of cross roller bearings, and more particularly to a high-precision cross roller bearing for robots. Background Technology

[0002] As industrial robots, humanoid robots, and other high-end equipment rapidly develop towards higher precision, higher stability, and longer lifespan, cross roller bearings, as core components of joint transmission, directly determine the robot's motion accuracy, load-bearing capacity, and operational reliability. These bearings must simultaneously withstand radial force, axial force, and overturning moment, and must also adapt to the compact and lightweight installation requirements of robot joints. Therefore, stringent requirements are placed on splicing accuracy, sealing protection, structural rigidity, and uniform load distribution. However, existing cross roller bearings still face many technical bottlenecks in practical applications, making it difficult to meet the usage requirements of high-precision working environments for robots. First, the splicing positioning accuracy and stability are insufficient. To adapt to the installation space requirements of robot joints, some cross roller bearings adopt a split outer ring design. However, the traditional splicing structure lacks an efficient and accurate positioning mechanism, relying only on bolt fastening or simple pin positioning. This makes it difficult to quickly align the upper and lower outer rings when splicing, resulting in low installation efficiency and easy assembly gaps. Under the high-frequency start and stop of the robot and the combined load, the splicing point is prone to micro-loosening or misalignment. This not only causes the bearing motion accuracy to decrease (the measured repeatability error exceeds 0.01mm), but also aggravates the local wear of the rollers and raceways, shortening the bearing life. Especially in the core joints of humanoid robots such as the knee and shoulder joints, the inaccuracy caused by unstable splicing will directly affect the coordination and repeatability of the robot's movements. Secondly, there is a significant contradiction between sealing performance and load-bearing capacity. The robot's operating environment is complex, and impurities such as dust and oil can easily penetrate into the bearing. Traditional cross-roller bearings often use single-gap seals or simple contact seals, with dustproof ratings generally lower than IP5X. This fails to effectively block external impurities, leading to lubricant contamination, increased roller wear, and consequently, increased bearing vibration and noise. Furthermore, the raceway and roller cage designs of existing bearings are unreasonable, resulting in significant stress concentration on the rollers. When robot joints are subjected to dynamic composite loads, local stress may exceed the standard (edge ​​contact stress is more than 40% higher than in a uniform distribution state), leading to insufficient bearing rigidity and increased deformation. This makes it difficult to achieve stable transmission under high loads. This problem is particularly prominent in heavy-duty industrial robot assembly and handling scenarios, limiting the upper limit of the bearing's load-bearing capacity and accuracy maintenance capability. Furthermore, the overall structural rigidity and deformation resistance are insufficient. Traditional split-type cross roller bearings lack effective structural reinforcement design at the outer ring splice, resulting in weak overall rigidity. When the robot joint is subjected to overturning moment or impact load, slight deformation of the outer ring is prone to occur, leading to damage to the raceway precision and further exacerbating the problem of uneven load distribution. Data shows that under 1.5 times the rated load, the outer ring deformation of traditional structure bearings can reach more than 0.005mm, far exceeding the 0.001mm level deformation control requirement required for high-precision robot operations. In addition, insufficient structural rigidity will also cause the bearing's dynamic response delay, affecting the motion sensitivity of the robot joint and making it difficult to adapt to the needs of fast and precise motion execution. Therefore, the above-mentioned problems need to be addressed and improved. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing a high-precision cross-roller bearing for robots.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a high-precision cross-roller bearing for robots, comprising two spliced ​​upper outer rings and two spliced ​​lower outer rings, an inner ring installed between the upper and lower outer rings, a roller carrier provided around the inner ring, a plurality of rollers being equidistantly installed on the roller carrier, and a first connecting mechanism installed at the connection between the two upper outer rings, and a second connecting mechanism installed at the connection between the two lower outer rings.

[0005] Preferably, sealing rings are installed on both the upper and lower circumferential sides of the inner ring, sealing grooves for matching sealing rings are opened inside the upper and lower outer rings, and a V-shaped groove is opened in the middle of the inner ring circumference. The V-shaped groove forms a rectangular groove with the inner wall of the upper and lower outer rings. The roller carrier is located in the rectangular groove, and two adjacent rollers are installed in an alternating manner. The axis of the roller carrier is consistent with the axis of the roller.

[0006] Preferably, the first connecting mechanism includes a first connecting block installed at one end of the upper outer ring and two positioning pins, the two positioning pins being located on both sides of the first connecting block, and a limit ring being fixedly connected to the other end of the first connecting block.

[0007] Preferably, the other end of the upper outer ring is provided with a first positioning groove for cooperating with the positioning pin and a first mounting groove for cooperating with the limiting ring. An upper reinforcing groove is provided on one side of the first mounting groove, and a hexagonal groove communicating with the first mounting groove is provided on the top surface of the upper outer ring.

[0008] Preferably, a plurality of T-shaped limiting blocks are inserted into the limiting ring, and a pushing ring is fixed to the other end of the limiting block. The top of the pushing ring is provided with an angle. The pushing ring is located inside the limiting ring, and a telescopic rod is connected between the pushing ring and the limiting ring. A compression spring is installed inside the telescopic rod, and a plurality of first limiting grooves that cooperate with the limiting blocks are provided on the inner wall of the first mounting groove.

[0009] Preferably, the second connecting mechanism includes a second connecting block fixed to one end of the lower outer ring, the second connecting block having a plurality of first limiting holes equidistantly provided, the other end of the lower outer ring having a second mounting groove that mates with the second connecting block, the lower outer ring having a lower reinforcing groove on its periphery, the lower reinforcing groove having a plurality of second limiting holes communicating with the second mounting groove, the second limiting holes corresponding to the first limiting holes, and the top surface of the lower outer ring having a second positioning groove longitudinally provided.

[0010] Preferably, a first positioning rod is provided in the first mounting groove. The top of the first positioning rod is hexagonal, the middle part of the first positioning rod is an inverted frustum, and a second positioning rod is fixedly connected to the lower end of the first positioning rod. A plurality of third limiting holes that cooperate with the second limiting holes are equally spaced on the second positioning rod.

[0011] Preferably, the top of the first positioning rod is located in the hexagonal groove, the middle part of the first positioning rod is located inside the limiting ring, and the periphery of the first positioning rod slides against the inner side of the push ring, and the second positioning rod is inserted into the second positioning groove.

[0012] Preferably, a limiting bolt is installed in the first limiting hole, the second limiting hole, and the third limiting hole. One end of the limiting bolt is equipped with a damping coating. The limiting bolt is threadedly connected to the first limiting hole and the second limiting hole, and one end of the limiting bolt is inserted into the third limiting hole.

[0013] Preferably, reinforcing plates are installed inside the upper and lower reinforcing grooves via limiting bolts.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention, through the cooperation of the first connecting mechanism and the second connecting mechanism, facilitates the quick alignment of the splicing positions of the upper outer ring and the lower outer ring, improves the installation accuracy and efficiency, enhances the anti-loosening ability of the splicing of the upper outer ring and the lower outer ring, and thus enables the positioning and splicing function of the upper outer ring and the lower outer ring. 2. The combination of the sealing ring and the sealing groove facilitates the prevention of external dust and impurities from entering the bearing, improving the bearing's protective effect and thus enabling the bearing to achieve its dustproof sealing function. Furthermore, the V-groove, the rectangular groove formed by the upper and lower outer rings and the inner wall of the upper and lower outer rings, and the fit between the roller carrier and the staggered rollers and raceways facilitate the distribution of the load borne by the bearing, improving the bearing's precision and stability, and thus enabling the bearing to achieve its high load-bearing capacity. 3. By installing and cooperating the reinforcing plate with the upper and lower reinforcing grooves, the overall rigidity of the upper and lower outer rings is enhanced, improving the bearing's resistance to deformation and thus enabling the bearing to achieve structural reinforcement. This finally solved the problems of unstable splicing, poor sealing performance, and insufficient load-bearing capacity of traditional cross roller bearings, meeting the needs of high-precision working environments for robots. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall appearance and structure of the device of the present invention; Figure 2 This is a schematic diagram of the internal structure of the upper part of the device of the present invention; Figure 3 This is a schematic diagram of the internal structure of the lower end of the device of the present invention; Figure 4 This is an exploded view of the upper outer ring structure of the present invention; Figure 5 This is an exploded view of the lower outer ring structure of the present invention; Figure 6 This is a schematic diagram of the inner ring structure of the present invention; Figure 7 This is a schematic diagram of the roller cage structure of the present invention; Figure 8 This is a schematic diagram of the cross-sectional structure of the upper outer ring and the lower outer ring of the present invention; Figure 9 This is a schematic diagram of the internal structure of the device of the present invention; Figure 10 This is a schematic diagram of the positioning block structure of the present invention; Figure 11 This is a schematic diagram of the positioning ring structure of the present invention; Figure 12 This is a schematic diagram of the limiting bolt structure of the present invention; Figure 13 This is a schematic cross-sectional view of the device of the present invention; Figure 14This is a schematic cross-sectional view of the first connecting mechanism of the present invention; Figure 15 For the present invention Figure 4 Enlarged schematic diagram of the structure at part A in the middle; Figure 16 For the present invention Figure 5 Enlarged schematic diagram of the structure of part B in the middle; Figure 17 For the present invention Figure 13 Enlarged schematic diagram of the structure at part A in the middle.

[0016] The numbers in the diagram are as follows: 1. Upper outer ring; 2. Lower outer ring; 3. Inner ring; 4. Roller cage; 5. Roller; 6. Sealing ring; 7. Sealing groove; 8. V-groove; 9. Positioning pin; 10. First positioning groove; 11. First connecting block; 12. Limiting ring; 13. Limiting block; 14. Pushing ring; 15. Telescopic rod; 16. Compression spring; 17. First limiting groove; 18. Second connecting block; 19. First limiting hole; 20. Upper reinforcing groove; 21. Lower reinforcing groove; 22. Second limiting hole; 23. Second positioning groove; 24. Hexagonal groove; 25. First positioning rod; 26. Second positioning rod; 27. Third limiting hole; 28. Limiting bolt; 29. ​​Damping coating; 30. Reinforcing plate. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] Example 1: See Figures 1 to 17This invention discloses a high-precision cross-roller bearing for robots, comprising two spliced ​​upper outer rings 1 and two spliced ​​lower outer rings 2. An inner ring 3 is installed between the upper outer rings 1 and the lower outer rings 2. A roller carrier 4 is provided around the inner ring 3. The axis of the cylindrical groove of the roller carrier 4 is designed to form a specific inclination angle with its plane. This angle must be precisely parallel to the axis of the roller 5 itself. This design fundamentally changes the contact form between the roller 5 and the groove of the isolation block, upgrading it from the original unstable point contact to a continuous and stable line contact. Multiple rollers 5 are equidistantly installed on the roller carrier 4. The cross-shaped rollers 5 facilitate the simultaneous bearing of radial loads, bidirectional axial loads, and overturning moments, thereby extending the service life of the device. Furthermore, a first connecting mechanism is installed at the connection of the two upper outer rings 1, which facilitates the connection of the two upper outer rings 1. The outer ring 1 is securely connected; a second connecting mechanism is installed at the connection of the two lower outer rings 2, which facilitates a secure connection between the two lower outer rings 2; sealing rings 6 are installed on the upper and lower circumferences of the inner ring 3, and the cooperation between the sealing rings 6 and the sealing grooves 7 facilitates the blocking of external impurities, preventing dust, mud, moisture and other substances from entering the bearing, avoiding wear or corrosion of the raceway and steel balls, and also assisting in lubrication; sealing grooves 7 that cooperate with the sealing rings 6 are opened inside the upper outer ring 1 and the lower outer ring 2, and a V-shaped groove 8 is opened in the middle of the circumference of the inner ring 3. The shape of the V-shaped groove 8 and the roller carrier 4 facilitates the reduction of the friction coefficient between the roller carrier 4 and the upper outer ring 1, the lower outer ring 2 and the inner ring 3 when the rollers 5 rotate; the V-shaped groove 8 forms a rectangular groove with the inner wall of the upper outer ring 1 and the lower outer ring 2, and the roller carrier 4 is located in the rectangular groove. The two adjacent rollers 5 are installed in an alternating state, and the axis of the roller carrier 4 is consistent with the axis of the roller 5; Example 2: The technical solution is basically the same as that of Example 1, except that, as Figure 11 , Figure 15 , Figure 16As shown, the first connecting mechanism includes a first connecting block 11 and two positioning pins 9 installed at one end of the upper outer ring 1. The positioning pins 9 facilitate alignment with the first positioning groove 10 during installation, improving installation accuracy. The two positioning pins 9 are located on both sides of the first connecting block 11. A limiting ring 12 is fixedly connected to the other end of the first connecting block 11. The limiting ring 12 facilitates the installation of the first positioning rod 25 and drives the limiting block 13 to engage with the first limiting groove 17, thereby connecting and installing the two upper outer rings 1. The other end of the upper outer ring 1 is respectively provided with a first positioning groove 10 that mates with the positioning pins 9 and a first mounting groove that mates with the limiting ring 12. An upper reinforcing groove 20 is provided on one side of the first mounting groove. The corresponding lower reinforcing groove 21 facilitates the installation of the reinforcing plate 30; and the top surface of the upper outer ring 1 has a hexagonal groove 24 communicating with the first mounting groove. Multiple T-shaped limiting blocks 13 are inserted into the limiting ring 12, which can be easily engaged into the first limiting groove 17 to connect and limit one side of the upper outer ring 1; the other end of the limiting block 13 is fixedly connected to a push ring 14, and the top of the push ring 14 is provided with an angle. Through the angled design of the push ring 14, when the first positioning rod 25 is inserted downward, the push ring 14 is gradually squeezed outward, and at the same time, the limiting block 13 is pushed into the first limiting groove 17. When the bearing rotates, the multiple limiting blocks 13 can withstand the load from the lateral direction; The push ring 14 is located inside the limiting ring 12, and a telescopic rod 15 is connected between the push ring 14 and the limiting ring 12. When the push ring 14 moves outward, the telescopic rod 15 compresses the internal compression spring 16, which facilitates the quick removal of the first positioning rod 25 during subsequent bearing maintenance, thus enabling rapid bearing disassembly. The telescopic rod 15 is equipped with a compression spring 16, and multiple first limiting grooves 17 that mate with the limiting blocks 13 are provided on the inner wall of the first mounting groove. The second connecting mechanism includes a second connecting block 18 fixed to one end of the lower outer ring 2. The second connecting block 18 facilitates insertion into the second mounting groove and aligns the first limiting hole 19 and the second limiting hole 22. When installing the limit bolt 28, the two lower outer rings 2 are connected and limited; multiple first limit holes 19 are equidistantly opened on the second connecting block 18, and a second mounting groove that matches the second connecting block 18 is opened at the other end of the lower outer ring 2. A lower reinforcing groove 21 is opened on the periphery of the lower outer ring 2, and the upper reinforcing groove 20 and the lower reinforcing groove 21 correspond to each other, so as to facilitate the use of the reinforcing plate 30 to drive the upper outer ring 1 and the lower outer ring 2 to rotate simultaneously, and to prevent the second positioning rod 26 from being subjected to excessive load and breaking; multiple second limit holes 22 that communicate with the second mounting groove are opened on the lower reinforcing groove 21, and the second limit holes 22 correspond to the first limit holes 19, and a second positioning groove 23 is opened longitudinally on the top surface of the lower outer ring 2; Example 3: The technical solution is basically the same as that of Example 1, except that, as Figure 10 , Figure 12 , Figure 14As shown, a first positioning rod 25 is provided in the first mounting groove. The top of the first positioning rod 25 is hexagonal, and the middle part of the first positioning rod 25 is an inverted frustum. When the inverted frustum first positioning rod 25 is installed downward into the limiting ring 12, it will slowly push the push ring 14 to move outward. On the one hand, it avoids damage to the device due to excessive insertion speed, and on the other hand, the two inclined surface design saves manpower when disassembling the bearing. The lower end of the first positioning rod 25 is fixedly connected to a second positioning rod 26, which facilitates the connection between the upper outer ring 1 and the lower outer ring 2. The second positioning rod 26 has multiple third limiting holes 27 equidistantly opened on it to cooperate with the second limiting hole 22. The first limiting hole 19, the second limiting hole 22 and the third limiting hole 27 are connected through the third limiting hole 27. 7. The bearings are connected as a whole by being simultaneously limited by the limiting bolts 28. The top of the first positioning rod 25 is located in the hexagonal groove 24, the middle of the first positioning rod 25 is located inside the limiting ring 12, and the periphery of the first positioning rod 25 slides against the inner side of the push ring 14. The second positioning rod 26 is inserted into the second positioning groove 23. The limiting bolts 28 are installed in the first limiting hole 19, the second limiting hole 22 and the third limiting hole 27. One end of the limiting bolt 28 is equipped with a damping coating 29, which makes it easy for it to not fall off easily after being inserted into the third limiting hole 27. The limiting bolt 28 is threadedly connected to the first limiting hole 19 and the second limiting hole 22, and one end of the limiting bolt 28 is inserted into the third limiting hole 27.

[0019] Working principle: In this embodiment, the present invention also proposes a method for using a high-precision cross roller bearing for robots, including the following steps: Step 1: Preparation before installation. Check all components, including the upper outer ring 1, lower outer ring 2, inner ring 3, roller carrier 4, roller 5, sealing ring 6, positioning pin 9, limit ring 12, limit block 13, push ring 14, telescopic rod 15, compression spring 16, first positioning rod 25, second positioning rod 26, limit bolt 28, and reinforcing plate 30, for damage, deformation, or missing parts. Clean the oil and impurities from the surface of each component to ensure a clean installation environment. Then, install the sealing ring 6 on the upper and lower circumferences of the inner ring 3. According to the design requirements, install multiple rollers 5 equidistantly on the roller carrier 4, ensuring that adjacent rollers 5 are staggered and that the axis of the roller carrier 4 is consistent with the axis of the roller 5, so as to simultaneously bear radial load, bidirectional axial load, and overturning moment. Then, place the roller carrier 4 in the V-shaped groove 8 in the middle of the inner ring 3 and the rectangular groove formed by the inner walls of the upper outer ring 1 and lower outer ring 2. Step 2: Align the first connecting block 11 and positioning pin 9 of one of the upper outer rings 1 with the first positioning groove 10 and the first mounting groove of the other upper outer ring 1. Insert the positioning pin 9 to improve the installation accuracy. When the two upper outer rings 1 are aligned, the sealing ring 6 is located in the sealing groove 7, which plays the role of blocking external impurities. Insert the limiting ring 12 into the first mounting groove. At this time, the limiting block 13 is located in the limiting ring 12. Then, insert the first positioning rod 25 from the hexagonal groove 24. Since the middle part of the first positioning rod 25 is an inverted frustum shape, and the top of the push ring 14 is provided with an angle, the push ring 14 will be gradually squeezed during the insertion process, causing the push ring 14 to move outward and drive the limiting block 13 to be locked into the first limiting groove 17, thereby firmly connecting the two upper outer rings 1. When inserting the first positioning rod 25, pay attention to controlling the insertion speed to avoid damage to the device due to excessive speed. Step 3: Insert the second connecting block 18 of one lower outer ring 2 into the second mounting groove of the other lower outer ring 2, aligning the first limiting hole 19 on the second connecting block 18 with the second limiting hole 22 on the lower reinforcing groove 21. Insert the second positioning rod 26 into the second positioning groove 23 on the top surface of the lower outer ring 2, and simultaneously align the third limiting hole 27 on the second positioning rod 26 with the first limiting hole 19 and the second limiting hole 22. Then, pass the limiting bolt 28 with the damping coating 29 through the first limiting hole 19 and the second limiting hole 22 in sequence and insert it into the third limiting hole 27. Thread the limiting bolt 28 to the first limiting hole 19 and the second limiting hole 22. Securely connect the two lower outer rings 2 through the threaded connection. Since one end of the limiting bolt 28 is inserted into the third limiting hole 27, the upper outer ring 1 and the lower outer ring 2 are now connected as one unit. Step four: Before installing the limiting bolt 28 into the first limiting hole 19, the second limiting hole 22, and the third limiting hole 27, insert the limiting bolt 28 into the reinforcing plate 30. After the limiting bolt 28 is installed, the reinforcing plate 30 will be inserted into the upper reinforcing groove 20 and the lower reinforcing groove 21. The reinforcing plate 30 can help drive the upper outer ring 1 and the lower outer ring 2 to rotate simultaneously, preventing the second positioning rod 26 from being subjected to excessive load and breaking. After installation, check whether the connection of each component is firm, whether each limiting mechanism is working properly, whether the rotation of the roller 5 is flexible, and whether the sealing effect of the sealing ring 6 is good. If there are any problems, adjust and repair them in time. Step 5: During use, the limiting block 13 and the first positioning rod 25 of the upper outer ring 1 bear loads in two directions respectively, and the second connecting block 18 and the limiting bolt 28 of the lower outer ring 2 also bear loads in two directions respectively, to avoid damage to the device caused by loads in one direction. At the same time, the reinforcing plate 30 can help drive the upper outer ring 1 and the lower outer ring 2 to rotate simultaneously, to prevent the second positioning rod 26 from being subjected to excessive load and breaking. If it is necessary to disassemble the bearing for maintenance or replacement of parts, the reinforcing plate 30 and the limiting bolt 28 can be removed first, and then the first positioning rod 25 can be pulled out from the hexagonal groove 24. The push ring 14 will be reset under the action of the compression spring 16, and the limiting block 13 will be removed from the first limiting groove 17, so that the upper outer ring 1 and the lower outer ring 2 can be separated for subsequent operations.

[0020] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A high-precision cross-roller bearing for robots, comprising two spliced ​​upper outer rings (1) and two spliced ​​lower outer rings (2), characterized in that: An inner ring (3) is installed between the upper outer ring (1) and the lower outer ring (2). A roller frame (4) is provided around the inner ring (3). Multiple rollers (5) are installed at equal intervals on the roller frame (4). A first connecting mechanism is installed at the connection between the two upper outer rings (1), and a second connecting mechanism is installed at the connection between the two lower outer rings (2).

2. The high-precision cross-roller bearing for robots according to claim 1, characterized in that: The inner ring (3) is equipped with sealing rings (6) on both the upper and lower circumferences. The upper outer ring (1) and lower outer ring (2) are provided with sealing grooves (7) that match the sealing rings (6). The inner ring (3) is provided with a V-shaped groove (8) in the middle of its circumference. The V-shaped groove (8) forms a rectangular groove with the inner wall of the upper outer ring (1) and lower outer ring (2). The roller frame (4) is located in the rectangular groove. Two adjacent rollers (5) are installed in an alternating manner. The axis of the roller frame (4) is consistent with the axis of the roller (5).

3. A high-precision cross-roller bearing for robots according to claim 1, characterized in that: The first connecting mechanism includes a first connecting block (11) installed at one end of the upper outer ring (1) and two positioning pins (9). The two positioning pins (9) are located on both sides of the first connecting block (11), and a limit ring (12) is fixed to the other end of the first connecting block (11).

4. A high-precision cross-roller bearing for robots according to claim 3, characterized in that: The other end of the upper outer ring (1) is provided with a first positioning groove (10) that cooperates with the positioning pin (9) and a first mounting groove that cooperates with the limiting ring (12). An upper reinforcing groove (20) is provided on one side of the first mounting groove, and a hexagonal groove (24) that communicates with the first mounting groove is provided on the top surface of the upper outer ring (1).

5. A high-precision cross-roller bearing for robots according to claim 4, characterized in that: Multiple T-shaped limiting blocks (13) are inserted into the limiting ring (12). A push ring (14) is fixed to the other end of the limiting block (13). The top of the push ring (14) is provided with an oblique angle. The push ring (14) is located inside the limiting ring (12). A telescopic rod (15) is connected between the push ring (14) and the near surface of the limiting ring (12). A compression spring (16) is installed inside the telescopic rod (15). Multiple first limiting grooves (17) that cooperate with the limiting blocks (13) are provided on the inner wall of the first mounting groove.

6. A high-precision cross-roller bearing for robots according to claim 1, characterized in that: The second connecting mechanism includes a second connecting block (18) fixed to one end of the lower outer ring (2). The second connecting block (18) has a plurality of first limiting holes (19) equidistantly provided. The other end of the lower outer ring (2) has a second mounting groove that matches the second connecting block (18). The lower outer ring (2) has a lower reinforcing groove (21) on its periphery. The lower reinforcing groove (21) has a plurality of second limiting holes (22) that communicate with the second mounting groove. The second limiting holes (22) correspond to the first limiting holes (19). The top surface of the lower outer ring (2) has a second positioning groove (23) longitudinally provided.

7. A high-precision cross-roller bearing for robots according to claim 4, characterized in that: The first mounting groove is provided with a first positioning rod (25), the top of the first positioning rod (25) is an inner hexagon, the middle part of the first positioning rod (25) is an inverted frustum, and the lower end of the first positioning rod (25) is fixedly connected to a second positioning rod (26). The second positioning rod (26) is provided with a plurality of third limiting holes (27) that cooperate with the second limiting hole (22) at equal intervals.

8. A high-precision cross-roller bearing for robots according to claim 7, characterized in that: The top of the first positioning rod (25) is located in the hexagonal groove (24), the middle part of the first positioning rod (25) is located inside the limiting ring (12), and the periphery of the first positioning rod (25) slides against the inner side of the push ring (14). The second positioning rod (26) is inserted into the second positioning groove (23).

9. A high-precision cross-roller bearing for robots according to claim 6, characterized in that: Limiting bolts (28) are installed in the first limiting hole (19), the second limiting hole (22) and the third limiting hole (27). One end of the limiting bolt (28) is equipped with a damping coating (29). The limiting bolt (28) is threadedly connected to the first limiting hole (19) and the second limiting hole (22), and one end of the limiting bolt (28) is inserted into the third limiting hole (27).

10. A high-precision cross-roller bearing for robots according to claim 4, characterized in that: The upper reinforcing groove (20) and the lower reinforcing groove (21) are fitted with reinforcing plates (30) by limiting bolts (28).

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