A robot low noise joint bearing

Abstract

The application discloses a robot low-noise joint bearing and relates to the technical field of mute bearings, and aims to solve the technical problems of multiple defects of existing cross roller bearings, such as reversing impact noise, roller shifting abnormal sound, raceway resonance howling and the like, and performance conflicts and limitations of conventional improvement schemes, and comprises a shell mechanism and an inner shell mechanism. The bearing internal structure does not change the bearing installation reference size by designing a sound elimination assembly and a rolling assembly, the existing standard cross roller bearing can be directly replaced, the reversing impact noise is eliminated through the elastic buffer structure at the end of the roller, the roller shifting knocking noise is eliminated through the segmented retainer unit and the N-shaped positioning baffle structure, and the raceway resonance noise is eliminated through the segmented tungsten steel particle placement cavity structure. The three sets of structures play their respective roles and cooperate with each other, the robot cross roller bearing full-working-condition mute operation is realized under the premise of not reducing the rigidity, not increasing the secondary noise and not changing the installation size.

Description

Technical Field

[0001] This invention relates to the field of silent bearing technology, and more specifically, to a low-noise joint bearing for robots. Background Technology

[0002] Crossed roller bearings, as core load-bearing transmission components of robot joints and rotary mechanisms, are widely used in the precision reciprocating oscillation and low-speed rotation of industrial robots and collaborative robots due to their advantages of small size, high rigidity, and ability to withstand radial, axial, and overturning combined loads. As the intelligence and precision of robots continue to improve, the requirements for the quietness and stability of equipment operation are becoming increasingly stringent. However, existing traditional crossed roller bearings generally suffer from problems such as excessive operating noise, abnormal noise from reversing impacts, and raceway resonance howling in actual operation, which seriously affect the precision operation experience of robots and the quality of equipment use, and can no longer meet the quiet operation requirements of high-end robots.

[0003] Currently, the noise reduction improvement methods for crossed roller bearings in the industry are relatively simple and have obvious technical defects. There is a common problem that noise reduction is contradictory to structural rigidity and load-bearing performance. Existing noise reduction methods are mostly focused on conventional optimization methods such as improving the machining surface of the raceway and rollers, optimizing the lubricating grease parameters, and reducing the fit tolerance between the cage and rollers. Such improvements are conventional process optimizations with limited noise reduction effects and many drawbacks. Simply improving machining accuracy will significantly increase production costs and cannot solve the roller impact noise at the moment of bearing start-up, shutdown and reversal. Tightening the fit tolerance can easily cause roller jamming and rotational jamming, while loosening the tolerance will cause the roller to move and impact in the cage groove, producing continuous knocking noise. It is impossible to achieve both quiet effect and rotational flexibility.

[0004] Meanwhile, existing bearing structures lack dedicated buffer and vibration damping mechanisms. During frequent robot starts, stops, and reversals, the rollers are prone to slight misalignment, with the rigid ends directly impacting the inner and outer raceways, generating high-frequency impact noise. Long-term reciprocating impacts will also exacerbate raceway wear and reduce bearing life. In addition, traditional bearings are mostly solid, one-piece structures for the inner and outer rings. The periodic vibrations generated by the robot's reciprocating operation can easily cause inherent resonance in the raceways, resulting in continuous howling noise. Existing technologies often suppress resonance by thickening the bearing walls, but this increases the overall size and weight of the bearing, which contradicts the design requirements of miniaturization and lightweighting of robot components.

[0005] In view of this, we propose a low-noise joint bearing for robots. Summary of the Invention

[0006] The purpose of this invention is to provide a low-noise joint bearing for robots, which solves the technical problems of existing crossed roller bearings having multiple defects such as commutation impact noise, roller movement noise, and raceway resonance squealing, and conventional improvement solutions having performance conflicts and significant limitations.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a low-noise joint bearing for robots, comprising a housing mechanism and an inner housing mechanism, wherein the inner housing mechanism is located inside the housing mechanism;

[0008] The outer shell mechanism includes a protective component, noise-reducing components on both sides of the protective component, bolts, and multiple elastic components. The noise-reducing components on both sides are connected to the protective component via bolts, and the multiple elastic components are all connected to the protective component. The inner shell mechanism includes a connecting component, a limiting component, and multiple rolling components. The rolling components are located inside the limiting component, which is located outside the connecting component. The protective component includes a bearing outer ring. The inner wall of the bearing outer ring has an installation groove, and a buffer groove is formed at the raceway position of the bearing outer ring. A nut is fixedly connected to the inner wall of the installation groove. The elastic components include an N-shaped positioning baffle and a protrusion. The positioning baffle is assembled inside the installation groove. The positioning baffle only extends out for operation after the bolts are tightened and installed, and retracts into the installation groove when the bolts are not installed.

[0009] Preferably, the noise reduction assembly includes multiple sealing covers, mounting plates and multiple sealing plates, a placement cavity is provided inside the outer ring of the bearing, a number of independent high-density tungsten steel micro counterweight particles are arranged inside the placement cavity, a micron-level moving space is reserved inside the placement cavity, and the placement cavity is independently separated in segments along the circumference;

[0010] The sealing cover and the mounting plate are fixedly installed on the outer ring of the bearing by bolts. The bolts are threaded into the nut. The sealing plate is located in the mounting groove. The bottom end of the bolt abuts against the positioning baffle.

[0011] Preferably, the connecting assembly includes a bearing inner ring, and a second buffer groove is provided at the raceway position of the bearing inner ring.

[0012] Preferably, the limiting component includes several cage units, placement slots opened inside the cage units, and elastic connecting plates disposed on both sides of the cage units, with the several cage units replacing the traditional integral cage structure as a separate cage structure.

[0013] Preferably, the rolling assembly includes bearing rollers, and both ends of the bearing rollers are provided with noise-dampening grooves. An elastic pad is fixedly installed in the noise-dampening grooves by interference fit. The elastic pad is a thin-walled elastic bushing made of quenched thin beryllium bronze.

[0014] The bearing rollers are located in the placement groove.

[0015] Preferably, the elastic pad is an integral metal thin-walled bushing structure, the elastic pad is completely interference-fitted into the sound-absorbing groove, the end face of the elastic pad does not protrude from the cylindrical bearing surface of the bearing roller, and only deforms under force when the end of the bearing roller is pressed down for buffering.

[0016] Preferably, the positions of the first buffer groove and the second buffer groove correspond one-to-one with the noise-reducing grooves at both ends of the bearing roller. Under uniform speed operation, end face fitting and alignment are achieved only when the bearing roller reverses direction and deflects.

[0017] Preferably, the cage unit is an independent segmented structure, and adjacent cage units are independent of each other. Each cage unit has an elastic connecting plate integrally connected to its left and right sides. The elastic connecting plate has a two-way micro-elastic deformation capability in both radial and tangential directions.

[0018] Preferably, the end of the positioning baffle is provided with a protrusion, and multiple sets of the positioning baffle array are arranged in the mounting groove of the outer ring of the bearing. The protrusion abuts against the outer wall of the cage unit to achieve pre-tightening and limiting.

[0019] Preferably, the sealing cover, mounting plate, and sealing plate cooperate to form a fully enclosed noise reduction assembly, which completely seals and isolates the placement cavity, preventing counterweight particles from falling off and dust from entering, and ensuring long-term quiet operation and stability of the bearing.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. This invention, through the design of a noise-reducing component, a connecting component, a limiting component, and a rolling component, ensures that the internal structure of the bearing does not change the bearing's installation reference dimensions. It can directly replace existing standard crossed roller bearings. The elastic buffer structure at the roller end eliminates commutation impact noise, the segmented cage unit and N-shaped positioning baffle structure eliminate roller movement knocking noise, and the segmented tungsten carbide particle placement cavity structure eliminates raceway resonance noise. The three sets of structures each perform their respective functions and cooperate with each other. Without reducing rigidity, affecting load-bearing capacity, increasing secondary noise, or changing installation dimensions, it achieves silent operation of the robot crossed roller bearing under all working conditions. This solves the long-standing technical problem in the industry that "silent operation and rigidity cannot be achieved simultaneously," and has significant technological progress and practical value.

[0022] 2. This invention also uses bolts to fix the sealing cover and mounting plate on the outer side of the bearing outer ring. After the sealing cover is assembled, a closed placement cavity structure can be formed between the bearing outer ring and the bearing inner ring. Several independent high-density tungsten steel micro-weight particles are placed inside the placement cavity, and micron-level movement space is reserved inside the placement cavity. At the same time, the placement cavity adopts an independent cavity structure that is segmented along the circumference. Each placement cavity is independent and not connected to each other. When the bearing vibrates during operation and the inner and outer ring raceways generate periodic micro-resonance, the high-density tungsten steel micro-weight particles inside the placement cavity rely on their own inertial effect to counteract the raceway vibration trend. The high-frequency structural vibration energy generated by the inner and outer rings of the bearing is converted into weak and controllable collision and friction energy between particles, which efficiently dissipates the vibration amplitude, effectively suppresses the inherent resonance phenomenon between the inner and outer rings of the bearing, and eliminates the raceway resonance howling noise.

[0023] 3. This invention features specially designed noise-dampening grooves on both end faces of the bearing rollers, with elastic pads installed inside these grooves. These elastic pads are strictly limited to thin-walled elastic rings made of quenched beryllium bronze. The thin-walled elastic rings are securely fixed to the noise-dampening grooves at both ends of the rollers via an interference fit, preventing issues such as detachment, loosening, or misalignment. Simultaneously, this invention features a first buffer groove at a corresponding position on the outer ring of the bearing and a second buffer groove at a corresponding position on the inner ring, forming a precisely corresponding end-face buffer fit structure. During the normal, uniform rotation of the bearing, the bearing rollers... The main cylindrical surface is fully in contact with the outer ring and inner ring raceway of the bearing and bears normal load. At this time, there is always a small gap between the first buffer groove, the second buffer groove and the noise-reducing groove at the end of the roller. The thin-walled elastic metal bushing does not participate in the load bearing, is not compressed, and does not deform. This structural characteristic ensures that the overall rigidity of the bearing remains unchanged. The addition of the buffer structure will not reduce the robot's load stiffness. It can fully meet the high rigidity, high precision and high load requirements of the robot joint and overcome the defects of traditional flexible noise reduction structures that inevitably reduce bearing stiffness and load-bearing capacity. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is an exploded view of the outer shell mechanism of the present invention;

[0026] Figure 3 This is a schematic diagram of the noise reduction component structure of the present invention;

[0027] Figure 4 This is a schematic diagram of the elastic component structure of the present invention;

[0028] Figure 5 This is a schematic cross-sectional view of the protective component of the present invention;

[0029] Figure 6For the present invention Figure 5 Enlarged structural diagram at point A;

[0030] Figure 7 This is a schematic diagram of the connection component structure of the present invention;

[0031] Figure 8 This is a schematic diagram of the structure of the invention during an explosion.

[0032] Explanation of the labels in the diagram:

[0033] 1. Outer shell mechanism; 2. Inner shell mechanism;

[0034] 11. Protective components; 12. Noise-reducing components; 13. Bolts; 14. Resilient components;

[0035] 21. Connecting component; 22. Limiting component; 23. Scrolling component;

[0036] 111. Bearing outer ring; 112. Mounting groove; 113. No. 1 buffer groove; 114. Nut;

[0037] 121. Sealing cap; 122. Mounting plate; 123. Sealing plate; 124. Placement cavity;

[0038] 141. Positioning baffle; 142. Protrusion;

[0039] 211. Bearing inner ring; 212. No. 2 buffer groove;

[0040] 221. Cage unit; 222. Placement slot; 223. Flexible connecting plate;

[0041] 231. Bearing rollers; 232. Noise-reducing grooves; 233. Elastic pads. Detailed Implementation

[0042] like Figures 1 to 8 As shown, the present invention relates to a low-noise joint bearing for robots, comprising a housing mechanism 1 and an inner housing mechanism 2, wherein the inner housing mechanism 2 is located inside the housing mechanism 1;

[0043] The outer shell mechanism 1 includes a protective component 11, noise-reducing components 12 disposed on both sides of the protective component 11, bolts 13, and multiple elastic components 14. The noise-reducing components 12 on both sides are connected to the protective component 11 via bolts 13, and the multiple elastic components 14 are all connected to the protective component 11. The inner shell mechanism 2 includes a connecting component 21, a limiting component 22, and multiple rolling components 23. The rolling components 23 are located inside the limiting component 22, and the limiting component 22 is located outside the connecting component 21. The protective component 11 includes a bearing outer ring 111. An installation groove 112 is formed on the inner wall of the bearing outer ring 111, and a buffer groove 113 is formed at the raceway position of the bearing outer ring 111. A nut 114 is fixedly connected to the inner wall of the installation groove 112. The elastic components 14 include an N-shaped positioning baffle 141 and a protrusion 142. The positioning baffle 141 is assembled inside the installation groove 112, and the positioning baffle 141 is only... After bolt 13 is tightened and installed, it extends out for operation. When bolt 13 is not installed, it is retracted and stored inside the mounting groove 112. Through the design of the noise-reducing component 12, connecting component 21, limiting component 22, and rolling component 23, the internal structure of this bearing does not change the bearing installation reference size and can directly replace the existing standard crossed roller bearing. The elastic buffer structure at the roller end eliminates the reversing impact noise, the segmented cage unit 221 and N-shaped positioning baffle 141 eliminate the roller movement knocking noise, and the segmented tungsten carbide particle placement cavity 124 eliminates the raceway resonance noise. The three sets of structures perform their respective functions and cooperate with each other. Without reducing rigidity, affecting load-bearing capacity, increasing secondary noise, or changing the installation size, the robot crossed roller bearing can achieve silent operation under all working conditions. This solves the long-standing technical problem in the industry that "silent operation and rigidity cannot be achieved at the same time" and has significant technical progress and practical value.

[0044] In an embodiment of the present invention, the noise reduction assembly 12 includes multiple sealing covers 121, mounting plates 122, and multiple sealing plates 123. A placement cavity 124 is provided inside the outer ring 111 of the bearing. Several independent high-density tungsten steel micro-weight particles are disposed inside the placement cavity 124. Micrometer-level movement space is reserved inside the placement cavity 124. The placement cavity 124 is independently separated in segments along its circumference. The sealing covers 121 and mounting plates 122 are fixedly installed on the outer ring 111 of the bearing by bolts 13, which are threaded into nuts 114. The sealing plates 123 are located within the mounting groove 112. The bottom end of the bolts 13 abuts against the positioning baffle 141. The connecting assembly 21 includes an inner ring 211 of the bearing. A second buffer groove 212 is provided at the raceway position of the inner ring 211. During robot reversal and start-stop, the bearing raceway... When the roller 231 is subjected to a slight deviation due to a change in instantaneous load, the end of the roller is pressed down. The silencing groove 232 at the end of the roller quickly engages with the first buffer groove 113 of the outer ring 111 and the second buffer groove 212 of the inner ring 211. At this time, the thin-walled elastic bushing fixed in the silencing groove 232 is uniformly squeezed and undergoes a slight elastic compression deformation. Relying on the controllable slight deformation of the thin-walled elastic bushing, the rigid impact generated during start-up, shutdown, and reversal can be effectively absorbed and buffered, greatly reducing the instantaneous impact vibration between the roller and the inner and outer ring raceways. This eliminates the high-frequency impact noise under the frequent reversal conditions of the robot from the root. At the same time, since the slight deformation only occurs during the reversal and there is no load under normal conditions, the elastic bushing has no fatigue wear and no permanent deformation, and the noise reduction effect is stable over a long period of time.

[0045] In an embodiment of the present invention, the limiting component 22 includes a plurality of cage units 221, a placement groove 222 formed inside the cage unit 221, and elastic connecting plates 223 disposed on both sides of the cage unit 221. The plurality of cage units 221 replace the traditional integral cage structure as a separate cage structure. Preferably, the rolling component 23 includes bearing rollers 231. Both end faces of the bearing rollers 231 are provided with noise-dampening grooves 232. An elastic pad 233 is fixedly installed in the noise-dampening groove 232 by interference fit. The elastic pad 233 is a thin-walled elastic ring made of quenched thin beryllium bronze. The bearing rollers 231 are located in the placement grooves 222. The elastic pad 233 is an integral thin-walled elastic ring structure. The elastic pad 233 is completely interference-fitted into the noise-dampening groove 232. The end face of the elastic pad 233 does not protrude from the cylindrical bearing surface of the bearing roller 231. It only deforms under force when the end of the bearing roller 231 is pressed down for buffering. It is assembled and fixed by bolts 13. The sealing cover 121 and mounting plate 122 on the outer side of the outer ring 111 of the bearing are assembled. After the sealing cover 121 is assembled, a closed placement cavity 124 structure can be formed between the outer ring 111 and the inner ring 211 of the bearing. Several independent high-density tungsten steel micro counterweight particles are placed inside the placement cavity 124. The placement cavity 124 has a reserved micron-level movement space. At the same time, the placement cavity 124 adopts an independent cavity structure that is segmented along the circumference. Each segment of the placement cavity 124 is independent and not connected to each other. When the bearing operates and vibrates, and the inner and outer ring raceways generate periodic micro-resonance, the high-density tungsten steel micro counterweight particles inside the placement cavity 124 rely on their own inertial effect to counteract the raceway vibration trend. The high-frequency structural vibration energy generated by the inner and outer rings of the bearing is converted into weak and controllable collision and friction energy between particles, which efficiently dissipates the vibration amplitude, effectively suppresses the inherent resonance phenomenon between the inner ring 211 and the outer ring 111 of the bearing, and eliminates the raceway resonance howling noise.

[0046] Under normal and stable bearing rotation conditions, the tungsten carbide micro-weight particles are stably attached to the wall of the placement cavity 124, with no relative movement or free collisions, and will not generate any additional secondary abnormal noises, ensuring that the bearing operates purely and quietly. At the same time, the circumferentially segmented and independent placement cavity 124 structure can completely prevent all weight particles from slipping, accumulating, or offsetting in the overall circumference, ensuring that the damping and vibration reduction effect at all positions on the bearing circumference is uniform and consistent, avoiding problems such as uneven load force, rotational eccentricity, and vibration imbalance caused by particle offset, and greatly improving the bearing's operational stability and structural consistency.

[0047] In another embodiment of the present invention, the positions of the first buffer groove 113 and the second buffer groove 212 correspond one-to-one with the noise-reducing grooves 232 at both ends of the bearing roller 231. Under uniform speed operation, end face contact and alignment are achieved only when the bearing roller 231 reverses direction and deflects. The cage unit 221 is an independent segmented structure, and adjacent cage units 221 are independent of each other. Each cage unit 221 has an elastic connecting plate 223 integrally connected to both its left and right sides. The elastic connecting plate 223 has a radial and tangential bidirectional micro-elastic deformation capability. Noise-reducing grooves 232 are specially opened on the end faces of both ends of the bearing roller 231, and elastic pads 233 are installed inside the noise-reducing grooves 232. The elastic pads 233 are strictly limited to thin-walled elastic rings made of quenched beryllium bronze. The thin-walled elastic rings are firmly fixed inside the noise-reducing grooves 232 at both ends of the roller by interference fit, and will not fall off. To address issues such as loosening and misalignment, this invention features a first buffer groove 113 at the corresponding position on the outer ring 111 of the bearing and a second buffer groove 212 at the corresponding position on the inner ring 211 of the bearing, forming a precisely corresponding end-face buffer fit structure. During the normal uniform rotation of the bearing, the main cylindrical surface of the bearing roller 231 is completely in contact with the outer ring 111 and the raceway of the inner ring 211, and bears the load normally. At this time, a small gap is always maintained between the first buffer groove 113, the second buffer groove 212 and the noise-reducing groove 232 at the end of the roller. The thin-walled elastic metal bushing does not participate in the load bearing, is not compressed, and does not deform. This structural characteristic ensures that the overall rigidity of the bearing remains completely unchanged. The addition of the buffer structure will not reduce the robot's load stiffness, and it can fully meet the requirements of high rigidity, high precision, and high load of the robot joint. It overcomes the defects of traditional flexible noise reduction structures that inevitably reduce bearing stiffness and load-bearing capacity.

[0048] In another embodiment of the present invention, a protrusion 142 is provided at the end of the positioning baffle 141. Multiple sets of positioning baffles 141 are arranged in an array in the mounting groove 112 of the bearing outer ring 111. The protrusion 142 abuts against the outer wall of the cage unit 221 to achieve pre-tightening and limiting. The sealing cover 121, the mounting plate 122, and the sealing plate 123 cooperate to form a fully enclosed noise reduction assembly 12, which completely seals and isolates the placement cavity 124, preventing the counterweight particles from falling off and dust from entering, and ensuring the long-term quiet operation and stability of the bearing. This device abandons the traditional integrated cage structure and optimizes the original integrated cage design into multiple independent cage units 221, each Both sides of the cage unit 221 are provided with elastic connecting plates 223; at the same time, an installation groove 112 is opened on the inner wall of the bearing outer ring 111, and a positioning baffle 141 composed of multiple N-shaped structures is set inside the installation groove 112. This structure has strict assembly triggering characteristics: when the bolts 13 are not inserted for installation and fixation, the N-shaped positioning baffle 141 is completely retracted and stored inside the installation groove 112 of the bearing outer ring 111, the pre-tightening constraint structure does not take effect, and does not affect the bearing's conventional assembly and basic structural dimensions; only after the bolts 13 are inserted and the installation is completed and fixed, the N-shaped positioning baffle 141 is limited and extended and enters the working state, so that the entire silent constraint structure is precisely activated.

[0049] When the bearing is rotating at a constant speed, the activated N-shaped positioning baffle 141 continuously applies a small and stable preload to the cage unit 221, which can precisely limit the movement, offset and jump of the bearing roller 231 in the placement groove 222 opened inside the cage unit 221, and eliminate the continuous operating noise generated by the bearing roller 231 hitting the wall of the placement groove 222 from left and right. At the same time, since the cage unit 221 is provided with elastic connecting plates 223 on both sides, during the rotation of the bearing roller 231, the elastic connecting plates 223 can follow the rotation trend of the roller and make a small adaptive yield, which will not lock the roller or interfere with the normal rotation of the roller, ensuring that the bearing rotates smoothly, without jamming and without additional frictional resistance.

[0050] When the bearing is under heavy load, the bearing rollers 231 are pushed outward by the load, causing the cage unit 221 to move outward and pull the elastic connecting plates 223 on both sides to undergo slight extension deformation. At this time, the N-shaped positioning baffle 141 provides rigid limit and blockage, restricting excessive deformation of the cage unit 221 and roller offset, so that the bearing still maintains stable load-bearing capacity and structural integrity under heavy load. This structure completely solves the industry contradiction of "abnormal noise when the clearance is large and jamming when the clearance is small" of traditional cages, and achieves the dual effect of quiet operation under light load and stable operation under heavy load.

[0051] Working principle: This embodiment provides a low-noise joint bearing for robots. It requires the installation of a positioning baffle 141. Multiple sealing plates 123 are respectively installed in the mounting groove 112 of the bearing outer ring 111, which is exposed. After docking, bolts 13 are inserted into the mounting groove 112 through the sealing cover 121 and the sealing plate 123. At this time, the bottom end of the bolt 13 will gradually contact the nut 114. Then, the two are assembled. After the remaining bolts 13 are installed, the bearing is ready.

[0052] After the bolt 13 passes through the nut 114, it will gradually come into contact with the inner side of the positioning baffle 141. As the bolt 13 gradually goes deeper, the positioning baffle 141 will be pressed and extend outward, thereby pushing the protrusion 142 to slide out.

[0053] During use, the positioning baffle 141 applies a constant micro-preload force to each cage unit 221 via the protrusion 142, stably constraining the bearing rollers 231 within the placement groove 222 of the cage unit 221, completely limiting the lateral movement of the rollers and preventing the rollers from striking the placement groove 222 and generating operating noise. During the roller rotation, the elastic connecting plates 223 on both sides of the cage unit 221 can adaptively retract slightly with the roller rotation, effectively preventing roller seizure and rotational jamming, ensuring smooth and stable bearing rotation. Under this condition, the central cylindrical surface of the bearing roller 231 rigidly fits against the raceway of the bearing outer ring 111 and the bearing inner ring 211 to bear the load. The thin-walled elastic bushings made of quenched beryllium bronze, which are interference-fitted into the noise-absorbing grooves 232 at both ends of the column, always maintain a small gap with the outer ring first buffer groove 113 and the inner ring second buffer groove 212. The elastic pads 233 do not contact, are not subjected to force, and do not deform. The overall structural rigidity of the bearing is completely constant with the rigidity of the robot load. At the same time, inside the segmented independent placement cavity 124 formed by the sealing cover 121 and the mounting plate 122, the high-density tungsten steel micro counterweight particles are stably attached to the inner wall of the cavity without relative movement, and no secondary abnormal noise is generated. The segmented cavity structure prevents the particles from slipping as a whole, ensuring that the bearing runs quietly, smoothly, and with constant rigidity during uniform speed operation.

[0054] During robot start-up, shutdown, and reversal, sudden changes in bearing load cause a slight misalignment and end-pressing action of the bearing roller 231. The silencing grooves 232 at both ends of the roller quickly align with the first buffer groove 113 of the outer ring 111 and the second buffer groove 212 of the inner ring 211, respectively. The thin-walled elastic bushing fixed inside the silencing groove 232 is uniformly compressed and undergoes slight elastic compression deformation. The elastic deformation of the beryllium bronze material absorbs the instantaneous rigid impact energy, effectively weakening the high-frequency impact vibration between the roller and the inner and outer ring raceways, thus suppressing the abnormal noise from the reversal impact at its source. Under this condition, the roller, due to the instantaneous misalignment, will slightly compress the cage unit. 221, the elastic connecting plate 223 extends appropriately with the load change, while the N-shaped positioning baffle 141 provides rigid limit blocking to avoid excessive deformation of the cage unit 221 and roller offset, ensuring the structural load-bearing stability. At the same time, the bearing generates violent vibration due to instantaneous impact. The tungsten steel micro counterweight particles inside the placement cavity 124 generate inertial relative motion by utilizing the micron-level active space, converting the high-frequency vibration energy of the inner and outer raceways into weak collision energy between particles for dissipation, effectively suppressing the inherent resonance and squealing of the inner and outer rings of the bearing. After the working condition returns to stability, the elastic pad 233 rebounds and resets, the particles re-adhere to the cavity wall, and the bearing returns to a high-rigidity and quiet operating state.

[0055] The embodiments disclosed in this invention are preferred embodiments, but are not limited thereto. Those skilled in the art can easily understand the spirit of this invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of this invention, they are all within the protection scope of this invention.

Claims

1. A low-noise joint bearing for robots, characterized in that, It includes an outer shell mechanism (1) and an inner shell mechanism (2), wherein the inner shell mechanism (2) is located inside the outer shell mechanism (1); The outer shell mechanism (1) includes a protective component (11), a noise-reducing component (12) disposed on both sides of the protective component (11), bolts (13) and multiple elastic components (14), wherein the noise-reducing components (12) on both sides are connected to the protective component (11) by bolts (13), and multiple elastic components (14) are all connected to the protective component (11); The inner shell mechanism (2) includes a connecting component (21), a limiting component (22), and a plurality of rolling components (23), wherein the rolling components (23) are located inside the limiting component (22), and the limiting component (22) is located outside the connecting component (21); The protective component (11) includes a bearing outer ring (111), the inner wall of the bearing outer ring (111) is provided with an installation groove (112), a buffer groove (113) is provided at the raceway position of the bearing outer ring (111), and a nut (114) is fixedly connected to the inner wall of the installation groove (112). The elastic component (14) includes an N-shaped positioning baffle (141) and a protrusion (142). The positioning baffle (141) is fitted inside the mounting groove (112). The positioning baffle (141) only extends out to work after the bolt (13) is tightened and installed, and is retracted and stored inside the mounting groove (112) when the bolt (13) is not installed.

2. The robot low-noise joint bearing according to claim 1, characterized in that, The noise reduction assembly (12) includes multiple sealing caps (121), mounting plates (122) and multiple sealing plates (123). The bearing outer ring (111) has a placement cavity (124). The placement cavity (124) is provided with several independent high-density tungsten steel micro counterweight particles. The placement cavity (124) has a reserved micron-level movement space. The placement cavity (124) is independently separated in segments along the circumference. The sealing cover (121) and the mounting plate (122) are fixedly installed on the outer ring (111) of the bearing by bolts (13). The bolts (13) are threaded into the nut (114). The sealing plate (123) is located in the mounting groove (112). The bottom end of the bolts (13) abuts against the positioning baffle (141).

3. The robot low-noise joint bearing according to claim 2, characterized in that, The connecting assembly (21) includes a bearing inner ring (211), and a second buffer groove (212) is provided at the raceway position of the bearing inner ring (211).

4. The robot low-noise joint bearing according to claim 3, characterized in that, The limiting component (22) includes several cage units (221), a placement slot (222) opened inside the cage unit (221), and elastic connecting plates (223) arranged on both sides of the cage unit (221). The several cage units (221) replace the traditional integral cage structure as a separate cage structure.

5. The robot low-noise joint bearing according to claim 4, characterized in that, The rolling assembly (23) includes a bearing roller (231), and both ends of the bearing roller (231) are provided with a noise-reducing groove (232). An elastic pad (233) is fixedly installed in the noise-reducing groove (232) by interference fit. The elastic pad (233) is a thin-walled elastic ring made of quenched thin beryllium bronze. The bearing roller (231) is located in the placement groove (222).

6. The robot low-noise joint bearing according to claim 5, characterized in that, The elastic pad (233) is an integral metal thin-walled bushing structure. The elastic pad (233) is completely interference-fitted into the sound-absorbing groove (232). The end face of the elastic pad (233) does not protrude from the cylindrical bearing surface of the bearing roller (231). It only deforms under force when the end of the bearing roller (231) is pressed down for buffering.

7. The robot low-noise joint bearing according to claim 6, characterized in that, The positions of the first buffer groove (113) and the second buffer groove (212) correspond one-to-one with the noise-reducing grooves (232) at both ends of the bearing roller (231). Under the uniform speed working condition, the end face fit and alignment are achieved only when the bearing roller (231) reverses direction and deflects.

8. The robot low-noise joint bearing according to claim 7, characterized in that, The cage unit (221) is an independent segmented structure. Adjacent cage units (221) are independent of each other. Each cage unit (221) has an elastic connecting plate (223) integrally connected to both the left and right sides. The elastic connecting plate (223) has a radial and tangential bidirectional micro-elastic deformation capability.

9. The robot low-noise joint bearing according to claim 8, characterized in that, The end of the positioning baffle (141) is provided with a protrusion (142), and multiple sets of the positioning baffles (141) are arranged in an array in the mounting groove (112) of the bearing outer ring (111). The protrusion (142) abuts against the outer wall of the cage unit (221) to achieve pre-tightening and limiting.

10. The robot low-noise joint bearing according to claim 9, characterized in that, The sealing cover (121), mounting plate (122), and sealing plate (123) work together to form a fully enclosed noise reduction assembly (12), which completely seals and isolates the placement cavity (124), preventing the counterweight particles from falling off and dust from entering, and ensuring the long-term quiet operation and stability of the bearing.

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