Bearing, harmonic reducer and robot

Abstract

The utility model discloses a bearing, harmonic speed reducer and robot relates to speed reducer technical field. Bearing includes outer ring, inner race, oil seal, first baffle and a plurality of rolling body, through setting up the raceway for installing rolling body between inner race and outer ring, and the raceway can fill lubricating medium, for example, can be the lubricating grease or lubricating oil. Because the installation groove of outer ring is equipped with oil seal, and the oil seal cover is located the outside of inner race, the first baffle is located the side of second gap away from oil seal, and the first baffle can block the lubricating medium in raceway and seep through second gap, thereby can improve the sealing of bearing to lubricating medium, effectively reduce the lubricating medium in raceway and seep through first gap and second gap to the outside of bearing, thereby reduce the oil leakage risk of bearing, improve the reliability of bearing.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and in particular to a bearing, a harmonic speed reducer, and a robot. Background Technology

[0002] Robots used in industries such as 3C, food, and cosmetics have very high cleanliness requirements. Therefore, their design must prevent leakage of grease or lubricating oil from the robot joints, which could contaminate the product. As a crucial joint in robots, the harmonic reducer's sealing is a critical performance characteristic, requiring protection against grease leakage that could lead to premature reducer failure and product contamination. In related technologies, harmonic reducers commonly use cross roller bearings. Due to space limitations, sealing is primarily achieved by using a double-lip skeleton oil seal between the outer and inner rings of the cross roller bearing, at the end open to the outside. However, even after prolonged operation, the risk of oil leakage still exists in harmonic reducers. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a bearing that can improve the bearing's sealing performance against the lubricating medium and reduce the risk of oil leakage.

[0004] This utility model also proposes a harmonic reducer and a robot having the above-mentioned bearing.

[0005] A bearing according to a first aspect of the present invention includes: an outer ring, one end of which is provided with a mounting groove arranged around an inner hole of the outer ring along the axial direction, the mounting groove communicating with the inner hole of the outer ring; An inner ring is disposed in the inner hole of the outer ring. A raceway, a first gap, and a second gap are formed between the inner ring and the outer ring. The first gap is located between the raceway and the mounting groove and communicates with the raceway. The second gap is located on the side of the raceway away from the mounting groove and communicates with the raceway. Multiple rolling elements are respectively disposed in the raceway; An oil seal is installed in the mounting groove and sleeved on the outside of the inner ring; A first baffle is connected to the inner or outer ring and arranged around the central axis of the inner ring. The first baffle is located on the side of the second gap away from the oil seal. The first baffle is configured to prevent the lubricating medium in the raceway from seeping out through the second gap.

[0006] The bearing according to the embodiments of this utility model has at least the following beneficial effects: By providing raceways for mounting rolling elements between the inner and outer rings, the raceways can be filled with a lubricating medium, such as grease or lubricating oil. Since the outer ring's mounting groove is equipped with an oil seal, and the oil seal is fitted outside the inner ring, and a first baffle is located on the side of the second gap away from the oil seal, the first baffle can prevent the lubricating medium in the raceway from leaking out through the second gap. Therefore, the bearing's sealing performance against the lubricating medium is improved, effectively reducing the leakage of lubricating medium from the raceway to the outside of the bearing through the first and second gaps, thereby reducing the risk of oil leakage and improving bearing reliability.

[0007] According to some embodiments of the present invention, the first baffle extends radially along the bearing, and on a projection plane perpendicular to the central axis of the bearing, the projection of the first baffle covers the second gap.

[0008] According to some embodiments of the present invention, the first baffle is connected to the outer ring, the inner ring has a first connecting groove on the end face away from the oil seal, the first connecting groove is arranged around the inner hole of the inner ring, a first sealing ring is provided in the first connecting groove, and the first sealing ring abuts against the first baffle to close the opening of the second gap.

[0009] According to some embodiments of the present invention, the first baffle is connected to the wall of the inner hole of the outer ring and is integrally formed with the outer ring; or, The inner hole of the outer ring is provided with a first assembly part, the first assembly part is arranged around the inner hole of the outer ring, and the first baffle is engaged with the first assembly part.

[0010] According to some embodiments of the present invention, the first baffle is made of a self-lubricating material or the first baffle has a self-lubricating layer on the side facing the inner ring. The first baffle is connected to the outer ring and abuts against the end face of the inner ring away from the oil seal.

[0011] According to some embodiments of the present invention, the inner hole of the outer ring is provided with an annular groove at one end away from the oil seal, the annular groove is arranged around the circumference of the outer ring, the outer peripheral wall of the inner ring is provided with a third assembly part, the third assembly part is arranged around the inner hole of the inner ring, the first baffle is engaged with the third assembly part and abuts against the bottom wall of the annular groove.

[0012] According to some embodiments of the present invention, the inner hole of the outer ring is provided with an annular groove at one end away from the oil seal, the annular groove is arranged around the circumference of the outer ring, the end wall of the inner ring away from the oil seal is provided with a fourth assembly part, the fourth assembly part is arranged around the inner hole of the inner ring, the first baffle includes a snap-fit ​​part and a stop part connected to each other, the snap-fit ​​part is installed on the fourth assembly part, and the stop part abuts against the bottom wall of the annular groove to close the opening of the second gap.

[0013] According to some embodiments of the present invention, the bearing further includes a second baffle connected to the inner ring or the outer ring. The second baffle is located between the oil seal and the bottom wall of the mounting groove and is arranged around the inner ring. The second baffle and the oil seal are spaced apart. The second baffle is configured to prevent the lubricating medium of the raceway from entering the mounting groove through the first gap.

[0014] According to some embodiments of the present invention, the second baffle extends radially along the bearing, and on a projection plane perpendicular to the central axis of the bearing, the projection of the second baffle covers the first gap.

[0015] According to some embodiments of the present invention, the second baffle is connected to the outer peripheral wall of the inner ring, the bottom wall of the mounting groove is provided with a second connecting groove, the second connecting groove is arranged around the inner hole of the outer ring, a second sealing ring is provided in the second connecting groove, and the second sealing ring and the second baffle abut against each other to close the opening of the first gap.

[0016] According to some embodiments of the present invention, the second baffle is made of a self-lubricating material or the second baffle has a self-lubricating layer on the side facing the bottom wall of the mounting groove. The second baffle is connected to the outer peripheral wall of the inner ring and abuts against the bottom wall of the mounting groove to close the opening of the second gap.

[0017] According to some embodiments of this utility model, the second baffle and the inner ring are integrally formed; or... The outer peripheral wall of the inner ring is provided with a second assembly part, which is arranged around the inner hole of the inner ring, and the second baffle is engaged with the second assembly part.

[0018] According to a second aspect of the present invention, a harmonic reducer includes a flexible wheel, a rigid wheel, a wave generator, and a bearing as described in the above embodiment. The wave generator is embedded in the inner hole of the flexible wheel. The wave generator is configured to mesh the inner teeth of the rigid wheel and the outer teeth of the flexible wheel when rotating. The rigid wheel and the outer ring are fixedly connected, and the flange of the flexible wheel is fixedly connected to the outer ring.

[0019] The harmonic reducer according to the embodiment of this utility model has at least the following beneficial effects: By employing the bearing of the first aspect embodiment, the bearing has a raceway between the inner and outer rings for mounting rolling elements. The raceway can be filled with a lubricating medium, such as grease or lubricating oil. Since the mounting groove of the outer ring is equipped with an oil seal, and the oil seal is fitted outside the inner ring, and the first baffle is located on the side of the second gap away from the oil seal, and the first baffle can prevent the lubricating medium in the raceway from leaking out through the second gap, the sealing performance of the bearing for the lubricating medium can be improved. This effectively reduces the leakage of the lubricating medium in the raceway to the outside of the bearing through the first and second gaps, thereby reducing the risk of oil leakage and improving the reliability of the bearing.

[0020] The robot according to a third aspect of the present invention includes the harmonic reducer described in the above embodiments.

[0021] The robot according to the embodiments of this utility model has at least the following beneficial effects: By employing the harmonic reducer of the second aspect embodiment, the bearing of the harmonic reducer has a raceway for mounting rolling elements provided between the inner and outer rings. The raceway can be filled with a lubricating medium, such as grease or lubricating oil. Since the mounting groove of the outer ring is equipped with an oil seal, and the oil seal is sleeved on the outside of the inner ring, and the first baffle is located on the side of the second gap away from the oil seal, and the first baffle can prevent the lubricating medium in the raceway from leaking out through the second gap, the sealing performance of the bearing for the lubricating medium can be improved. This effectively reduces the leakage of the lubricating medium in the raceway to the outside of the bearing through the first and second gaps, thereby reducing the risk of oil leakage and improving the reliability of the bearing.

[0022] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a cross-sectional schematic diagram of a harmonic reducer according to an embodiment of the present invention; Figure 2 This is a cross-sectional view of the bearing portion structure of the first embodiment of this utility model; Figure 3 This is a cross-sectional view of the bearing portion structure according to the second embodiment of this utility model; Figure 4 This is a cross-sectional view of the bearing portion structure according to the third embodiment of this utility model; Figure 5 This is a cross-sectional view of the bearing portion structure according to the fourth embodiment of this utility model; Figure 6 This is a cross-sectional view of the bearing portion structure according to the fifth embodiment of this utility model; Figure 7 This is a cross-sectional view of the bearing portion structure according to the sixth embodiment of this utility model; Figure 8 This is a cross-sectional view of the bearing portion structure of the seventh embodiment of this utility model; Figure 9 This is a cross-sectional view of the bearing portion structure of the eighth embodiment of this utility model.

[0024] Figure label: Harmonic reducer 1000; Bearing 100; outer ring 110; mounting groove 111; second connecting groove 112; second sealing ring 113; first assembly part 114; annular groove 115; inner ring 120; first connecting groove 121; first sealing ring 122; second assembly part 123; third assembly part 124; fourth assembly part 125; raceway 130; first clearance 131; second clearance 132; rolling element 140; oil seal 150; first baffle 160; snap-fit ​​part 161; stop part 162; second baffle 170; Flexible wheel 200; flange 210; rigid wheel 300; wave generator 400; cam 410; flexible bearing 420. Detailed Implementation

[0025] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0026] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0028] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0029] In related technologies, robots used in industries such as 3C, food, and cosmetics require high cleanliness levels to prevent lubricant leakage from the reducer from contaminating the product. As a core component of robot joints, the sealing performance of the harmonic reducer directly affects equipment lifespan and product quality. Traditional sealing solutions use double-lip skeleton oil seals, but these are prone to leakage and failure during long-term operation due to lubricant precipitation, metal abrasive intrusion, and oil seal aging. Especially in the space-constrained areas of crossed roller bearings, a single oil seal structure is insufficient to meet the sealing requirements under complex operating conditions, posing a risk of lubricant leakage.

[0030] To solve the above problems, refer to Figure 1 and Figure 2 As shown, a bearing 100 according to one embodiment of the present invention can be a crossed roller bearing, used in a harmonic reducer 1000, an RV reducer, and other reducers. The bearing 100 of this embodiment includes an outer ring 110, an inner ring 120, rolling elements 140, an oil seal 150, and a first baffle 160. An mounting groove 111 is arranged around the inner hole of the outer ring 110 at one end along the axial direction, and the mounting groove 111 communicates with the inner hole of the outer ring 110. The inner ring 120 is disposed within the inner hole of the outer ring 110. A raceway 130, a first gap 131, and a second gap 132 are formed between the inner ring 120 and the outer ring 110. The first gap 131 is located between the raceway 130 and the mounting groove 111, and the first gap 131 communicates with the side of the raceway 130 closest to the mounting groove 111. The second gap 132 is located on the side of the raceway 130 opposite to the mounting groove 111, and the second gap 132 connects to the side of the raceway 130 opposite to the mounting groove 111. Multiple rolling elements 140 are provided and are respectively located in the raceway 130. An oil seal 150 is installed in the mounting groove 111 and sleeved on the outside of the inner ring 120; a first baffle 160 is connected to the inner ring 120 or the outer ring 110 and is arranged around the central axis of the inner ring 120. The first baffle 160 is located on the side of the second gap 132 opposite to the oil seal 150, and the first baffle 160 is configured to prevent the lubricating medium in the raceway 130 from seeping out through the second gap 132.

[0031] The mounting groove 111 refers to the annular groove opened at the axial end of the outer ring 110, which passes through the inner hole to form a sealing installation space for fixing the oil seal 150 and establishing a sealing interface. The first gap 131 and the second gap 132 refer to the axial channels formed between the inner ring 120 and the outer ring 110, respectively connecting both sides of the raceway 130, constituting a lubricating medium seepage path. The first baffle 160 refers to an annular blocking component, which can be made of metal stamping or engineering plastic injection molding, and is fixed to the inner ring 120 or the outer ring 110 by snap-fit ​​or integral molding, for physically blocking the medium flow in the second gap 132. The lubricating medium refers to the lubricating grease or lubricating oil in the raceway 130, which can be mineral oil or synthetic grease, for reducing friction and wear between the rolling element 140 and the raceway 130.

[0032] The outer ring 110 fixes the oil seal 150 through the mounting groove 111. The lip of the oil seal 150 forms a dynamic seal with the outer wall of the inner ring 120, preventing the lubricating medium from leaking out of the bearing 100. The first baffle 160 is independently set outside the second gap 132, sealing the medium leakage path through rigid blocking. When the lubricating medium moves towards the second gap 132 due to centrifugal force or pressure, the first baffle 160 directly cuts off the flow channel. The gaps on both sides of the raceway 130 are sealed by the oil seal 150 and the baffle respectively, forming a bidirectional seal that effectively prevents the lubricating medium from leaking out.

[0033] This embodiment achieves dual-path sealing without increasing axial space by adding a first baffle 160. The oil seal 150 and the first baffle 160 work together to significantly improve the sealing reliability of the bearing 100, reduce equipment failures and product contamination caused by lubricant leakage, and extend the maintenance cycle of the robot joints.

[0034] Reference Figure 2 As shown in the embodiment of this utility model, the first baffle 160 extends radially along the bearing 100, and its projection covers the second gap 132 on a projection plane perpendicular to the central axis of the bearing 100. Therefore, the first baffle 160 can effectively block the second gap 132, thereby limiting the leakage of lubricating medium through the second gap 132, improving the sealing effect of the bearing 100, and reducing oil leakage.

[0035] Reference Figure 3 As shown in the embodiment of this utility model, the first baffle 160 is connected to the outer ring 110, and the inner ring 120 is provided with a first connecting groove 121 on the end face away from the oil seal 150. The first connecting groove 121 is arranged around the inner hole of the inner ring 120, and a first sealing ring 122 is provided in the first connecting groove 121. The first sealing ring 122 and the first baffle 160 abut against each other to close the opening of the second gap 132.

[0036] The first connecting groove 121 refers to an annular groove machined on the end face of the inner ring 120, which can be achieved by turning or milling, and is used to accommodate the first sealing ring 122 and limit its radial displacement. The first sealing ring 122 refers to an annular elastic element installed in the first connecting groove 121, which can be made of rubber or silicone, and fills the gap between the first baffle 160 and the inner ring 120 through elastic deformation.

[0037] When the first baffle 160 is fixed to the outer ring 110, the first connecting groove 121 on the end face of the inner ring 120 forms a sealing interface with the first sealing ring 122. During assembly, the first sealing ring 122 is axially compressed, causing elastic deformation to conform to the contact surface of the first baffle 160. During the operation of the bearing 100, when the lubricating medium in the raceway 130 moves towards the second gap 132 due to centrifugal force or pressure, the continuous contact between the first sealing ring 122 and the first baffle 160 effectively blocks the flow path of the medium. Simultaneously, the axial constraint of the first connecting groove 121 on the sealing ring prevents the first sealing ring 122 from falling off or shifting due to vibration. When the bearing 100 is used in the harmonic reducer 1000, because the outer ring 110 of the bearing 100 is connected to the flexure 200 and the inner ring 120 is connected to the rigid wheel 300, the relative rotational speed of the rigid wheel 300 and the flexure 200 is relatively slow. Therefore, the wear between the first sealing ring 122 and the first baffle 160 is less, resulting in a longer service life.

[0038] Through the above technical solution, this embodiment constructs a stable sealing structure within a limited space, solving the problem of lubricating medium seeping out from the second gap 132 of the bearing 100. The sealing fit between the first sealing ring 122 and the first baffle 160 avoids the influence of motion friction on the sealing interface, while the limiting effect of the first connecting groove 121 enhances the sealing reliability, making it suitable for robot joint environments with high cleanliness requirements.

[0039] It should be noted that, referring to Figure 2 As shown, in another embodiment of the present invention, the first baffle 160 can also be directly spaced from the end face of the inner ring 120. In this case, it can also play a certain role in preventing oil leakage. Since the first baffle 160 and the outer ring 110 do not contact each other, there will be no friction and wear, and the movement between the inner ring 120 and the outer ring 110 will not be hindered, thus improving the smoothness of rotation.

[0040] Reference Figure 3 As shown, in an embodiment of this utility model, the first baffle 160 is connected to the wall of the inner hole of the outer ring 110 and is integrally formed with the outer ring 110. Alternatively, refer to... Figure 4 , Figure 5 and Figure 6As shown, in another embodiment of the present invention, the inner hole wall of the outer ring 110 is provided with a first assembly part 114, the first assembly part 114 is arranged around the inner hole of the outer ring 110, and the first baffle 160 is engaged with the first assembly part 114.

[0041] The inner wall of the outer ring 110 refers to the cavity sidewall inside the outer ring 110 that accommodates the inner ring 120. This structure provides an installation base for the first baffle 160. The first assembly part 114 can be an annular groove provided on the sidewall of the inner hole of the outer ring 110. This groove is used to fix the snap-fit ​​position of the first baffle 160. The first assembly part 114 can also be a fastener such as a rivet for fixing the first baffle 160. The first baffle 160 snapping into the first assembly part 114 means that the edge of the baffle is embedded in the groove. This can be achieved by elastic snap-fit ​​or interference fit, which makes the baffle and the outer ring 110 form a stable connection.

[0042] When the first baffle 160 is integrally formed with the outer ring 110, the baffle and the outer ring 110 form a single structure through casting or forging, requiring no additional assembly steps and avoiding gaps at the connection due to vibration. When the first assembly part 114 is used, the baffle is installed to the outer ring 110 by snap-fit, facilitating disassembly and maintenance. Both methods ensure that the baffle and the inner hole of the outer ring 110 remain coaxial, preventing seal failure due to eccentricity. The baffle prevents the lubricating medium in the raceway 130 from seeping out along the gap between the inner ring 120 and the baffle by sealing the opening of the second gap 132.

[0043] Through the above technical solution, this embodiment effectively prevents the lubricating medium from seeping out from the second gap 132, solving the sealing failure problem of the traditional oil seal 150 caused by wear or aging. The rigid connection between the baffle and the outer ring 110 improves the sealing reliability, extends the service life of the bearing 100, simplifies the maintenance process, and reduces the risk of downtime due to seal failure.

[0044] Reference Figure 4 As shown in the embodiment of this utility model, the first baffle 160 is made of a self-lubricating material, or the side of the first baffle 160 facing the inner ring 120 has a self-lubricating layer. The first baffle 160 is connected to the outer ring 110 and abuts against the end face of the inner ring 120 away from the oil seal 150. A self-lubricating material refers to a material that reduces the coefficient of friction without external lubrication during friction. It can be made of materials such as polytetrafluoroethylene (PTFE), graphite composite materials, or PTFE. Such materials form a transfer film on the contact surface to reduce frictional resistance. The self-lubricating layer can be a PTFE coating. Abutting fit means that the end face of the first baffle 160 and the inner ring 120 forms a non-fixed contact, allowing the inner ring 120 and the outer ring 110 to maintain contact and seal during relative movement.

[0045] After the first baffle 160 is fixedly connected to the outer ring 110, its end face forms a dynamic contact interface with the non-sealed side end face of the inner ring 120. Because the baffle is made of a self-lubricating material, even slight friction during the operation of the bearing 100 will not exacerbate wear, and it can effectively prevent lubricating medium from seeping out from the second gap 132. When the inner ring 120 rotates relative to the outer ring 110, the lubricating film formed on the surface of the self-lubricating material can reduce frictional loss at the contact surface, preventing material aging or seal failure due to frictional heat.

[0046] Through the above technical solution, this embodiment effectively solves the problem of lubricating medium seeping out from the non-sealed side of bearing 100. After the first baffle 160 is made of self-lubricating material, it reduces friction loss while ensuring sealing reliability, extends the service life of the sealing structure, and reduces the maintenance frequency caused by sealing failure.

[0047] Reference Figure 7 As shown in the embodiment of this utility model, the inner hole of the outer ring 110 is provided with an annular groove 115 at one end away from the oil seal 150. The annular groove 115 is arranged around the circumference of the outer ring 110. The outer peripheral wall of the inner ring 120 is provided with a third assembly part 124. The third assembly part 124 is arranged around the inner hole of the inner ring 120. The first baffle 160 is engaged with the third assembly part 124 and abuts against the bottom wall of the annular groove 115.

[0048] The annular groove 115 refers to the annular groove formed at the end of the inner hole of the outer ring 110, which is used to cooperate with the first baffle 160 to close the opening of the second gap 132. The third assembly part 124 can be an annular groove on the outer peripheral wall of the inner ring 120, used to fix the snap-fit ​​position of the first baffle 160, or the third assembly part 124 can also be a fastener such as a rivet used to fix the first baffle 160. Snap-fit ​​refers to the fixed connection between components achieved through a mechanical structure, such as using a spring snap or interference fit, so that the first baffle 160 and the third assembly part 124 form a stable assembly relationship.

[0049] The engagement of the annular groove 115 with the third assembly part 124 constrains the first baffle 160 simultaneously under the constraints of the outer ring 110 and the inner ring 120. After the first baffle 160 is engaged with the third assembly part 124, its end makes surface contact with the bottom wall of the annular groove 115, thereby sealing the opening of the second gap 132. This double-limiting structure prevents lubricating medium from leaking out of the second gap 132 and avoids displacement of the baffle due to vibration or axial force. Furthermore, the first baffle 160 can be made of a self-lubricating material, such as polytetrafluoroethylene, graphite composite material, or PTFE.

[0050] Through the above technical solution, this embodiment effectively prevents the lubricating medium inside the raceway 130 from leaking outward through the second gap 132, solving the problem of seal failure after long-term operation of the reducer. The mating structure of the baffle with the outer ring 110 and the inner ring 120 enhances the sealing stability, making it particularly suitable for robot joint applications where space is limited and long-term leak prevention is required.

[0051] Reference Figure 8 As shown, in another embodiment of the present invention, the inner hole of the outer ring 110 is provided with an annular groove 115 at one end away from the oil seal 150. The annular groove 115 is arranged around the circumference of the outer ring 110. The end wall of the inner ring 120 away from the oil seal 150 is provided with a fourth assembly part 125. The fourth assembly part 125 is arranged around the inner hole of the inner ring 120. The first baffle 160 includes a snap-fit ​​part 161 and a stop part 162 connected to each other. The snap-fit ​​part 161 is installed on the fourth assembly part 125. The stop part 162 and the end of the annular groove 115 abut against each other to close the opening of the second gap 132.

[0052] The annular groove 115 refers to an annular recessed structure machined at the end of the inner hole of the outer ring 110, which can be achieved by turning or milling. It is used to accommodate the stop 162 and form an abutment surface. The fourth assembly part 125 can be an annular groove provided on the end face of the inner ring 120, which can be formed by machining. It is used to fix the snap-fit ​​part 161 to achieve the positioning and installation of the baffle. The fourth assembly part 125 can also be a fastener such as a rivet to fix the first baffle 160. The snap-fit ​​part 161 refers to a part of the baffle, which is embedded in the fourth assembly part 125 through an interference fit or a snap-fit ​​structure to ensure a stable connection between the baffle and the inner ring 120. The stop 162 refers to another part of the baffle, which can be integrally formed with the snap-fit ​​part 161. It extends axially to contact the bottom wall of the annular groove 115 to form a physical barrier to close the opening of the second gap 132. At the same time, the first baffle 160 can be made of a self-lubricating material, such as polytetrafluoroethylene, graphite composite material, or PTFE.

[0053] An annular groove 115 forms an annular space at the end of the inner hole of the outer ring 110. The fourth mounting part 125 provides a mounting position on the end face of the inner ring 120. After the snap-fit ​​part 161 is inserted into the fourth mounting part 125, the stop part 162 always maintains contact with the bottom wall of the annular groove 115 when the inner ring 120 rotates or is stationary. Since the stop part 162 covers the opening of the second gap 132, the lubricating medium cannot seep out through the gap, thereby avoiding leakage.

[0054] Through the above technical solution, this embodiment can effectively seal the second gap 132 inside the bearing 100, prevent the lubricating medium from seeping out from the raceway 130, avoid the problem of oil leakage in the reducer due to seal failure, thereby extending the service life of the bearing 100 and reducing pollution to the surrounding environment.

[0055] Reference Figure 3 As shown in the embodiment of this utility model, the bearing 100 further includes a second baffle 170 connected to the inner ring 120 or the outer ring 110 and arranged around the inner ring 120. The second baffle 170 is located between the oil seal 150 and the bottom wall of the mounting groove 111, and is arranged around the inner ring 120. The second baffle 170 and the oil seal 150 are spaced apart to avoid friction between the second baffle 170 and the oil seal 150. The second baffle 170 is configured to prevent the lubricating medium of the raceway 130 from entering the mounting groove 111 through the first gap 131.

[0056] The second baffle 170 refers to an annular plate-like structure surrounding the inner ring 120. It can be made of metal or a self-lubricating material and is fixed to the inner ring 120 or the outer ring 110 by snap-fit ​​or integral molding. It is used to prevent the lubricating medium from migrating from the first gap 131 towards the mounting groove 111. The interval setting means that a gap is maintained between the second baffle 170 and the oil seal 150 to avoid contact friction between the two, which could lead to seal failure.

[0057] After adding a second baffle 170 between the oil seal 150 and the end face of the mounting groove 111, when the bearing 100 is running, the lubricating medium in the raceway 130 flows towards the first gap 131 due to centrifugal force or pressure. The second baffle 170 restricts the lubricating medium in the raceway 130 area through physical blocking, preventing it from entering the mounting groove 111. At the same time, since the second baffle 170 and the oil seal 150 are kept apart, they will not experience wear or heat accumulation due to contact friction, thereby avoiding the problem of accelerated aging of the lip of the oil seal 150.

[0058] Through the above technical solution, this embodiment effectively prevents the lubricating medium from seeping into the mounting groove 111 area from the first gap 131 by using the double-layer sealing design of the second baffle 170 and the oil seal 150, thereby reducing the medium pressure borne by the oil seal 150, slowing down the wear and aging rate of the oil seal 150, and thus extending the sealing life of the bearing 100 and reducing the risk of lubricating medium leakage.

[0059] Reference Figure 3 As shown in the embodiment of this utility model, the second baffle 170 extends radially along the bearing 100, and its projection covers the first gap 131 on a projection plane perpendicular to the central axis of the bearing 100. Therefore, the second baffle 170 can effectively block the first gap 131, thereby limiting the leakage of lubricating medium through the first gap 131, forming a double seal with the oil seal 150, effectively improving the sealing effect of the bearing 100 and reducing oil leakage.

[0060] Reference Figure 3As shown in the embodiment of this utility model, the second baffle 170 is connected to the outer peripheral wall of the inner ring 120. The bottom wall of the mounting groove 111 is provided with a second connecting groove 112, which surrounds the inner hole of the outer ring 110. A second sealing ring 113 is provided in the second connecting groove 112. The second sealing ring 113 abuts against the second baffle 170 to close the opening of the first gap 131. When the bearing 100 is used in the harmonic reducer 1000, since the outer ring 110 of the bearing 100 is connected to the flexible wheel 200 and the inner ring 120 is connected to the rigid wheel 300, the relative rotational speed of the rigid wheel 300 and the flexible wheel 200 is relatively slow. Therefore, the wear between the second sealing ring 113 and the second baffle 170 is small, and the service life is long.

[0061] The second connecting groove 112 refers to the annular groove formed on the end face of the mounting groove 111, which is used to accommodate the second sealing ring 113. The second sealing ring 113 is an elastic sealing element installed in the second connecting groove 112, which can be made of rubber or polyurethane material. It forms a sealing interface by abutting against the second baffle 170, thus closing the opening of the first gap 131.

[0062] The second baffle 170 is fixed to the outer peripheral wall of the inner ring 120, and its position is opposite to the bottom wall of the mounting groove 111. The end face of the mounting groove 111 is machined with a second connecting groove 112 surrounding the inner hole of the outer ring 110, and a second sealing ring 113 is embedded in the groove. When the inner ring 120 and the outer ring 110 are assembled, the second sealing ring 113 is compressed by the second baffle 170 and undergoes elastic deformation, thereby completely sealing the opening of the first gap 131. As a result, the lubricating medium in the raceway 130 is confined to the area of ​​the raceway 130 and cannot seep out towards the mounting groove 111 through the first gap 131.

[0063] Through the above technical solution, this embodiment effectively solves the problem of lubricating medium seeping into the mounting groove 111 through the first gap 131, avoids the oil seal 150 from aging faster due to long-term contact with lubricating medium, and reduces the possibility of external foreign objects intruding into the sealing area, thereby extending the reliability and service life of the bearing 100 sealing structure.

[0064] It should be noted that, referring to Figure 9 As shown, in another embodiment of this utility model, the second baffle 170 can also be directly spaced from the end wall of the mounting groove 111, without the second sealing ring 113. With this solution, the second baffle 170 also has a certain oil leakage prevention effect. Simultaneously, since the second baffle 170 and the outer ring 110 are spaced apart, there will be no friction or wear between them, nor will it hinder the movement of the outer ring 110, thus improving the smoothness of rotation between the outer ring 110 and the inner ring 120.

[0065] Reference Figure 5As shown in the embodiment of this utility model, the second baffle 170 is made of a self-lubricating material, or the second baffle 170 has a self-lubricating layer on the side facing the bottom wall of the mounting groove 111. The second baffle 170 is connected to the outer peripheral wall of the inner ring 120 and abuts against the bottom wall of the mounting groove 111 to close the opening of the second gap 132.

[0066] The self-lubricating material refers to a non-metallic composite material with a low coefficient of friction that does not require external lubricant, such as polytetrafluoroethylene (PTFE), graphite composite material, or PTFE. Such materials reduce frictional loss during contact motion, and the self-lubricating layer can be a coating made of PTFE. The outer peripheral wall of the inner ring 120 refers to the area adjacent to the raceway 130 on the outer surface of the bearing 100's inner ring 120. A baffle is installed at this location to effectively cover the opening area of ​​the second clearance 132. The bottom wall of the mounting groove 111 refers to the edge plane of the annular groove at the axial end of the outer ring 110, which contacts the baffle to form a sealing interface.

[0067] The second baffle 170 forms a sliding contact seal with the end face of the mounting groove 111 through the self-lubricating material properties. During the operation of the bearing 100, the self-lubricating material can reduce the generation of frictional heat on the contact surface and avoid wear of the sealing structure due to friction. The fixed connection between the second baffle 170 and the outer peripheral wall of the inner ring 120 can ensure the axial positioning accuracy of the sealing interface. When the lubricating medium attempts to seep outward through the second gap 132, it is completely blocked by the second baffle 170 within the raceway 130 area.

[0068] Through the above technical solution, this embodiment effectively solves the problem of product contamination caused by lubricating medium leakage through the bearing 100 gap. The self-lubricating properties of the baffle significantly reduce the maintenance frequency of the sealing components, and the surface contact sealing structure has a longer service life compared to the traditional oil seal 150. This design achieves dual sealing protection within a limited installation space, making it particularly suitable for harmonic reducer applications requiring long-term maintenance-free operation.

[0069] Reference Figure 3 As shown, in an embodiment of this utility model, the second baffle 170 and the inner ring 120 are integrally formed. (Refer to...) Figure 5 and Figure 7 As shown, the outer peripheral wall of the inner ring 120 is provided with a second assembly part 123, which surrounds the inner hole of the inner ring 120, and the second baffle 170 is engaged with the second assembly part 123.

[0070] The integral molding refers to the second baffle 170 and the inner ring 120 being formed as a whole through casting or injection molding processes. This can be achieved using mold processing, thereby eliminating connection gaps and improving sealing reliability. The second assembly part 123 refers to the annular groove on the outer peripheral wall of the inner ring 120, which can be formed by turning or milling. It is used to fix the position of the second baffle 170, and the baffle is quickly installed and stably positioned by snap-fit.

[0071] The second baffle 170 is connected to the inner ring 120 in two ways: one is integrally formed with the inner ring 120, in which case there is no assembly gap between the baffle and the inner ring 120, which can completely seal the opening of the first gap 131; the other is snapped in by the second assembly part 123, after the baffle is embedded in the groove, it forms a tight fit with the inner ring 120, preventing the lubricating medium from entering the mounting groove 111. Both methods can prevent the lubricating medium from directly contacting the oil seal 150, reducing the wear and aging of the oil seal 150 caused by medium penetration.

[0072] Through the above technical solution, this embodiment can effectively prevent the lubricating medium from seeping into the mounting groove 111 from the raceway 130 through the first gap 131, avoid the oil seal 150 from being worn faster due to long-term contact with the medium, reduce the risk of grease leakage caused by the failure of the oil seal 150, and improve the sealing reliability of the bearing 100 in scenarios with high cleanliness requirements such as the harmonic reducer 1000.

[0073] Reference Figure 1As shown, a harmonic reducer 1000 according to an embodiment of the present invention includes a flexible wheel 200, a rigid wheel 300, a wave generator 400, and a bearing 100 as described in the above embodiments. The wave generator 400 includes a cam 410 and a flexible bearing 420, with the cam 410 embedded within the flexible bearing 420. The wave generator 400 is embedded in the inner hole of the flexible wheel 200 and is configured to mesh the inner teeth of the rigid wheel 300 with the outer teeth of the flexible wheel 200 when rotating. The rigid wheel 300 is fixedly connected to the outer ring 110, and the flange portion 210 of the flexible wheel 200 is fixedly connected to the outer ring 110. The harmonic reducer 1000 of this embodiment uses the bearing 100 of the above embodiments. A raceway 130 for mounting rolling elements 140 is provided between the inner ring 120 and the outer ring 110. The raceway 130 can be filled with a lubricating medium, such as grease or lubricating oil. Since the mounting groove 111 of the outer ring 110 is provided with an oil seal 150, and the oil seal 150 is sleeved on the outside of the inner ring 120, the first baffle 160 is located on the side of the second gap 132 away from the oil seal 150, and the first baffle 160 can prevent the lubricating medium in the raceway 130 from seeping out through the second gap 132, the sealing performance of the bearing 100 to the lubricating medium can be improved, effectively reducing the lubricating medium in the raceway 130 from seeping out of the bearing 100 through the first gap 131 and the second gap 132, thereby reducing the risk of oil leakage of the bearing 100 and improving the reliability of the bearing 100.

[0074] Since the harmonic reducer 1000 adopts all the technical solutions of the bearing 100 in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments, which will not be repeated here.

[0075] One embodiment of the robot of this utility model includes the harmonic reducer 1000 of the above embodiments. The robot can be a handling robot, welding robot, assembly robot, processing robot, painting robot, cleanroom robot, collaborative robot, etc. The robot of this utility model adopts the harmonic reducer 1000 of the above embodiments, and a raceway 130 for mounting rolling elements 140 is provided between the inner ring 120 and the outer ring 110. The raceway 130 can be filled with a lubricating medium, such as grease or lubricating oil. Since the mounting groove 111 of the outer ring 110 is provided with an oil seal 150, and the oil seal 150 is sleeved on the outside of the inner ring 120, the first baffle 160 is located on the side of the second gap 132 away from the oil seal 150, and the first baffle 160 can prevent the lubricating medium in the raceway 130 from seeping out through the second gap 132, the sealing performance of the bearing 100 to the lubricating medium can be improved, effectively reducing the lubricating medium in the raceway 130 from seeping out of the bearing 100 through the first gap 131 and the second gap 132, thereby reducing the risk of oil leakage of the bearing 100 and improving the reliability of the bearing 100.

[0076] Since the robot adopts all the technical solutions of the harmonic reducer 1000 of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0077] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A bearing, characterized in that, include: The outer ring has a mounting groove at one end along the axial direction, which is arranged around the inner hole of the outer ring and communicates with the inner hole of the outer ring. An inner ring is disposed in the inner hole of the outer ring. A raceway, a first gap, and a second gap are formed between the inner ring and the outer ring. The first gap is located between the raceway and the mounting groove and communicates with the raceway. The second gap is located on the side of the raceway away from the mounting groove and communicates with the raceway. Multiple rolling elements are respectively disposed in the raceway; An oil seal is installed in the mounting groove and sleeved on the outside of the inner ring; A first baffle is connected to the inner or outer ring and arranged around the central axis of the inner ring. The first baffle is located on the side of the second gap away from the oil seal. The first baffle is configured to prevent the lubricating medium in the raceway from seeping out through the second gap.

2. The bearing according to claim 1, characterized in that: The first baffle extends radially along the bearing, and on a projection plane perpendicular to the central axis of the bearing, the projection of the first baffle covers the second gap.

3. The bearing according to claim 1, characterized in that: The first baffle is connected to the outer ring, and the inner ring has a first connecting groove on the end face away from the oil seal. The first connecting groove is arranged around the inner hole of the inner ring, and a first sealing ring is provided in the first connecting groove. The first sealing ring and the first baffle abut against each other to close the opening of the second gap.

4. The bearing according to claim 1 or 3, characterized in that: The first baffle is connected to the inner wall of the outer ring and is integrally formed with the outer ring; or, The inner hole of the outer ring is provided with a first assembly part, the first assembly part is arranged around the inner hole of the outer ring, and the first baffle is engaged with the first assembly part.

5. The bearing according to claim 1, characterized in that: The first baffle is made of a self-lubricating material or has a self-lubricating layer on the side of the first baffle facing the inner ring. The first baffle is connected to the outer ring and abuts against the end face of the inner ring away from the oil seal.

6. The bearing according to claim 1, characterized in that: The inner hole of the outer ring has an annular groove at one end away from the oil seal. The annular groove is arranged around the circumference of the outer ring. The outer peripheral wall of the inner ring has a third assembly part. The third assembly part is arranged around the inner hole of the inner ring. The first baffle is engaged with the third assembly part and abuts against the bottom wall of the annular groove.

7. The bearing according to claim 1, characterized in that: The outer ring has an annular groove at one end of its inner hole away from the oil seal. The annular groove is arranged around the circumference of the outer ring. The inner ring has a fourth assembly part at the end wall away from the oil seal. The fourth assembly part is arranged around the inner hole of the inner ring. The first baffle includes a snap-fit ​​part and a stop part connected to each other. The snap-fit ​​part is installed on the fourth assembly part. The stop part abuts against the bottom wall of the annular groove to close the opening of the second gap.

8. The bearing according to claim 1, characterized in that: The bearing further includes a second baffle connected to the inner ring or the outer ring. The second baffle is located between the oil seal and the bottom wall of the mounting groove and is arranged around the inner ring. The second baffle and the oil seal are spaced apart. The second baffle is configured to prevent the lubricating medium of the raceway from entering the mounting groove through the first gap.

9. The bearing according to claim 8, characterized in that: The second baffle extends radially along the bearing, and its projection covers the first gap on a projection plane perpendicular to the central axis of the bearing.

10. The bearing according to claim 8, characterized in that: The second baffle is connected to the outer peripheral wall of the inner ring. The bottom wall of the mounting groove is provided with a second connecting groove. The second connecting groove is arranged around the inner hole of the outer ring. A second sealing ring is provided in the second connecting groove. The second sealing ring and the second baffle abut against each other to close the opening of the first gap.

11. The bearing according to claim 8, characterized in that: The second baffle is made of a self-lubricating material or has a self-lubricating layer on the side of the second baffle facing the bottom wall of the mounting groove. The second baffle is connected to the outer peripheral wall of the inner ring and abuts against the bottom wall of the mounting groove to close the opening of the second gap.

12. The bearing according to claim 8, characterized in that: The second baffle and the inner ring are integrally formed; or, The outer peripheral wall of the inner ring is provided with a second assembly part, which is arranged around the inner hole of the inner ring, and the second baffle is engaged with the second assembly part.

13. A harmonic reducer, characterized in that: The device includes a flexible wheel, a rigid wheel, a wave generator, and a bearing according to any one of claims 1 to 12, wherein the wave generator is embedded in the inner hole of the flexible wheel, the wave generator is configured to mesh with the inner teeth of the rigid wheel and the outer teeth of the flexible wheel when rotated, and the rigid wheel and the outer ring are fixedly connected, and the flange of the flexible wheel is fixedly connected to the outer ring.

14. A robot, characterized in that, Includes the harmonic reducer as described in claim 13.

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