Retainer, speed reducer, and robot

Abstract

The utility model discloses a kind of retainer, speed reducer and robot, it is related to bearing technical field.Retainer includes two annular parts and multiple connecting bodies, retainer is connected between two annular parts by setting multiple connecting bodies, so that the adjacent connecting body forms the pocket of accommodating roller between, roller can roll in pocket.Oil collecting groove is equipped on the outer peripheral wall of connecting body, at least one end of oil collecting groove is equipped with oil guide groove, when roller rolls, part lubricating oil will be driven to flow into oil collecting groove, the lubricating oil in oil collecting groove not only can lubricate surrounding roller, but also can flow to annular part by oil guide groove, thereby the different parts of retainer are lubricated, it is favorable to the circulation of lubricating oil reciprocating, to form stable oil film, reduce lubrication dead angle, thereby reduce friction, improve the service life of bearing, simultaneously can also take away heat generated by friction, avoid heat concentration.

Description

Technical Field

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

[0002] In related technologies, in oscillating internal meshing gear devices, such as RV reducers, roller bearings are typically used to support the relative motion between the eccentric part of the crankshaft and the cycloidal wheel. Since the reducer is usually only filled with 80% lubricating oil, under oscillating conditions, part of the roller bearing structure will remain above the lubricating oil level for extended periods. This results in uneven distribution of the lubricating oil film, leading to problems such as high frictional torque and short bearing life. 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 retainer that can improve the uniformity of lubricating oil film distribution, thereby reducing friction and increasing the service life of the bearing.

[0004] This utility model also proposes a speed reducer, i.e., a robot, with the aforementioned cage.

[0005] The retainer according to a first aspect of the present invention includes: two annular portions, coaxially arranged and spaced apart; Multiple connectors are arranged circumferentially between the two annular portions along the cage, and each connector is connected to the two annular portions at both ends. A pocket for mounting rollers is formed between two adjacent connectors. An oil collecting groove is provided on the outer peripheral wall of the connector. An oil guiding groove is provided at least one end of the oil collecting groove along the axial direction of the annular portion. One end of the oil guiding groove is connected to the oil collecting groove, and the other end of the oil guiding groove passes through the end face of the annular portion along the axial direction.

[0006] The retainer according to the embodiment of the present invention has at least the following beneficial effects: Multiple connectors of the cage are connected between two annular portions, creating pockets between adjacent connectors to accommodate the rollers, allowing the rollers to roll within these pockets. An oil collecting groove is located on the outer peripheral wall of the connector, with an oil guide groove at at least one end along the axial direction. When the rollers roll, some lubricating oil flows into the oil collecting groove. This lubricating oil not only lubricates the surrounding rollers but also flows through the oil guide groove to the annular portion, thus lubricating different parts of the cage. This facilitates the circulation of lubricating oil, forming a stable oil film, reducing lubrication dead zones, thereby reducing friction, increasing bearing life, and also carrying away heat generated by friction, preventing heat concentration.

[0007] According to some embodiments of the present invention, the width of the oil guide groove gradually increases along the circumference of the annular portion in a direction away from the central axis of the annular portion.

[0008] According to some embodiments of the present invention, the outer peripheral wall of the connector is provided with two first protrusions, the two first protrusions are spaced apart at both ends of the connector along the axis of the annular portion, and the oil collecting groove is formed between the two first protrusions. At least one first protrusion on the connector includes two protrusions spaced apart circumferentially along the annular portion, and a partial structure of the oil guiding groove is formed between the two protrusions.

[0009] According to some embodiments of the present invention, the two first protrusions on the connecting body each include two protrusions spaced apart circumferentially along the annular portion, and the oil collecting groove is provided with oil guiding grooves on both sides along the axial direction of the annular portion.

[0010] According to some embodiments of the present invention, the outer peripheral surface of the annular portion is constructed as an arc surface, the outer peripheral surface of the first convex portion is constructed as an arc surface, the center of the circle containing the outer peripheral surface of the annular portion and the center of the circle containing the outer peripheral surface of the first convex portion coincide, and the diameter of the circle containing the outer peripheral surface of the first convex portion is smaller than the diameter of the circle containing the outer peripheral surface of the annular portion.

[0011] According to some embodiments of the present invention, the bottom wall of the oil collecting groove is constructed as an arc surface, the center of the circle containing the bottom wall of the oil collecting groove coincides with the center of the circle containing the outer peripheral surface of the first protrusion, and the diameter of the circle containing the bottom wall of the oil collecting groove is smaller than the diameter of the circle containing the outer peripheral surface of the first protrusion.

[0012] According to some embodiments of the present invention, the diameter of the circle containing the outer circumference of the annular portion is D1, the diameter of the circle containing the outer circumference of the first protrusion is D2, and the diameter of the circle containing the bottom wall of the oil collecting groove is D3, satisfying: 0.95≤D2 / D1≤0.98, 0.93≤D3 / D2≤0.96.

[0013] According to some embodiments of the present invention, the inner peripheral wall of the connector facing the central axis of the annular portion is provided with a second protrusion.

[0014] According to some embodiments of the present invention, the end faces of the second protrusion at both ends along the axial direction of the annular portion are constructed as first inclined surfaces, one side of the first inclined surface is connected to the inner circumferential surface of the second protrusion, and the other side of the first inclined surface is inclined in a direction away from the other first inclined surface.

[0015] According to some embodiments of the present invention, the second protrusion includes a mating portion and a guiding portion. The mating portion is connected to the connecting body on one side of the annular portion along the radial direction, and the mating portion is connected to the guiding portion on the other side of the annular portion along the radial direction. The two sidewalls of the mating portion along the circumference of the annular portion are constructed as arc surfaces for contacting and mating with rollers. The two sidewalls of the guiding portion along the circumference of the annular portion form second inclined surfaces. The distance between the two second inclined surfaces of the guiding portion gradually decreases along the direction close to the central axis of the annular portion.

[0016] According to some embodiments of the present invention, on a projection plane perpendicular to the central axis of the annular portion, a radial center line passing through the inner peripheral wall of the guide portion and the axis of the annular portion are defined, and the angle between the second inclined plane and the center line is α, satisfying 10°≤α≤30°.

[0017] According to some embodiments of this utility model, along the axial direction of the annular portion, the maximum distance between the two opposite ends of the two first protrusions on the connecting body is H1, and the maximum width of the oil collecting groove is H2, satisfying: 0.4≤H2 / H1≤0.5.

[0018] According to some embodiments of this utility model, the retainer is made of a self-lubricating material; and / or, The surface of the pocket is coated with a solid lubricating coating.

[0019] According to a second aspect of the present invention, a speed reducer includes the cage described in the above embodiment. The speed reducer also includes a crankshaft, a cycloidal wheel, and a plurality of rollers. The eccentric portion of the crankshaft is located on the cycloidal wheel, and the plurality of rollers are respectively disposed in the pockets. The cage is sleeved between the eccentric portion and the cycloidal wheel.

[0020] The speed reducer according to the embodiment of this utility model has at least the following beneficial effects: By employing the cage of the first aspect embodiment, the cage is connected between two annular portions by providing multiple connectors, such that pockets for accommodating rollers are formed between adjacent connectors, allowing the rollers to roll within the pockets. Since an oil collecting groove is provided on the outer peripheral wall of the connector, and an oil guiding groove is provided at least one end of the oil collecting groove along the axial direction, when the rollers roll, some lubricating oil flows into the oil collecting groove. The lubricating oil in the oil collecting groove not only lubricates the surrounding rollers but also flows to the annular portion through the oil guiding groove, thereby lubricating different parts of the cage. This facilitates the circulation of lubricating oil, forming a stable oil film, reducing lubrication dead zones, thereby reducing friction, increasing bearing life, and also carrying away heat generated by friction, preventing heat concentration.

[0021] The robot according to a third aspect of the present invention includes the speed reducer described in the above embodiments.

[0022] The robot according to the embodiments of this utility model has at least the following beneficial effects: In the reducer adopted in the second aspect embodiment, the reducer cage is connected between two annular portions by providing multiple connecting bodies, so that pockets for accommodating rollers are formed between adjacent connecting bodies, allowing the rollers to roll within the pockets. Since an oil collecting groove is provided on the outer peripheral wall of the connecting body, and an oil guide groove is provided at least one end of the oil collecting groove along the axial direction, when the rollers roll, some lubricating oil flows into the oil collecting groove. The lubricating oil in the oil collecting groove not only lubricates the surrounding rollers but also flows to the annular portion through the oil guide groove, thereby lubricating different parts of the cage. This facilitates the circulation of lubricating oil, forming a stable oil film, reducing lubrication dead zones, thereby reducing friction, increasing bearing life, and also carrying away the heat generated by friction, preventing heat concentration.

[0023] 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

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a partial structural cross-sectional view of a speed reducer according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a bearing according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a retainer according to an embodiment of the present invention; Figure 4 This is a simplified structural diagram of a bearing according to an embodiment of the present invention; Figure 5 This is a cross-sectional view of a bearing according to an embodiment of the present invention; Figure 6 yes Figure 5 Enlarged view of point A in the middle; Figure 7 This is a side view of a retainer according to an embodiment of the present invention.

[0025] Figure label: Bearing 1000; Cage 100; Annular portion 110; Connector 120; Oil collection groove 121; Pocket 130; First protrusion 140; Protrusion 141; Oil guide groove 142; Second protrusion 150; First inclined surface 151; Fitting portion 152; Guide portion 153; Second inclined surface 154; Roller 200; Crankshaft 300; Eccentric part 310; Cycloidal wheel 320. Detailed Implementation

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] In related technologies, RV reducers are typically filled with lubricating oil. Under oscillating conditions, some rollers remain above the oil surface for extended periods, leading to uneven distribution of the lubricating oil film. Traditional cage structures struggle to effectively guide the lubricating oil to areas with weak lubrication, resulting in frictional wear at the contact points between the rollers and the cage, severely impacting bearing life.

[0031] To solve the above problems, refer to Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the cage 100 of one embodiment of the present invention can be used in a speed reducer, such as an RV speed reducer or a cycloidal pinwheel speed reducer. The cage 100 of this embodiment includes two annular portions 110 and a plurality of connecting bodies 120. The two annular portions 110 are coaxial and spaced apart. The plurality of connecting bodies 120 are spaced apart along the circumference of the cage 100 between the two annular portions 110, and a pocket 130 for mounting a roller 200 is formed between every two connecting bodies 120. The plurality of connecting bodies 120 can be evenly distributed along the circumference of the annular portions 110. An oil collecting groove 121 is provided on the outer peripheral wall of the connecting body 120. At least one end of the oil collecting groove 121 along the axial direction of the annular portion 110 is provided with an oil guiding groove 142. One end of the oil guiding groove 142 communicates with the oil collecting groove 121, and the other end of the oil guiding groove 142 penetrates the end face of the annular portion 110 along the axial direction.

[0032] For example, such as Figure 4 As shown, Figure 4 The dashed arrows indicate the flow direction of the lubricating oil. When the reducer oscillates periodically, the rollers 200 can be intermittently immersed in the lubricating oil. The contact between the rollers 200 and the lubricating oil creates a viscous effect, and the lubricating oil is carried by the rollers 200 into the outer peripheral wall of the connecting body 120, where it is collected by the oil collecting groove 121. After collecting the lubricating oil carried out by the rollers 200, the oil collecting groove 121 guides the lubricating oil to the outer periphery of the annular portion 110 through the oil guiding groove 142, so that the lubricating oil forms a continuous oil film on the outer wall of the annular portion 110, covering areas that are difficult to lubricate in traditional structures, while simultaneously carrying away the heat generated by friction with the circulating lubricating oil.

[0033] Through the above technical solution, this embodiment achieves active lubrication of the outer peripheral wall area of ​​the cage 100, reducing dry friction between the end face of the annular portion 110 and the raceway. The lubricating oil circulates under the action of the oil guide groove 142, effectively reducing the temperature of the contact area between the roller 200 and the cage 100. The oil storage function of the oil collection groove 121 ensures a continuous supply of lubricating oil during the reducer's oscillation cycle, avoiding increased wear caused by intermittent lubrication.

[0034] Reference Figure 2 and Figure 3 As shown in the embodiment of this utility model, the outer peripheral wall of the connecting body 120 is provided with two first protrusions 140. The two first protrusions 140 are spaced apart at both ends of the connecting body 120 along the axis of the annular portion 110, and an oil collecting groove 121 is formed between the two first protrusions 140. At least one first protrusion 140 on the connecting body 120 includes two protrusions 141 spaced apart circumferentially along the annular portion 110, and a partial structure of an oil guiding groove 142 is formed between the two protrusions 141. The end face of one end of the first protrusion 140 facing the other first protrusion 140 is constructed as a slope, and the slope extends in a direction away from the opposite first protrusion 140.

[0035] By providing the first protrusion 140, the overall strength of the connector 120 can be increased. When the reducer is in a high-frequency oscillating state, the first protrusion 140 increases the deformation resistance of the connector 120 cross section, thus suppressing the plastic deformation of the connector 120 under alternating loads.

[0036] Reference Figure 5 and Figure 6 As shown in the embodiment of this utility model, the width of the oil collecting groove 121 gradually increases along the circumferential direction of the annular portion 110 in the direction away from the central axis of the annular portion 110. The gradual increase in the circumferential width of the oil collecting groove 121 means that the opening size of the oil collecting groove 121 on the radially outer side of the annular portion 110 is larger than the opening size on the inner side; for example, the sidewall of the oil collecting groove 121 is designed as an inclined surface. Therefore, the cross-section of the oil guiding groove 142 has a trapezoidal structure, which can reduce the flow resistance of the lubricating oil, reduce the frictional heat generated by the flow of the lubricating oil, and ensure that the lubricating oil can flow smoothly out of the roller 200, carrying away heat.

[0037] For example, during the oscillation of the reducer, the lubricating oil carried by the roller 200 is guided into the oil collection groove 121. As the circumferential width of the oil collection groove 121 gradually increases outward, the lubricating oil diffuses outward along the gradually expanding channel. The trapezoidal cross-section oil guide groove 142 forms a guide channel through the inclined sidewall, allowing the lubricating oil to flow along a predetermined path to the outer peripheral wall of the annular portion 110.

[0038] Through the above technical solution, this embodiment achieves efficient flow of lubricating oil inside the cage 100. The trapezoidal oil guide groove 142 reduces the flow resistance of lubricating oil during the flow process, avoids lubricating oil stagnation, reduces the oil temperature rise caused by frictional heat generation, and ensures that the lubricating oil can flow continuously and stably to the outer peripheral wall of the annular part 110 to form a uniform oil film coverage.

[0039] Reference Figure 2 As shown in the embodiment of this utility model, the two first protrusions 140 on the connecting body 120 each include two protrusions 141 spaced apart circumferentially along the annular portion 110, and oil guide grooves 142 are respectively provided on both sides of the oil collecting groove 121 along the axial direction of the annular portion 110. When the reducer swings, the roller 200 drives the lubricating oil into the oil collecting groove 121, and the lubricating oil can simultaneously flow to both ends of the annular portion 110 through the oil guide grooves 142 on both sides of the axial direction. Since the oil guide grooves 142 are symmetrically distributed on both sides of the oil collecting groove 121, the lubricating oil can be evenly diffused in both directions along the axial direction of the annular portion 110, covering a larger area of ​​the outer peripheral wall of the annular portion 110. The dual-channel structure formed by the oil guide grooves 142 on both sides can accelerate the circulation of lubricating oil, so that the oil film forms a continuous covering layer on the outer peripheral wall of the annular portion 110, avoiding uneven lubrication caused by oil guiding on one side.

[0040] Through the above technical solution, this embodiment can improve the uniformity of lubricant distribution on the outer peripheral wall of the annular portion 110, effectively reduce local friction and heat accumulation caused by insufficient lubrication, and accelerate lubricant circulation through bidirectional flow, enhance heat dissipation capacity and maintain oil film stability, thereby extending the service life of the cage 100 under high-frequency oscillation conditions.

[0041] Reference Figure 5 As shown in the embodiment of the present invention, the outer peripheral surface of the annular portion 110 is constructed as an arc surface, the outer peripheral surface of the first protrusion 140 is constructed as an arc surface, the center of the circle containing the outer peripheral surface of the annular portion 110 and the center of the circle containing the outer peripheral surface of the first protrusion 140 coincide, and the diameter of the circle containing the outer peripheral surface of the first protrusion 140 is smaller than the diameter of the circle containing the outer peripheral surface of the annular portion 110.

[0042] The outer peripheral surface of the annular portion 110 refers to the outer peripheral surface of the annular portion 110 facing the raceway of the cycloidal wheel 320, with its center coinciding with the central axis of the raceway of the cycloidal wheel 320, thus forming local contact when the cage 100 wobbles. The outer peripheral surface of the first protrusion 140 is constructed as an arc surface concentric with the annular portion 110, but with a smaller diameter, so that the contact area is concentrated in the annular portion 110, avoiding direct collision between the first protrusion 140 and the raceway. Coincidence of centers means that the arc surfaces of the annular portion 110 and the first protrusion 140 have the same center position, ensuring the consistency of the geometric relationship of the contact surfaces.

[0043] For example, the outer peripheral surface of the annular portion 110 is designed with an arc, allowing it to make partial contact with the raceway during rotation, rather than a complete fit. Although the outer peripheral surface of the first protrusion 140 is also an arc, its smaller diameter creates a gap between it and the raceway when the cage 100 is not wobbling. When the cage 100 experiences radial displacement due to force, the outer peripheral surface of the annular portion 110 preferentially contacts the raceway, and the reaction force generated by intermittent collisions pushes the cage 100 back to the correct position. Simultaneously, because the contact area of ​​the first protrusion 140 is smaller, contact may only occur under extreme wobbling conditions, thereby reducing frictional losses.

[0044] Through the above technical solution, this embodiment achieves active correction of the radial offset of the cage 100, while limiting the friction contact area to a specific position of the annular portion 110, avoiding continuous friction between the first protrusion 140 and the raceway. The stepped diameter design, while ensuring structural strength, allows lubricating oil to flow smoothly through the reduced gap area, forming a more stable lubricating film layer, effectively reducing the risk of temperature rise and wear under high-speed oscillation conditions.

[0045] Reference Figure 3 and Figure 5As shown in the embodiment of this utility model, the bottom wall of the oil collecting groove 121 is constructed as an arc surface. The center of the circle containing the bottom wall of the oil collecting groove 121 coincides with the center of the circle containing the outer peripheral surface of the first protrusion 140, and the diameter of the circle containing the bottom wall of the oil collecting groove 121 is smaller than the diameter of the circle containing the outer peripheral surface of the first protrusion 140. The bottom wall of the oil collecting groove 121 is constructed as an arc surface, meaning that the cross-section of the bottom wall has a continuously curved arc structure. The center of this arc surface coincides with the center of the outer surface of the first protrusion 140, so that the lubricating oil can be naturally distributed along the curved surface when flowing in the oil collecting groove 121.

[0046] For example, the bottom wall of the oil collecting groove 121 is designed with an arc surface concentric with the outer surface of the first protrusion 140, allowing the lubricating oil to collect in the groove along the arc surface under centrifugal force. The structure that the bottom wall diameter is smaller than the outer surface diameter of the first protrusion 140 creates a gap between the bottom of the oil collecting groove 121 and the inner wall of the central hole of the cycloidal wheel 320, preventing direct contact between the two. When the cage 100 swings, the lubricating oil in the oil collecting groove 121 flows to the outer peripheral wall of the annular portion 110 through the oil guide groove 142, and the arc surface design of the bottom wall reduces the flow resistance of the lubricating oil while preventing friction between the oil collecting groove 121 and the inner wall of the cycloidal wheel 320.

[0047] This embodiment optimizes the geometry of the oil collection groove 121 through a concentric arc surface design, which not only improves the temporary storage capacity of lubricating oil, but also avoids direct contact with adjacent components through size control, effectively reducing friction and wear between the cage 100 and the cycloidal wheel 320. At the same time, it ensures that the lubricating oil is stably stored and flows smoothly in the oil collection groove 121, thereby improving the lubrication effect of the bearing 1000 and extending its service life.

[0048] Reference Figure 5 As shown, in the embodiment of this utility model, the diameter of the circle containing the outer peripheral surface of the annular portion 110 is D1, the diameter of the circle containing the outer peripheral surface of the first protrusion 140 is D2, and the diameter of the circle containing the bottom wall of the oil collecting groove 121 is D3, satisfying: 0.95≤D2 / D1≤0.98, 0.93≤D3 / D2≤0.96. For example, the value of D2 / D1 can be 0.95, 0.96, 0.97, 0.98, etc., and the value of D3 / D2 can be 0.93, 0.94, 0.95, 0.96, etc.

[0049] For example, using the outer circumferential diameter D1 of the annular portion 110 as a reference dimension, the outer circumferential diameter D2 of the first protrusion 140 is controlled between 95% and 98% of D1. Within this range, the contact area between the first protrusion 140 and the raceway is limited, which allows for the correction of the cage 100 position through intermittent collisions while avoiding increased friction due to excessive contact area. The bottom wall diameter D3 of the oil collecting groove 121 is further limited to 93% to 96% of D2, ensuring sufficient groove depth to temporarily store lubricating oil while preventing the groove bottom from contacting the raceway. When D2 / D1 exceeds 0.98, the excessively large outer diameter of the first protrusion 140 leads to an increased contact area and a significant increase in friction loss; when D2 / D1 is below 0.95, the reduced width of the first protrusion 140 results in insufficient structural strength of the connector 120. Similarly, D3 / D2 exceeding the specified range will lead to a decrease in oil storage capacity or an increased risk of groove bottom contact.

[0050] This embodiment optimizes the storage and distribution efficiency of lubricating oil by precisely defining the proportional range, while ensuring structural strength. It effectively balances the contradiction between the structural strength and lubrication performance of the cage 100, avoiding both excessive frictional loss due to an excessively large diameter ratio and insufficient component strength due to an excessively small ratio. This proportional range ensures that the oil collection groove 121 can stably store lubricating oil, while reducing frictional heat generation by reasonably controlling the contact area, thereby extending the service life of the cage 100 under high-frequency oscillation conditions.

[0051] Reference Figure 3 As shown in the embodiment of this utility model, the inner peripheral wall of the connector 120 facing the central axis of the annular portion 110 is provided with a second protrusion 150. The second protrusion 150 refers to a reinforcing structure provided on the inner peripheral wall of the connector 120. The second protrusion can increase the moment of inertia of the cross section of the connector 120, thereby improving the bending strength.

[0052] For example, the second protrusion 150 on the inner peripheral wall of the connector 120 forms a locally thickened area. When the cage 100 bears the load transmitted by the roller 200, the second protrusion 150 can effectively share the bending stress in the root region of the connector 120. When the reducer is in a high-frequency oscillating state, the second protrusion 150 increases the deformation resistance of the connector 120 cross section, suppressing the plastic deformation of the connector 120 under alternating loads, thereby maintaining the geometric accuracy of the pocket 130 structure.

[0053] Through the above technical solution, this embodiment solves the technical defect that the connecting body 120 of the traditional cage 100 is prone to breakage under high-frequency oscillation conditions. By optimizing the internal stress distribution of the connecting body 120, the cage 100 maintains structural integrity when subjected to alternating loads of the roller 200, thereby extending the service life of the bearing 1000 under heavy load conditions.

[0054] Reference Figure 3 and Figure 4 As shown in the embodiment of this utility model, the end faces of the second protrusion 150 along the axial direction of the annular portion 110 are constructed as first inclined surfaces 151. One side of the first inclined surface 151 is connected to the inner circumferential surface of the second protrusion 150, and the other side is inclined away from the other first inclined surface 151. The first inclined surface 151 refers to the inclined transition surface of the axial end face of the second protrusion 150, which can be implemented by using a plane or curved surface that forms an angle of 30-45 degrees with the inner circumferential surface of the second protrusion 150. The inclined direction extends towards the annular portion 110, so that the lubricating oil is directionally guided along the flow direction of the inclined surface.

[0055] For example, the first inclined surfaces 151 at both ends of the second protrusion 150 form flow channels that gradually expand from the inside out. When the cage 100 undergoes axial displacement during its oscillation, the lubricating oil is acted upon by centrifugal force and flows along the first inclined surfaces 151 to both ends of the cage 100. Simultaneously, the pumping effect generated by the inclined surface structure causes the lubricating oil to form a continuous flow in the contact area between the roller 200 and the cage 100. This flow path covers the gap area between the end face of the roller 200 and the pocket 130 of the cage 100, allowing the lubricating oil to penetrate to the end of the roller 200's movement trajectory, avoiding local lubrication loss.

[0056] Through the above technical solution, this embodiment can guide the lubricating oil to cover the end area of ​​the roller 200's movement trajectory, eliminate the risk of dry friction between the end face of the roller 200 and the cage 100, and at the same time enhance the lubricating oil's penetration ability in the gap of the moving pair through the pumping effect, ensuring that the contact surface between the roller 200 and the cage 100 is always in an oil film protection state under high load conditions.

[0057] Reference Figure 6 As shown in the embodiment of the present invention, the second protrusion 150 of the retainer 100 includes a mating part 152 and a guiding part 153. The mating part 152 is connected to the connecting body 120 on one side of the annular part 110 in the radial direction, and the mating part 152 is connected to the guiding part 153 on the other side of the annular part 110 in the radial direction. The two side walls of the mating part 152 in the circumferential direction of the annular part 110 are constructed as arc surfaces for contacting and mating with the roller 200. The two side walls of the guiding part 153 in the circumferential direction of the annular part 110 form a second inclined surface 154. The distance between the two second inclined surfaces 154 of the guiding part 153 gradually decreases in the direction close to the central axis of the annular part 110.

[0058] The mating part 152 refers to the transition structure that connects to the connecting body 120 and the guide part 153. The arc surface of its circumferential sidewall is used to contact the roller 200 to ensure stable support when the roller 200 moves. The guide part 153 refers to the inclined surface structure located radially inside the mating part 152. It can be implemented by using symmetrical inclined surfaces. The gradually narrowing space formed by its second inclined surface 154 is used to guide the flow of lubricating oil and avoid direct contact with the roller 200.

[0059] For example, the second protrusion 150 forms contact support with the roller 200 through the arcuate surface of the mating part 152, while the second inclined surface 154 of the guide part 153 forms a gradually narrowing gap in the direction of roller 200 movement. Since the second inclined surface 154 does not contact the roller 200, lubricating oil can enter the pocket 130 through the gap between the inclined surface and the roller 200. While the arcuate surface of the mating part 152 supports the roller 200, the guide part 153 reduces the contact area through the inclined surface structure, thereby reducing frictional resistance.

[0060] Through the above technical solution, this embodiment can effectively reduce the frictional loss between the roller 200 and the cage 100, and avoid the temperature rise problem caused by excessive contact area. After the lubricating oil enters the pocket 130 through the inclined surface gap, it can form a uniform oil film on the surface of the roller 200, thereby improving the service life of the bearing 1000 under high-frequency oscillation conditions.

[0061] Reference Figure 6 As shown in the embodiment of this utility model, on the projection plane perpendicular to the central axis of the annular portion 110, the central plane S is defined to pass through the radial center line of the inner peripheral wall of the guide portion 153 and the central axis of the annular portion 110. The radial center line of the inner peripheral wall of the guide portion 153 refers to the center of the guide portion 153 in the circumferential direction of the annular portion 110. The angle between the second inclined plane 154 and the center line is α, which satisfies 10°≤α≤30°. For example, the value of α can be 10°, 12°, 15°, 20°, 30°, etc.

[0062] The angle α between the second inclined plane 154 and the centerline refers to the angle between the sidewall of the guide portion 153 and the virtual straight line passing through the center of the outer periphery of the guide portion 153 and the center of the annular portion 110. This angle range balances the relationship between lubricating oil guiding efficiency and structural strength. On the projection plane, the inclination angle of the second inclined plane 154 is controlled between 10° and 30°. When the angle α is too small, the inclined plane is too gentle and cannot effectively guide the lubricating oil into the pocket 130 along the inclined plane; when the angle α is too large, the steepness of the inclined plane increases, which, although beneficial to the flow guidance of lubricating oil, will lead to a reduction in the wall thickness of the guide portion 153 and a decrease in structural strength.

[0063] Through the above technical solution, this embodiment effectively improves the distribution of lubricating oil inside the cage 100, ensuring that both ends of the roller 200 are adequately lubricated.

[0064] Reference Figure 7 As shown in the embodiment of this utility model, along the axial direction of the annular portion 110, the maximum distance between the two opposing ends of the first protrusions 140 on the connecting body 120 is H1, and the maximum width of the oil collecting groove 121 is H2, satisfying 0.4≤H2 / H1≤0.5. The ratio of the maximum width H2 of the oil collecting groove 121 to the distance H1 between the two ends of the connecting body 120 refers to the spatial proportion of the oil collecting groove 121 in the axial direction. This ratio range ensures that the oil collecting groove 121 has sufficient oil storage space while maintaining the load-bearing capacity of the connecting body 120. The width of the pocket 130 in the axial direction of the annular portion 110 is also H1.

[0065] For example, regarding the dimensional relationship between the oil collection groove 121 and the connecting body 120, when the H2 / H1 ratio is less than 0.4, the axial width of the oil collection groove 121 is insufficient, making it difficult to store enough lubricating oil; when the ratio exceeds 0.5, the axial width of the first protrusion 140 is excessively compressed, causing the connecting body 120 to easily deform when subjected to the load of the roller 200. By reasonably designing the H2 / H1 value to be within the range of 0.4 to 0.5, the lubrication effect can be effectively improved, and the deformation resistance of the connecting body 120 can be ensured.

[0066] In this embodiment of the invention, the cage is made of a self-lubricating material, such as PTFE, POM, or engineering plastics containing solid lubricants. Utilizing the low coefficient of friction and self-lubricating properties of these materials, the frictional torque between the roller 200 and the cage 100 is reduced, while simultaneously improving lubrication performance. The surface of the pocket is coated with a solid lubricant coating, such as MoS2, graphite, or DLC coating, which further reduces the coefficient of friction between the roller 200 and the cage 100 and enhances the adhesion of the lubricating oil film, making it suitable for high-load, high-frequency oscillation conditions.

[0067] Reference Figure 1As shown, this utility model discloses a speed reducer according to one embodiment. The speed reducer can be an RV speed reducer or a cycloidal pinwheel speed reducer. The speed reducer includes a bearing 1000, a crankshaft 300, and a cycloidal wheel 320. The bearing 1000 includes a cage 100 and a plurality of rollers 200 as described in the above embodiment. The eccentric portion 310 of the crankshaft 300 is located on the cycloidal wheel 320. The plurality of rollers 200 are correspondingly disposed in pockets 130. The cage 100 is sleeved between the eccentric portion 310 and the cycloidal wheel 320. In this utility model embodiment, the speed reducer uses the cage 100 of the above embodiment. The cage 100 is connected between two annular portions 110 by a plurality of connecting bodies 120, so that pockets 130 for accommodating rollers 200 are formed between adjacent connecting bodies 120, allowing the rollers 200 to roll within the pockets 130. Because the outer peripheral wall of the connector 120 is provided with two first protrusions 140 arranged axially at intervals, an oil collection groove 121 is formed between the two first protrusions 140, and an oil guide groove 142 communicating with the oil collection groove 121 is provided between the two protrusions 141 of the first protrusions 140, when the roller 200 rolls, it will drive some lubricating oil to flow into the oil collection groove 121. The lubricating oil in the oil collection groove 121 can not only lubricate the surrounding rollers 200, but also flow to the annular part 110 through the oil guide groove 142, thereby lubricating different parts of the cage 100. This is conducive to the circulation of lubricating oil to form a stable oil film, reduce the lubrication dead angle, thereby reduce friction, improve the service life of the bearing 1000, and at the same time, it can also carry away the heat generated by friction and avoid heat concentration.

[0068] Since the reducer adopts all the technical solutions of the cage 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.

[0069] One embodiment of the present invention includes a reducer as described in 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 embodiment uses the reducer described above. The reducer is connected between two annular portions 110 via multiple connectors 120 of a retainer 100, such that adjacent connectors 120 form pockets 130 to accommodate rollers 200, allowing the rollers 200 to roll within the pockets 130. Because the outer peripheral wall of the connector 120 is provided with two first protrusions 140 arranged axially at intervals, an oil collection groove 121 is formed between the two first protrusions 140, and an oil guide groove 142 communicating with the oil collection groove 121 is provided between the two protrusions 141 of the first protrusions 140, when the roller 200 rolls, it will drive some lubricating oil to flow into the oil collection groove 121. The lubricating oil in the oil collection groove 121 can not only lubricate the surrounding rollers 200, but also flow to the annular part 110 through the oil guide groove 142, thereby lubricating different parts of the cage 100. This is conducive to the circulation of lubricating oil to form a stable oil film, reduce the lubrication dead angle, thereby reduce friction, improve the service life of the bearing 1000, and at the same time, it can also carry away the heat generated by friction and avoid heat concentration.

[0070] Since the robot adopts all the technical solutions of the reducer 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.

[0071] 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 cage, characterized in that, include: Two annular sections are arranged coaxially and spaced apart. Multiple connectors are arranged circumferentially between the two annular portions along the cage, and each connector is connected to the two annular portions at both ends. A pocket for mounting rollers is formed between two adjacent connectors. An oil collecting groove is provided on the outer peripheral wall of the connector. An oil guiding groove is provided at least one end of the oil collecting groove along the axial direction of the annular portion. One end of the oil guiding groove is connected to the oil collecting groove, and the other end of the oil guiding groove passes through the end face of the annular portion along the axial direction.

2. The cage according to claim 1, characterized in that: Along a direction away from the central axis of the annular portion, the width of the oil guide groove gradually increases in the circumferential direction of the annular portion.

3. The cage according to claim 1, characterized in that: The outer peripheral wall of the connector is provided with two first protrusions. The two first protrusions are spaced apart at both ends of the connector along the axis of the annular portion. The oil collection groove is formed between the two first protrusions. At least one of the first protrusions on the connector includes two protrusions spaced apart circumferentially along the annular portion. The oil guide groove is partially formed between the two protrusions.

4. The cage according to claim 3, characterized in that: The two first protrusions on the connector each include two protrusions spaced circumferentially along the annular portion, and the oil collection groove is provided with oil guide grooves on both sides along the axial direction of the annular portion.

5. The cage according to claim 3, characterized in that: The outer peripheral surface of the annular portion is constructed as an arc surface, and the outer peripheral surface of the first convex portion is constructed as an arc surface. The centers of the circles containing the outer peripheral surfaces of the annular portion and the first convex portion coincide, and the diameter of the circle containing the outer peripheral surface of the first convex portion is smaller than the diameter of the circle containing the outer peripheral surface of the annular portion.

6. The cage according to claim 5, characterized in that: The bottom wall of the oil collecting trough is constructed as an arc surface. The center of the circle containing the bottom wall of the oil collecting trough coincides with the center of the circle containing the outer peripheral surface of the first protrusion, and the diameter of the circle containing the bottom wall of the oil collecting trough is smaller than the diameter of the circle containing the outer peripheral surface of the first protrusion.

7. The cage according to claim 5, characterized in that: The diameter of the circle containing the outer circumference of the annular portion is D1, the diameter of the circle containing the outer circumference of the first protrusion is D2, and the diameter of the circle containing the bottom wall of the oil collecting groove is D3, satisfying: 0.95≤D2 / D1≤0.98, 0.93≤D3 / D2≤0.

96.

8. The cage according to claim 1, characterized in that: The connector has a second protrusion on the inner peripheral wall of the side facing the central axis of the annular portion.

9. The cage according to claim 8, characterized in that: The end faces of the second protrusion along the axial direction of the annular portion are constructed as first inclined surfaces. One side of the first inclined surface is connected to the inner circumferential surface of the second protrusion, and the other side of the first inclined surface is inclined in a direction away from the other first inclined surface.

10. The cage according to claim 8, characterized in that: The second protrusion includes a mating portion and a guiding portion. The mating portion is connected to the connecting body on one side of the annular portion along the radial direction, and the mating portion is connected to the guiding portion on the other side of the annular portion along the radial direction. The two sidewalls of the mating portion along the circumference of the annular portion are constructed as arc surfaces for contacting and mating with rollers. The two sidewalls of the guiding portion along the circumference of the annular portion form second inclined surfaces. The distance between the two second inclined surfaces of the guiding portion gradually decreases along the direction close to the central axis of the annular portion.

11. The cage according to claim 10, characterized in that: On the projection plane perpendicular to the central axis of the annular portion, the radial center line of the center plane passing through the inner peripheral wall of the guide portion and the axis of the annular portion are defined, and the angle between the second inclined plane and the center line is α, satisfying 10°≤α≤30°.

12. The cage according to claim 1, characterized in that: Along the axial direction of the annular portion, the maximum distance between the two opposite ends of the two first protrusions on the connecting body is H1, and the maximum width of the oil collection groove is H2, satisfying: 0.4≤H2 / H1≤0.

5.

13. The cage according to claim 1, characterized in that: The cage is made of a self-lubricating material; and / or, The surface of the pocket is coated with a solid lubricating coating.

14. A speed reducer, characterized in that: The gearbox includes a cage as described in any one of claims 1 to 13, and further includes a crankshaft, a cycloidal wheel, and a plurality of rollers, wherein an eccentric portion of the crankshaft is located on the cycloidal wheel, the plurality of rollers are respectively disposed in the pocket, and the cage is sleeved between the eccentric portion and the cycloidal wheel.

15. A robot, characterized in that: Includes the speed reducer described in claim 14.

Images