CN115823116A

CN115823116A - Flexible bearing and harmonic reducer

Info

Publication number: CN115823116A
Application number: CN202211056631.6A
Authority: CN
Inventors: 井丽龙; 林文捷
Original assignee: Guangdong Jiya Jingji Technology Co ltd
Current assignee: Guangdong Jiya Jingji Technology Co ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2023-03-21
Also published as: CN116336076A; CN116221271A

Abstract

The invention discloses a flexible bearing and a harmonic reducer, and relates to the technical field of bearings. The flexible bearing comprises an inner ring, an outer ring, a retainer and a rolling body, wherein the outer ring is arranged around the inner ring, the rolling body is arranged between the first roller path and the second roller path, and the retainer is arranged between the inner ring and the outer ring. The inner ring of the flexible bearing is matched with the cam, a first raceway is arranged on the outer side of the inner ring, and first textures are arranged on the first raceway in a first area and a second area. The first texture has the effect of reducing the contact area between the rolling body and the first roller path, the reduction of the contact area can reduce the generation of abrasive particles, and the generated abrasive particles can be stored in the first texture, so that the condition that the abrasive particles further aggravate abrasion is improved, and the occurrence of a white layer of the first roller path is reduced. The first texture can also store lubricant, and the rolling body can extrude the lubricant by extruding the first roller path to generate micro deformation, so that the lubricant is extruded out to play a role in secondary lubrication, and the condition of abrasion of the first roller path is effectively improved.

Description

Flexible bearing and harmonic reducer

Technical Field

The invention relates to the technical field of bearings, in particular to a flexible bearing and a harmonic reducer.

Background

The cam of the harmonic reducer is matched with the flexible bearing, so that the flexible gear generates elastic deformation and is meshed with the rigid gear to transmit motion and power. In the related art, the flexible bearing includes an inner race and an outer race, and the rolling bodies are disposed between the inner race and the outer race. The cam is assembled in flexible bearing's inner circle, because flexible bearing's main bearing area is the major axis region of cam, and the interior raceway and the rolling element of inner circle are non-conformal contact simultaneously, and its major axis region is in great contact stress state when operating, consequently the raceway is lubricated aggravation in the flexible bearing and can lead to interior raceway wearing and tearing, and then increases the probability that the raceway white layer appears in the flexible bearing, and flexible bearing inner circle fatigue fracture risk risees.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a flexible bearing which can improve the abrasion problem and improve the reliability of the flexible bearing.

The invention also provides a harmonic reducer with the flexible bearing.

According to an embodiment of the first aspect of the invention, the compliant bearing comprises:

the outer side of the inner ring is provided with a first raceway, the first raceway is arranged around the inner ring, the inner ring is used for being installed and matched with a cam, two end points of a long shaft of the cam are defined to be 0 degree and 180 degrees corresponding to the central angle of the first raceway respectively, an arc length area of the first raceway between the central angle of minus 45 degrees and 45 degrees is defined as a first area, an arc length area of the first raceway between the central angle of 135 degrees and 225 degrees is defined as a second area, and the first area and the second area are provided with first textures;

the outer ring is arranged around the inner ring, and a second roller path is arranged on one side of the outer ring facing the inner ring;

the retainer is arranged between the inner ring and the outer ring;

and a plurality of rolling bodies which are arranged between the first raceway and the second raceway and are mounted on the retainer.

The flexible bearing provided by the embodiment of the invention has at least the following beneficial effects:

the outer ring is arranged around the inner ring, the rolling body is arranged between the first raceway and the second raceway, and the rolling body is used for reducing the friction coefficient when the inner ring and the outer ring rotate relatively and reducing abrasion. The retainer is arranged between the inner ring and the outer ring and used for separating the plurality of rolling bodies. The inner ring of the flexible bearing is matched with the cam, a first raceway is arranged on the outer side of the inner ring, and first textures are arranged on the first raceway in a first area and a second area. The first texture has the effect of reducing the contact area of the rolling body and the first roller path, the contact area is reduced, the generation of abrasive particles can be reduced, the generated abrasive particles can be stored in the first texture, the condition that the abrasive particles further aggravate abrasion is improved, the occurrence of a white layer of the first roller path is reduced, and the risk of fatigue fracture of the inner ring is reduced. The first texture can also store lubricant, and the rolling body can extrude the lubricant by extruding the first roller path to generate micro deformation, so that the lubricant is extruded out to play a role in secondary lubrication, and the condition that the first roller path is worn near the long shaft of the cam is effectively improved.

According to some embodiments of the invention, the first texture comprises a first pit having a maximum depth h1 and a first opening having a maximum width d1, satisfying: h1 is more than or equal to 1 mu m and less than or equal to 20 mu m, and d1 is more than or equal to 50 mu m and less than or equal to 200 mu m.

According to some embodiments of the invention, the first opening is circular, a maximum width d1 of the first opening is a diameter of the first opening, and h1 and d1 satisfy: h1 is more than or equal to 1 mu m and less than or equal to 5 mu m, and d1 is more than or equal to 50 mu m and less than or equal to 100 mu m.

According to some embodiments of the invention, the first texture comprises a plurality of first dimples, each of the first dimples has a first opening, the first openings of all the first dimples have an area of A1, and the surface area of the first raceway has a surface area of A2, which satisfies: A1/A2 is more than or equal to 10% and less than or equal to 20%.

According to some embodiments of the invention, the first texture comprises one or more of first dimples that are spherical, cylindrical, prismatic or reticulated in shape.

According to some embodiments of the invention, the first texture comprises a plurality of first dimples, the first dimples being spaced apart from each other in the first and second regions.

According to some embodiments of the invention, a plurality of the first pits are uniformly arranged in the first area and the second area.

According to some embodiments of the invention, the outer side of the outer ring is provided with a second texture.

According to some embodiments of the invention, the second texture comprises a second pit having a maximum depth h2 and a second opening having a maximum width d2, satisfying: h2 is more than or equal to 1 mu m and less than or equal to 100 mu m, and d2 is more than or equal to 50 mu m and less than or equal to 1000 mu m.

According to some embodiments of the invention, the second opening is circular, a maximum width d2 of the second opening is a diameter of the second opening, and h2 and d2 satisfy: h2 is more than or equal to 1 mu m and less than or equal to 5 mu m, and d2 is more than or equal to 100 mu m and less than or equal to 500 mu m.

According to some embodiments of the invention, the second texture comprises a plurality of second dimples having second openings, the second openings of all of the second dimples having an area A3 and the outer side of the outer ring having a surface area A4, satisfying: 0 is formed by (a) A3/A4 is less than or equal to 50 percent.

According to some embodiments of the invention, the second texture comprises a third dimple having a maximum depth h3, the third dimple having a circular third opening having a diameter d3, such that: h3 is more than or equal to 10 mu m and less than or equal to 20 mu m, and d3 is more than or equal to 300 mu m and less than or equal to 800 mu m.

According to some embodiments of the invention, the second raceway is provided with a plurality of fourth dimples.

According to a second aspect of the invention, a harmonic reducer comprises the flexible bearing of the above embodiments.

The harmonic speed reducer according to the embodiment of the invention at least has the following beneficial effects:

the outer ring is arranged around the inner ring, the rolling body is arranged between the first raceway and the second raceway, and the rolling body is used for reducing the friction coefficient when the inner ring and the outer ring rotate relatively and reducing abrasion. The retainer is arranged between the inner ring and the outer ring and used for separating the plurality of rolling bodies. The inner ring of the flexible bearing is matched with the cam, a first raceway is arranged on the outer side of the inner ring, and first textures are arranged in a first area and a second area of the first raceway. The first texture has the effect of reducing the contact area of the rolling body and the first roller path, the contact area is reduced, the generation of abrasive particles can be reduced, the generated abrasive particles can be stored in the first texture, the condition that the abrasive particles further aggravate abrasion is improved, the occurrence of a white layer of the first roller path is reduced, and the risk of fatigue fracture of the inner ring is reduced. The first texture can also store lubricant, and the rolling body can extrude the lubricant by extruding the first roller path to generate micro deformation, so that the lubricant is extruded out to play a role in secondary lubrication, and the condition that the first roller path is worn near the long axis of the cam is effectively improved.

Additional aspects and advantages of the 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.

Drawings

The invention is further described with reference to the following figures and examples, in which:

FIG. 1 is a schematic view of a compliant bearing according to one embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of a compliant bearing according to an embodiment of the present invention;

FIG. 3 is a schematic view of the inner race of one embodiment of the present invention;

FIG. 4 is an enlarged schematic view at A in FIG. 3;

FIG. 5 is a cross-sectional view of a first dimple of an embodiment of the present invention;

FIG. 6 is an outer structural view of an outer race of an embodiment of the present invention;

FIG. 7 is an enlarged schematic view at B in FIG. 6;

FIG. 8 is a cross-sectional view of a second dimple of an embodiment of the present invention;

FIG. 9 is a schematic structural view of an outer portion of an outer race of another embodiment of the present invention;

FIG. 10 is a cross-sectional view of a third dimple of another embodiment of the present invention;

FIG. 11 is a cross-sectional schematic view of an outer race of an embodiment of the present invention;

FIG. 12 is an enlarged schematic view at C of FIG. 11;

FIG. 13 is a cross-sectional view of a fourth dimple of an embodiment of the present invention.

Reference numerals:

a compliant bearing 1000;

an inner ring 100; a first raceway 110; a first pit 120; a first opening 121; a first region 130; a second region 140;

an outer ring 200; a second raceway 210; a second pit 220; a second opening 221; a third pit 230; a third opening 231; a fourth pit 240; a fourth opening 241;

a rolling body 300;

a cage 400;

a cam 500.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to 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 illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings only for the convenience of description of the present invention and simplification of the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 1, a compliant bearing 1000 according to an embodiment of the present invention may be used in a harmonic reducer. The flexible bearing 1000 of the embodiment of the invention can improve the abrasion problem and improve the reliability of the flexible bearing 1000.

Referring to fig. 1 and 2, in an embodiment of the present invention, a flexible bearing 1000 includes an inner ring 100, an outer ring 200, a cage 400, and rolling elements 300, the inner ring 100 is annular, a first raceway 110 is provided on an outer side of the inner ring 100, and the first raceway 110 is disposed around the inner ring 100. The outer ring 200 is arranged around the inner ring 100, the side of the outer ring 200 facing the inner ring 100 is provided with a second raceway 210, and the shape of the first raceway 110 and the second raceway 210 is one or more of a spherical surface, an ellipsoid surface, a cylindrical surface, a drum profile surface or a conical surface. The rolling body 300 is plural and disposed between the first raceway 110 and the second raceway 210, and the rolling body 300 may be a roller, a ball, or a combination of a ball and a roller. A cage 400 is provided between the outer race 200 and the inner race 100, the cage 400 serving to partition the plurality of rolling elements 300. The rolling elements 300 serve to reduce the friction coefficient when the inner ring 100 and the outer ring 200 rotate relative to each other, thereby reducing wear. Wherein a ratio of a maximum depth of the first raceway 110 to a thickness of the inner ring 100 in a radial direction is in a range of 1% to 10%.

Wherein the inner race 100 is adapted to be mounted in engagement, such as an interference fit, with the cam 500. It should be noted that, because the main bearing area of the flexible bearing 1000 is the long axis area of the cam 500, the long axis refers to the maximum radial dimension of the cam, and meanwhile, the first raceway 110 of the flexible bearing 1000 is in non-conformal contact with the rolling elements 300, and the long axis area is in a state of large contact stress during operation, poor lubrication of the inner raceway of the flexible bearing 1000 may cause the wear of the inner raceway to be aggravated, thereby increasing the probability of occurrence of a white layer of the inner raceway of the flexible bearing 1000, and increasing the risk of fatigue fracture of the inner ring 100 of the flexible bearing 1000. The white layer means that under severe working conditions, for example, the bearing capacity is too large, the oil film between the rolling element 300 and the raceway is broken, the rolling element 300 directly contacts with the raceway, so that the oxide layer on the surface of the raceway is worn, the decomposition of the lubricant causes hydrogen atoms to invade into the raceway, the hydrogen embrittlement phenomenon occurs, that is, the raceway generates non-directional cracks, so that the white layer occurs, and therefore, the fatigue fracture of the inner ring 100 is a main failure mode.

In order to improve the white layer problem of the first raceway 110, referring to fig. 1, two end points defining the long axis of the cam 500 are respectively 0 ° and 180 ° corresponding to the central angle of the first raceway 110, an arc length region of the first raceway 110 at the central angle of-45 ° to 45 ° is defined as a first region 130, and an arc length region of the first raceway 110 at the central angle of 135 ° to 225 ° is defined as a second region 140. Or another description is adopted to understand the first region 130 and the second region 140, the central point of the cam 500 is defined as O, two end points of the long axis of the cam 500 are respectively point a and point B, two sides of the point a of the cam 500 are respectively provided with point C and point D, two sides of the point B of the cam 500 are respectively provided with point E and point F, and the following conditions are satisfied: angle DOA =45 °, < COA =45 °, < EOB =45 °, < FOB =45 °, first raceway 110 is first region 130 in an arc length region defined by × DOC, and first raceway 110 is second region 140 in an arc length region defined by × EOF. A first texture is provided in both the first region 130 and the second region 140. The texture is that textures in various shapes are processed on the surface of a material to form a certain regular three-dimensional shape, and the texture can store lubricating liquid, increase the bearing capacity of a lubricating film, improve the lubricating effect and improve the wear resistance.

It can be understood that the first texture has the effect of reducing the contact area between the rolling element 300 and the first raceway 110, the reduction of the contact area can reduce the generation of abrasive particles, and the generated abrasive particles can be stored in the first texture, so that the abrasion condition is further accelerated by the abrasive particles, and the occurrence of white layers of the first raceway 110 is reduced. The first texture can also store lubricant, when the rolling element 300 presses the first raceway 110, the rolling element can generate micro deformation to extrude the lubricant, so that the secondary lubrication effect is achieved, the abrasion condition of the first raceway 110 near the long axis of the cam 500 is effectively improved, the risk of fatigue fracture of the inner ring 100 is reduced, and the reliability of the flexible bearing 1000 is improved.

Referring to fig. 3, 4 and 5, in an embodiment of the present invention, the first texture includes a first pit 120, and a maximum depth of the first pit 120 is h1, which satisfies: h1 is more than or equal to 1 mu m and less than or equal to 20 mu m. It is understood that when the depth of the first recesses 120 is too small, for example, less than 1 μm, it is easily flattened by the rolling elements 300, so that the ability to store lubricant and abrasive particles is reduced, and the effect of reducing frictional loss is not obtained over a long period of use; and when the depth is too small, the processing is difficult, for example, the depth and the roughness after the friction pair calculation are one scale. If the depth of the first dimples 120 is too large, the lubrication effect tends to deteriorate, and it is difficult to form a continuous oil film on the surface of the first raceway 110.

Referring to fig. 4 and 5, the first recess 120 has a first opening 121, and the maximum width of the first opening 121 is d1, which satisfies: d1 is more than or equal to 50 mu m and less than or equal to 200 mu m. For example, when the first opening 121 is circular, d1 is the diameter; when the first opening 121 is square, d1 is the length of the diagonal of the first opening 121; when the first opening 121 is oval, d1 is the major axis of the oval. When the maximum width of the first opening 121 is less than 50 μm, the capability of storing the abrasive particles and the lubricant is low, the maximum width of the first opening 121 is related to the contact width of the rolling body 300 with the first raceway, and when the maximum width of the first opening 121 is greater than 200 μm, that is, greater than the contact width of the rolling body 300 with the first raceway 110, the rolling body 300 runs unstably and causes the wear to be increased, so the maximum width of the first opening 121 is generally smaller than the contact width of the rolling body 300.

It can be understood that the first concave pit 120 with a reasonable design can have a good capability of storing abrasive particles and lubricant, and because the effect between the first concave pit 120 and the first rolling way 110 is similar to that of a Rayleigh step slider, that is, the step slider composed of two parallel planes has the maximum bearing capacity, and the surfaces of the first concave pit 120 and the first rolling way 110 can be regarded as a structure similar to a step, the oil film bearing capability can be improved.

Referring to fig. 4 and 5, in the embodiment of the present invention, therefore, the shape of the first opening 121 is circular, and the maximum width d1 of the first opening 121 is the diameter of the first opening 121, which satisfies: h1 is more than or equal to 1 mu m and less than or equal to 5 mu m, and d1 is more than or equal to 50 mu m and less than or equal to 100 mu m. The first opening 121 is circular, has high reliability, and can further improve the friction resistance and the lubricating capability of the first raceway 110, and effectively improve the white layer phenomenon of the first raceway 110. It can be understood that when the first pit 120 is processed, laser etching can be performed by a picosecond fiber laser, and the manufacturing is convenient. It should be noted that the spherical shape of the first concave pit 120 means that the second concave pit 220 is a part of the spherical surface, and all the following descriptions to "spherical" mean a part of the spherical surface.

In an embodiment of the present invention, the first texture includes a plurality of first recesses 120, an area of the first opening 121 of all the first recesses 120 is A1, and a surface area of the first raceway 110 is A2, which satisfy: A1/A2 is more than or equal to 10% and less than or equal to 20%. Note that the surface area A2 of the first raceway 110 means a surface area when the first texture is not provided. It is understood that if the occupation area of all the first recesses 120 is too small, for example, less than 10%, the effect of storing the abrasive grains and the lubricant is poor, and when the occupation area is too large, the wear is easily increased. Therefore, the area ratio of all the first openings 121 is controlled to be more than or equal to 10% and less than or equal to A1/A2 and less than or equal to 20%, so that the first raceway 110 has good anti-friction capability and lubricant storage capability, and the white layer problem of the first raceway 110 is solved.

Referring to fig. 3, in the embodiment of the present invention, a plurality of first recesses 120 are spaced between a first region 130 and a second region 140. The plurality of first recesses 120 are spaced apart from one another to facilitate the first recesses 120 to store abrasive particles and lubricant. In the embodiment of the present invention, the first recesses 120 are uniformly distributed in the first region 130 and the second region 140. It will be appreciated that the plurality of first pockets 120 are evenly spaced to facilitate storage of abrasive particles produced by the first race 110 at different locations within the first and

second regions

130, 140.

In embodiments of the present invention, the shape of the first recess 120 may be spherical, cylindrical, prismatic, or reticulated, and the first texture includes one or more of the first recesses 120 having the above-described shapes. For example, only the spherical first recesses 120, or only the cylindrical first recesses 120, or a combination of the spherical first recesses 120 and the prismatic first recesses 120 may be used, and the shape is selected as appropriate according to the actual situation.

In the related art, the outer ring 200 of the flexible bearing 1000 and a flexible gear (not shown in the figure) have periodic circumferential movement and axial movement, and the outer ring 200 of the flexible bearing 1000 and the inner wall of the flexible gear are friction pairs with the largest abrasion loss. Thus, referring to fig. 6, in the embodiment of the present invention, the outer side of the outer ring 200 is provided with the second texture, i.e. the side of the outer ring 200 facing away from the inner ring 100. The second texture can reduce the contact area between the outer side of the outer ring 200 and the inner wall of the flexible gear, so that the friction force is reduced, and the generation of abrasive particles is reduced. Abrasive particles generated by friction between the outer ring 200 and the inner wall of the flexible gear can be stored in the second texture, so that the abrasive particles are improved, and the abrasion of the outer ring 200 and the inner wall of the flexible gear is further aggravated. The second texture can also store a lubricant, so that the oil film bearing capacity is increased, the lubricating effect is improved, and the wear resistance is improved. It can be understood that when the second texture is not provided, the abrasion of the outer ring 200 and the flexible gear is accelerated by the abrasion of the inner wall of the flexible gear, and a part of the abrasion enters the first rolling path 110 to accelerate the abrasion of the first rolling path 110. Therefore, the second texture is arranged on the outer side of the outer ring 200, so that abrasion between the outer ring 200 and the inner wall of the flexible gear is reduced, and abrasive particles generated by friction between the outer ring 200 and the inner wall of the flexible gear can be reduced to enter the first raceway 110, so that the service life of the flexible bearing 1000 is prolonged.

Referring to fig. 7 and 8, in an embodiment of the present invention, the second texture includes a second pit 220, a maximum depth of the second pit 220 is h2, the second pit 220 has a second opening 221, and a maximum width of the second opening 221 is d2, which satisfies: h2 is more than or equal to 1 mu m and less than or equal to 100 mu m, and d2 is more than or equal to 50 mu m and less than or equal to 1000 mu m. For example, h2 may be 5 μm,10 μm,20 μm,50 μm, etc., and d2 may be 100 μm,200 μm,500 μm, etc.

It will be appreciated that the depth of the second recesses 220 is less than 1 μm, and is easily flattened, so that the ability to store lubricant and abrasive particles is reduced, and the effect of reducing frictional loss is not achieved over a long period of use. If the depth of second dimples 220 is too large, for example, greater than 100 μm, the lubrication effect is likely to deteriorate, and it is difficult to form a continuous oil film on the outer side of outer ring 200. Therefore, the reasonable design of the size of the second concave pit 220 can improve the function of storing abrasive particles and lubricant, effectively improve the abrasion between the outer ring 200 and the inner wall of the flexible gear, and improve the oil film bearing capacity. It should be noted that the maximum width d2 of the second opening 221 is 1000 μm at the maximum, and the maximum width d1 of the first opening 121 is 200 μm at the maximum, because the outer side of the outer ring 200 is in surface contact with the inner wall of the flexible gear, and the contact width is larger, so that the maximum width of the second opening 221 can be increased appropriately, so that the second recess 220 can store more abrasive particles and lubricant, and improve the wear between the outer ring 200 and the flexible gear.

With continued reference to fig. 7 and 8, in the embodiment of the present invention, therefore, the second opening 221 is circular, and the maximum width d2 of the second opening 221 is the diameter of the second opening 221, which satisfies the following conditions: h2 is more than or equal to 1 mu m and less than or equal to 5 mu m, d2 is more than or equal to 100 mu m and less than or equal to 500 mu m, the reliability of the outer ring 200 is improved, and the friction resistance between the outer ring 200 and the inner wall of the flexible gear is further improved. It can be understood that, when the second pit 220 is processed, laser etching can be performed through a picosecond fiber laser, which is fast and fast.

In the embodiment of the present invention, the area of the second opening 221 of all the second recesses 220 is A3, and the surface area of the outer side of the outer ring 200 is A4, which satisfy: 0< -A3/A4 > 50%, for example, the ratio of the second openings 221 of all the second recesses 220 may be controlled to 10%, 15%, 20%, 30%, or the like. The surface area A4 on the outer side of outer ring 200 refers to the area on the outer side of outer ring 200 where second dimples 220 are not provided. It will be appreciated that if the area of the second recess 220 is too small, the oil and abrasive particles are less effectively stored, while the area of the second recess 220 is too large, which may lead to increased wear.

In embodiments of the present invention, the shape of the second recesses 220 may be spherical, cylindrical, prismatic, or textured, and the second texture includes one or more of the above-mentioned shapes of the second recesses 220. For example, only the spherical second recesses 220, or only the cylindrical second recesses 220, or a combination of the spherical second recesses 220 and the prismatic second recesses 220, and the shape is selected according to the actual situation.

Referring to fig. 6, in the embodiment of the present invention, a plurality of second recesses 220 are spaced outside of the outer ring 200, so that the second recesses 220 store abrasive particles and lubricant. In the embodiment of the present invention, the plurality of second recesses 220 are uniformly distributed on the outer side of the outer ring 200. It can be understood that the second recesses 220 are uniformly arranged, so as to store the abrasive particles generated at different positions on the outer side of the outer ring 200 and the inner wall of the flexible gear.

Referring to fig. 9 and 10, in another embodiment of the present invention, the second texture includes a third pit 230, the maximum depth of the third pit 230 is h3, the third pit 230 has a third opening 231 with a circular shape, and the diameter of the third opening 231 is d3, which satisfies: h3 is more than or equal to 10 mu m and less than or equal to 20 mu m, and d3 is more than or equal to 300 mu m and less than or equal to 800 mu m. It is understood that the depth of the third recesses 230 is greater than that of the second recesses 220, and therefore more lubricant can be stored, in the maximum depth range of the third recesses 230 as compared to the spherical second recesses 220, and the maximum depth range of the third recesses 230 as compared to the maximum depth range of the second recesses 220 is 1 μm h 25 μm; compared with the maximum diameter of the second pits 220, the maximum diameter d3 of the third pits 230 is 800 μm, and the maximum diameter d2 of the second pits 220 is 500 μm, so that the diameter d3 of the third pits 230 can be designed to be larger, which is convenient for extruding out lubricant, and the oil storage and lubrication capability of the third pits 230 is better.

It should be noted that the second dimples 220 mainly serve to improve the friction resistance between the outer ring 200 and the inner wall of the flexible gear, the third dimples 230 mainly serve to improve the oil storage capacity outside the outer ring 200, and the second dimples 220 or the third dimples 230 may be selectively designed outside the outer ring 200 during manufacturing. When the working environment of the flexible bearing 1000 is severe, for example, a frequent start-stop scene is required, the third recess 230 may be selected to be designed to improve the lubricating capability between the outer ring 200 and the flexible gear; when the wear between the outer ring 200 and the flexible gear is severe, the second concave pit 220 can be designed to improve the friction resistance between the outer ring 200 and the inner wall of the flexible gear.

Referring to fig. 11, in the embodiment of the present invention, the second raceway 210 of the outer ring 200 is provided with a plurality of fourth recesses 240, the shape of the fourth recesses 240 may be spherical, cylindrical, prismatic, or reticulated, and the second raceway 210 may be provided with one or more of the fourth recesses 240 of the above-described shapes. It is understood that the fourth recesses 240 may reduce a contact area between the rolling bodies 300 and the second raceways 210, thereby reducing friction and reducing generation of abrasive particles. The fourth concave pit 240 can store abrasive particles, which is beneficial to reducing the condition that the abrasive particles cause the wear of the second raceway 210 to be intensified, so that the service life of the outer ring 200 is prolonged. The fourth dimples 240 can also store lubricant, and when the rolling elements 300 press the second raceway 210, the second raceway 210 is slightly deformed, so that the lubricant is squeezed out, a secondary lubrication effect is achieved, and friction is further reduced.

Referring to fig. 12 and 13, in the implementation of the present invention, the maximum depth of the fourth pit 240 is h4, the fourth pit 240 has a fourth opening 241, and the maximum width of the fourth opening 241 is d4, which satisfies: h4 is more than or equal to 1 mu m and less than or equal to 20 mu m, and d4 is more than or equal to 50 mu m and less than or equal to 1000 mu m. When the fourth opening 241 is circular, the maximum width d4 of the fourth opening 241 is the diameter of the fourth opening 241, and satisfies the following conditions: h4 is more than or equal to 1 mu m and less than or equal to 5 mu m, and d4 is more than or equal to 100 mu m and less than or equal to 500 mu m. It can be understood that the depth of the fourth pit 240 is less than 1 μm, and is easily ground and has a great design difficulty; the depth is more than 20 μm, which easily causes the oil film on the surface of the second raceway 210 to break, and the lubrication effect is deteriorated. The maximum width d4 of the fourth pocket 240 is less than 50 μm, the capability of storing abrasive particles and lubricant is low, more than 1000 μm, and the operation of the rolling body 300 is not smooth. Therefore, the reasonably designed fourth concave pit 240 can improve the storage capacity of the abrasive particles and the lubricant and also improve the oil film bearing capacity.

In the embodiment of the present invention, the area of the fourth openings 241 of all the fourth dimples 240 is A5, and the surface area of the second raceway 210 is A6, so that: 0< -A5/A6 > 50%, for example, the ratio of the fourth openings 241 of all the fourth recesses 240 may be controlled to 10%, 15%, 20%, 30%, etc. Note that the surface area A6 of the second raceway 210 refers to a surface area when the fourth dimples 240 are not provided. It is understood that the occupation ratio of the fourth recesses 240 is too small, and the anti-friction ability and the lubrication effect are poor; an excessively large occupancy ratio tends to cause increased wear. Therefore, the area ratio of the fourth concave pits 240 is reasonably designed, the abrasive grain and lubricant storage capacity of the fourth concave pits 240 can be improved, and the abrasion condition of the second roller path 210 can be improved.

Referring to fig. 12, in the embodiment of the present invention, a plurality of fourth recesses 240 are spaced apart from each other in the second raceway 210, so that the fourth recesses 240 store abrasive particles and lubricant. In the embodiment of the present invention, a plurality of fourth recesses 240 are uniformly distributed in the fourth recesses 240, so as to store the abrasive particles generated by the second raceway 210 at different positions.

It can be understood that in the embodiment of the present invention, when the first rolling way 110 is provided with the first recess 120, the second rolling way 210 is provided with the fourth recess 240, and the outer side of the outer ring 200 is provided with the second recess 220 or the third recess 230, the abrasive particles generated by the friction pair at different positions can be stored by the recesses at other positions, so that the condition of increased wear caused by the abrasive particles is reduced as a whole.

A harmonic reducer of an embodiment of the present invention includes the compliant bearing 1000 of the above embodiment. According to the harmonic reducer of the embodiment of the invention, by adopting the flexible bearing 1000 of the above embodiment, the outer ring 200 of the flexible bearing 1000 is arranged around the inner ring 100, the rolling body 300 is arranged between the first raceway 110 and the second raceway 210, and the rolling body 300 is used for reducing the friction coefficient when the inner ring 100 and the outer ring 200 rotate relatively and reducing the abrasion. A cage 400 is provided between the inner race 100 and the outer race 200, the cage 400 serving to partition the plurality of rolling elements 300. The inner ring 100 of the flexible bearing 1000 cooperates with the cam 500, the outer side of the inner ring 100 is provided with a first raceway 110, and the first raceway 110 is provided with a first texture in both the first region 130 and the second region 140. The first texture has the effect of reducing the contact area between the rolling element 300 and the first raceway 110, the reduction of the contact area can reduce the generation of abrasive particles, and the generated abrasive particles can be stored in the first texture, so that the condition that the abrasive particles further aggravate abrasion is improved, the occurrence of a white layer of the first raceway 110 is reduced, and the risk of fatigue fracture of the inner ring 100 is reduced. The first texture can also store lubricant, and the rolling element 300 can extrude the lubricant by pressing the first raceway 110 to generate micro deformation, so that the lubricant plays a role in secondary lubrication, and the condition of abrasion of the first raceway 110 near the long axis of the cam 500 is effectively improved.

Since the harmonic speed reducer adopts all the technical solutions of the flexible bearing 1000 of the above embodiment, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims

1. A compliant bearing, comprising:

the retainer is arranged between the inner ring and the outer ring;

2. The compliant bearing according to claim 1 wherein the first texture comprises a first dimple having a maximum depth h1 and a first opening having a maximum width d1, wherein: h1 is more than or equal to 1 mu m and less than or equal to 20 mu m, and d1 is more than or equal to 50 mu m and less than or equal to 200 mu m.

3. The compliant bearing according to claim 2 wherein said first opening is circular, wherein a maximum width d1 of said first opening is a diameter of said first opening, and wherein said h1 and said d1 satisfy: h1 is more than or equal to 1 mu m and less than or equal to 5 mu m, and d1 is more than or equal to 50 mu m and less than or equal to 100 mu m.

4. The compliant bearing according to claim 1 wherein said first texture comprises a plurality of first dimples, said first dimples having first openings, said first openings of all of said first dimples having an area A1 and said first raceway having a surface area A2, such that: A1/A2 is more than or equal to 10% and less than or equal to 20%.

5. The compliant bearing according to claim 1 wherein said first texture comprises one or more of first dimples that are spherical, cylindrical, prismatic or reticulated in shape.

6. The compliant bearing according to claim 1 wherein said first texture comprises a plurality of first dimples, said first dimples being spaced apart from one another in said first and second regions.

7. The compliant bearing according to claim 6 wherein said first plurality of dimples are uniformly disposed in said first region and said second region.

8. The compliant bearing according to claim 1 wherein the outer side of said outer race is provided with a second texture.

9. The compliant bearing according to claim 8 wherein said second texture comprises a second dimple having a maximum depth h2 and a second opening having a maximum width d2, wherein said second opening satisfies: h2 is more than or equal to 1 mu m and less than or equal to 100 mu m, and d2 is more than or equal to 50 mu m and less than or equal to 1000 mu m.

10. The compliant bearing according to claim 9 wherein said second opening is circular, wherein a maximum width d2 of said second opening is a diameter of said second opening, and wherein said h2 and said d2 satisfy: h2 is more than or equal to 1 mu m and less than or equal to 5 mu m, and d2 is more than or equal to 100 mu m and less than or equal to 500 mu m.

11. The compliant bearing according to claim 8 wherein said second texture comprises a plurality of second dimples, said second dimples having second openings, said second openings of all of said second dimples having an area A3 and said outer side of said outer ring having a surface area A4, such that: 0 is formed by (a) A3/A4 is less than or equal to 50 percent.

12. The compliant bearing according to claim 8 wherein said second texture comprises a third dimple having a maximum depth of h3 and having a circular third opening having a diameter of d3, such that: h3 is more than or equal to 10 mu m and less than or equal to 20 mu m, and d3 is more than or equal to 300 mu m and less than or equal to 800 mu m.

13. The compliant bearing according to claim 1 wherein the second raceway is provided with a fourth plurality of dimples.

14. A harmonic reducer comprising a compliant bearing according to any of claims 1 to 13.