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CN-121977015-A - Bipyramid bearing for humanoid robot joint and humanoid robot joint

CN121977015ACN 121977015 ACN121977015 ACN 121977015ACN-121977015-A

Abstract

The invention discloses a biconical bearing for a humanoid robot joint and the humanoid robot joint, which comprise an outer ring and an inner ring, wherein a retainer is arranged between the outer ring and the inner ring, the retainer is provided with a pocket, rolling bodies are movably limited in the pocket, and the biconical bearing also comprises a sealing ring. By adopting the technical scheme, the two ends of the rolling body are both conical structures, and can bear axial force and radial force simultaneously. When the bearing is horizontally arranged and operated, the retainer rotates to drive the moving block to move together, so that lubricating grease at the bottom of the bearing can sequentially enter the moving block through the opening of the moving block, the first inlet of the extrusion block and the second inlet of the blocking block. When the grease at the bottom of the bearing is more settled, the movement of the extrusion block is blocked, so that the extrusion block is close to and pushes the blocking block, the first inlet and the second inlet are blocked, and meanwhile, the grease in the moving block is extruded by the blocking block, so that the grease is extruded to the upper end conical surface of the rolling body through the extrusion channel.

Inventors

  • LI ZHUO
  • LIAO YONGJUN
  • GONG RUI

Assignees

  • 御传(上海)传动科技有限公司
  • 江苏御传新能源科技有限公司
  • 重庆御传新能源科技有限公司

Dates

Publication Date
20260505
Application Date
20260403

Claims (10)

  1. 1. The double-cone bearing for the humanoid robot joint comprises an outer ring and an inner ring, wherein a retainer is arranged between the outer ring and the inner ring and is provided with a pocket, rolling bodies are movably limited in the pocket, the double-cone bearing is characterized by further comprising, The sealing ring is fixedly arranged at the bottom of the outer ring and is used for sealing a gap between the outer ring and the inner ring; A lubrication mechanism, the lubrication mechanism comprising, The moving block is fixed at the bottom of the retainer, the bottom of the moving block is movably arranged on the surface of the sealing ring, one end of the moving block is provided with an opening, the other end of the moving block is provided with an extrusion channel, and the outlet end of the extrusion channel faces the conical surface of the rolling body; The extrusion block is arranged in the moving block in a sliding manner, the extrusion block is arranged close to the opening, and a first inlet is formed in the extrusion block in a penetrating manner; The blocking piece is arranged in the moving block in a sliding manner, the blocking piece is arranged close to the extrusion channel, a second inlet which is staggered with the first inlet is arranged in a penetrating manner, a telescopic piece is connected between the blocking piece and the extrusion block, and when the extrusion block moves towards the opening, the blocking piece is pulled away from the extrusion channel through the telescopic piece; and the spring is connected between the moving block and the extrusion block.
  2. 2. The double cone bearing for a humanoid robot joint according to claim 1, wherein both ends of the rolling bodies are cone structures, the outer ring is provided with an outer raceway adapted to the shape of the rolling bodies, and the inner ring is provided with an inner raceway adapted to the shape of the rolling bodies.
  3. 3. The double cone bearing for a humanoid robot joint according to claim 2, wherein the outer ring comprises an upper ring and a lower ring, the upper ring and the lower ring are fixed by a first bolt, the inner walls of the upper ring and the lower ring are respectively provided with a chute, the chute of the upper ring and the chute of the lower ring jointly form the outer raceway, and the sealing ring is fixed at the bottom of the upper ring.
  4. 4. A bipyramid bearing for a humanoid robot joint according to claim 1, wherein the number of lubrication means is at least two, the openings of at least one set of lubrication means being arranged in a clockwise direction and the openings of at least one set of lubrication means being arranged in a counter-clockwise direction.
  5. 5. The biconical bearing for a humanoid robot joint according to claim 1, wherein a guide rod is fixed in the moving block, a guide hole is formed through the pressing block, the guide rod is slidably connected with the guide hole, and the spring is sleeved on the guide rod.
  6. 6. The bipyramid bearing for the humanoid robot joint according to claim 1, wherein the telescopic member is of a sliding rod structure, one end of the sliding rod structure is fixed with the blocking block, the other end of the sliding rod structure is fixed with a sliding block, the extrusion block is provided with a sliding groove, and the sliding block is in sliding connection with the sliding groove.
  7. 7. The double cone bearing for a humanoid robot joint according to claim 6, wherein the moving block is fixed with a stopper provided at one side of the block near the extrusion block for limiting the block when the extrusion block pulls the block.
  8. 8. A bipyramid bearing for a humanoid robot joint according to claim 1, wherein the sealing ring is secured to the outer race by a second bolt.
  9. 9. A bipyramid bearing for a humanoid robot joint according to claim 1, wherein the distance between the moving block and the sealing ring surface is 0.5-2mm.
  10. 10. A humanoid robot joint comprising a mounting base and a flange, wherein the mounting base is used for connecting a trunk of a robot, and the flange is used for connecting legs of the robot, and is characterized in that the flange is rotatably mounted on the mounting base through the biconical bearing for the humanoid robot joint according to any one of claims 1 to 9.

Description

Bipyramid bearing for humanoid robot joint and humanoid robot joint Technical Field The invention relates to the technical field of bearings, in particular to a bipyramid bearing for a humanoid robot joint and the humanoid robot joint. Background The current society has rapid industrial development and high product integration, and aims at the application fields of robot joints, especially hip joints and the like which need small volume and high bearing capacity, the existing bearings still have a plurality of defects in the aspects of structure, lubrication and the like, and are difficult to completely adapt to the requirements of modern industrial development. In particular, existing bearings mainly have the following problems in robotic hip applications: 1. the hip joint is a hinge connecting the trunk and the thigh, and in the course of the movement, it is necessary to bear both the upward axial force generated in the support phase and the downward axial force caused by the dead weight of the leg during walking. The bearing type such as a steel ball bearing, a cylindrical bearing and a conical bearing which are common internationally are difficult to effectively meet the bearing requirement of the bidirectional axial alternating load. 2. After the lubricating grease is injected into the existing bearing, the lubricating medium is easy to subside under the action of gravity, so that the upper area of the bearing is not sufficiently lubricated, and the working reliability and the service life of the bearing are affected. Through searching, the patent with the publication number CN 207715542U discloses a double-tapered roller bearing with an automatic lubrication function, axial loads from different directions can be borne by adopting a double-tapered roller structure, a ball valve is opened by utilizing centrifugal force during starting after installation, and lubricant flows out to a roller channel through a nozzle after being disturbed, so that automatic lubrication is realized. However, the technical scheme still has certain limitations that on one hand, the robot joint is low in normal running rotation speed, the generated centrifugal force is limited, an automatic lubrication mechanism of the robot joint is difficult to trigger effectively, and on the other hand, the robot joint is supplemented with lubricant at each start, excessive lubrication is easy to cause, and lubricating grease leakage is likely to be caused or running resistance is increased. In summary, there is a need for further improvements in the axial load bearing and lubrication capabilities of existing bearings, particularly special bearings for robotic hip joints. Disclosure of Invention The invention aims to solve the problem that the axial bearing and the lubrication capability of the existing humanoid robot bearing are poor. In order to solve the problems, the invention discloses a bipyramid bearing for a humanoid robot joint, which comprises an outer ring and an inner ring, wherein a retainer is arranged between the outer ring and the inner ring, the retainer is provided with a pocket, rolling bodies are movably limited in the pocket, and the bipyramid bearing further comprises: the sealing ring is fixedly arranged at the bottom of the outer ring and is used for sealing a gap between the outer ring and the inner ring; A lubrication mechanism, the lubrication mechanism comprising: The moving block is fixed at the bottom of the retainer, the bottom of the moving block is movably arranged on the surface of the sealing ring, one end of the moving block is provided with an opening, the other end of the moving block is provided with an extrusion channel, and the outlet end of the extrusion channel faces the upper conical surface of the rolling body; The extrusion block is arranged in the moving block in a sliding manner, the extrusion block is arranged close to the opening, and a first inlet is formed in the extrusion block in a penetrating manner; The blocking piece is arranged in the moving block in a sliding manner, the blocking piece is arranged close to the extrusion channel, a second inlet which is staggered with the first inlet is arranged in a penetrating manner, a telescopic piece is connected between the blocking piece and the extrusion block, and when the extrusion block moves towards the opening, the blocking piece is pulled away from the extrusion channel through the telescopic piece; and the spring is connected between the moving block and the extrusion block. By adopting the technical scheme, when the bearing is horizontally arranged and runs, the retainer rotates to drive the moving block to move together, so that lubricating grease at the bottom of the bearing can sequentially enter the moving block through the opening of the moving block, the first inlet of the extrusion block and the second inlet of the blocking block. When the grease at the bottom of the bearing is more settled, the movement of the extrusion block