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CN-121977019-A - Thin-wall retainer for humanoid robot knuckle bearing

CN121977019ACN 121977019 ACN121977019 ACN 121977019ACN-121977019-A

Abstract

The invention discloses a thin-wall retainer for a humanoid robot joint bearing, which comprises a retainer body, wherein a hole beam and a pocket are arranged on the retainer body, the pocket is of an opening structure on one side, an arc-shaped R-angle locking edge is arranged on the hole beam, and an inner flange is integrally connected to the retainer body in a cambered surface transitional mode. The invention forms a double improved design of 'local serging optimization+integral strength reinforcement', wherein the three-section serging structure solves the local defects of stress concentration, abrasion, ball scratch and the like at the joint of a lock point and a pocket, and the inner flange structure compensates the short plates with insufficient integral rigidity, easy torsion deformation and uneven load transmission of the existing retainer, and the two cooperate to ensure that the retainer in the scheme realizes remarkable improvement in the aspects of stress distribution, structural strength, anti-failure capability, assembly convenience, transmission precision and the like, and solves the problems of insufficient bearing capability, abrasion caused by excessive friction and serious influence on the service life of the thin-wall bearing in the prior art.

Inventors

  • ZHENG GUANGHUI
  • ZHAO PEIZHEN
  • ZHENG JINYU

Assignees

  • 山东金帝精密机械科技股份有限公司

Dates

Publication Date
20260505
Application Date
20260130

Claims (10)

  1. 1. The utility model provides a humanoid robot is thin wall holder for joint bearing, includes the holder body, is provided with a plurality of evenly spaced hole roof beam on the holder body, is the pocket hole between the adjacent hole roof beam, and the pocket hole is one side open structure, its characterized in that: the hole beam is integrally connected with an arc R-shaped corner locking edge for preventing balls from sliding out, the retainer body is integrally connected with an inner flange with an annular structure, and cambered surface transition is adopted between two sides of the inner flange and two side surfaces of the retainer body to form an outer cambered surface and an inner cambered surface.
  2. 2. The thin-wall retainer for the humanoid robot joint bearing of claim 1, wherein the arc-shaped R-angle locking edge is of a three-section structure integrally connected, and a guide section, a reinforcing section and a shoulder are sequentially arranged from one end to the other end of the arc-shaped R-angle locking edge.
  3. 3. The thin-wall retainer for the humanoid robot knuckle bearing of claim 2, wherein the outer side surface of the guide section is arc-shaped, the relation between the thickness (t) of the hole beam and the radius (r) of the arc surface is 1/3 t≤r≤1.5 t, the guide section is positioned between the Kong Liangyi end surface and the reinforcing section, and the reinforcing section is positioned between the guide section and the retaining shoulder.
  4. 4. The thin-wall retainer for the spherical plain bearing of the humanoid robot according to claim 1, wherein the relation between the thickness (t) of the hole beam and the radius (R) of the extrados is 2/3 t≤R≤3t.
  5. 5. The thin-wall retainer for the humanoid robot knuckle bearing of claim 1, wherein the pocket is provided with a tightening part, and the tightening part and the reinforcing section are intersected to form a shoulder.
  6. 6. The thin-wall retainer for the humanoid robot knuckle bearing of claim 5, wherein the inner wall of the tightening part is an arc surface, and the radius of the arc surface is equal to the radius of the pocket hole.
  7. 7. The thin-wall retainer for the humanoid robot knuckle bearing of claim 1, wherein a blocking part is arranged between the bottom of the pocket and the inner flange.
  8. 8. The thin-walled holder for a humanoid robot knuckle bearing according to claim 1, wherein the holder body 1 is made of one of SUS304 and SUS 304/2H, SUS/304 3/4H.
  9. 9. A humanoid robot joint bearing is characterized by comprising the thin-wall retainer as claimed in any one of claims 1-8, wherein balls are arranged on the thin-wall retainer, an inner ring of the thin-wall retainer is coaxially provided with a bearing inner ring, and an outer ring of the thin-wall retainer is coaxially provided with a bearing outer ring.
  10. 10. The spherical plain bearing for a humanoid robot of claim 9, wherein the relationship between the diameter (D) of the thin-walled cage, the number (n) of balls on the thin-walled cage, and the diameter (D) of the balls is n.d≤pi.d≤1.2.n.d.

Description

Thin-wall retainer for humanoid robot knuckle bearing Technical Field The invention relates to a thin-wall retainer, in particular to a thin-wall retainer for a humanoid robot knuckle bearing, and belongs to the technical field of bearings. Background The joint part and other motion transmission parts of the humanoid robot are core components for realizing flexible rotation and posture adjustment of the limbs of the robot, and the running stability, reliability and durability of the robot directly determine the motion precision and service life of the humanoid robot. The thin-wall bearing is used as a key supporting component of the joint and the movement part of the humanoid robot, and can realize high-efficiency force transmission and movement guidance in a limited installation space by virtue of the advantages of compact structure, light weight and small radial section size, so that the thin-wall bearing is widely applied to various joint structures of the humanoid robot, such as shoulders, elbows, wrists, hips, knees and the like. The core components of the thin-wall bearing comprise an outer ring, an inner ring, balls (rolling bodies) and a thin-wall retainer, wherein the core function of the thin-wall retainer is to uniformly distribute the balls in a separated mode, so that mutual friction collision among the balls is avoided, meanwhile, the balls are guided to stably move along a raceway between the inner ring and the outer ring, and the integral transmission precision of the bearing is ensured. Considering the installation space limitation, the lightweight demand of structure and the assembly convenience of thin wall bearing of humanoid robot joint, be applied to the thin wall bearing of humanoid robot joint or other motion positions among the prior art, its thin wall holder adopts the open-ended structural design in one side more, and this kind of open-type thin wall holder need not whole parcel ball, and the assembly of ball is accomplished fast to the accessible opening side, promotes assembly efficiency by a wide margin, can further reduce the whole volume and the weight of holder simultaneously, adapts to the lightweight design demand of humanoid robot. In order to prevent balls from falling off from the opening side of the retainer under the action of impact load generated by frequent start and stop and gesture switching of the humanoid robot joint in the running process of the bearing, the prior open type thin-wall retainer is provided with a lock point structure at the corresponding position of the opening of the retainer, the lock point is used as a key limiting part for limiting the falling off of the balls, the edge of the opening of the retainer is formed in a protruding way towards the inside of the pocket through processing modes such as stamping, cutting or injection molding (aiming at the plastic retainer), and the like, and the protruding height of the lock point is suitable for just attaching to the surface of the balls, not influencing the normal rolling of the balls and effectively blocking the falling off of the balls. Correspondingly, the pocket hole for accommodating the ball on the thin-wall retainer is generally designed into an arc-shaped structure matched with the curvature of the ball, so that the inner wall of the pocket hole is in contact with the surface of the ball, the ball can uniformly transfer the received force to the pocket hole of the retainer in the moving process, the local stress concentration is reduced, the friction loss between the ball and the pocket hole is reduced, and the stability of the movement of the ball is ensured. However, in the prior art, a reasonable smooth transition structure is not arranged between the lock point and the arc-shaped inner wall of the pocket, and the junction of the lock point and the arc-shaped inner wall of the pocket is in a sharp transition state, namely, the curved end of the arc-shaped inner wall of the pocket directly forms a sharp corner or a transition with a very small radius with the convex side surface of the lock point (the transition radius is usually far smaller than the curvature radius of the ball), so that an obvious geometric mutation is formed at the junction. In the actual working process of the humanoid robot, the joints and the movement parts of the humanoid robot need to bear complex loads from all directions, including axial force, radial force, overturning moment and the like, and the loads can be transmitted to the pocket holes and the locking point structures of the thin-wall retainer through the balls. Because the ball can change along with the rotation of the joint in the motion process, and the received load direction has randomness and periodicity, the lock point can continuously receive the extrusion force, impact force and friction force from different directions of the ball, and the forces can directly act on the sharp transition position of the lock point and the arc inner wall of the po