Rod end knuckle bearing

Abstract

The rod end knuckle bearing comprises a rod end body, an inner hole is formed in the rod end body, an inner ring is installed in the inner hole in a matched mode, an annular limiting groove is formed in the outer spherical surface of the inner ring, and a limiting pin used for being matched with the annular limiting groove in a limiting mode so as to limit the swing freedom degree of the inner ring in the designated direction is fixed to the rod end body. The limiting pin is arranged on the rod end body, meanwhile, the annular limiting groove is formed in the outer spherical surface of the inner ring, and therefore the swing freedom degree of the inner ring in the left-right direction can be limited through limiting cooperation of the inner side end of the limiting pin and the annular limiting groove; and the walking stability of the humanoid robot can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bearings, and particularly to a rod end spherical bearing. Background Art

[0002] Rod end spherical bearings are applied in many fields, such as engineering hydraulic cylinders, forging machines, construction machinery, automation equipment, automotive shock absorbers, water conservancy machinery, humanoid robots and other technical fields. Based on the requirements of their functions and performances, new requirements are also put forward for rod end spherical bearings. Existing rod end spherical bearings can usually swing and rotate in any direction. When they are used at the ankle of a humanoid robot, due to their characteristics of swinging and rotating in any direction, the humanoid robot has poor stability when walking. Summary of the Invention

[0003] In view of the deficiencies of the prior art, the present invention provides a rod end spherical bearing, which mainly solves the technical problem that when an existing rod end spherical bearing that can swing and rotate in any direction is applied to the ankle of a humanoid robot, it may cause poor stability of the humanoid robot when walking.

[0004] To achieve the above object, the present invention is realized by the following technical solutions: A rod end spherical bearing includes a rod end body, an inner hole is formed in the rod end body, an inner ring is fitted in the inner hole, an annular limiting groove is formed on the outer spherical surface of the inner ring, and a limiting pin is fixed on the rod end body for limiting cooperation with the annular limiting groove to limit the swinging freedom degree of the inner ring in a specified direction.

[0005] Further, the annular limiting groove is formed at the equator position of the outer spherical surface of the inner ring.

[0006] Further, at least one pin hole is formed on the side of the rod end body, a limiting pin is installed in the pin hole, and the inner end of the limiting pin is correspondingly inserted into the annular limiting groove of the inner ring to form a limiting cooperation, thereby restricting the swinging freedom degree of the inner ring in a specified direction.

[0007] Further, two oppositely arranged pin holes are formed on the side of the rod end body, a limiting pin is installed in each of the two pin holes, and the inner ends of the two limiting pins are correspondingly inserted into the annular limiting groove of the inner ring to form a limiting cooperation.

[0008] Further, the limiting pin is of a cylindrical pin structure.

[0009] Further, a self-lubricating gasket for self-lubricating the rotation of the inner ring relative to the rod end body is provided on the inner wall of the inner hole of the rod end body.

[0010] Further, upper and lower annular lubricating grooves are provided on the inner wall of the inner hole of the rod end body, and self-lubricating pads are arranged in both the upper annular lubricating groove and the lower annular lubricating groove.

[0011] Further, the self-lubricating pad is a PTFE self-lubricating pad.

[0012] The above technical solution has the following advantages or beneficial effects:

[0013] In the rod end spherical plain bearing of the present invention, by providing a limit pin on the rod end body and at the same time providing an annular limit groove on the outer spherical surface of the inner ring, in this way, through the limit cooperation between the inner end of the limit pin and the annular limit groove, the swing freedom in the left and right directions of the inner ring can be restricted. When it is applied to the ankle of a humanoid robot, the walking stability of the humanoid robot can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic three-dimensional structure diagram of an embodiment of the present invention.

[0015] Figure 2 is a schematic exploded three-dimensional structure diagram of an embodiment of the present invention.

[0016] Figure 3 is a sectional view of the assembly structure of an embodiment of the present invention.

[0017] Reference numerals:

[0018] 1. Rod end body, 2. Inner ring, 3. Limit pin, 4. Self-lubricating pad, 11. Inner hole, 12. Pin hole, 13. Upper annular lubricating groove, 14. Lower annular lubricating groove, 21. Annular limit groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The present invention will be further described below with reference to the drawings and embodiments.

[0020] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0021] Please refer to the attached Figure 1, an embodiment of the present invention provides a rod end spherical bearing, preferably an extrusion type rod end spherical bearing. Through the extrusion molding process, the rod end spherical bearing can achieve zero clearance, including a rod end body 1. An inner hole 11 is provided on the rod end body 1, and an inner ring 2 is adaptively installed in the inner hole 11. An annular limiting groove 21 is provided on the outer spherical surface of the inner ring 2, and a limiting pin 3 is fixed on the rod end body 1 for limiting the swing freedom of the inner ring 2 in a specified direction by being in limiting cooperation with the annular limiting groove 21. It can be understood that in this embodiment, by providing the limiting pin 3 on the rod end body 1 and, at the same time, providing the annular limiting groove 21 on the outer spherical surface of the inner ring 2, in this way, through the limiting cooperation between the inner end of the limiting pin 3 and the annular limiting groove 21, the swing freedom of the inner ring 2 in the left and right directions can be restricted. When it is applied to the ankle of a humanoid robot, the walking stability of the humanoid robot can be effectively improved. In addition, the rod end spherical bearing of this embodiment can also be applied to occasions with requirements for the swing direction, large loads, limited space, troublesome installation and disassembly, inconvenient replacement, and inconvenient lubrication.

[0022] Please refer to the attached Figure 1 to the attached Figure 3 . In one of the preferred embodiments, at least one pin hole 12 is provided on the side of the rod end body 1, and the limiting pin 3 is installed in the pin hole 12, and the inner end of the limiting pin 3 is correspondingly inserted into the annular limiting groove 21 of the inner ring 2 to form a limiting cooperation, thereby restricting the swing freedom of the inner ring 2 in a specified direction. Preferably, in one of the preferred embodiments, two oppositely arranged pin holes 12 are provided on the side of the rod end body 1, and a limiting pin 3 is installed in each of the two pin holes 12, and the inner ends of the two limiting pins 3 are both correspondingly inserted into the annular limiting groove 21 of the inner ring 2 to form a limiting cooperation. However, those skilled in the art should understand that in other embodiments, three or four or more limiting pins 3 can also be dispersedly arranged on the side of the rod end body 1, not limited to the specific implementation manner disclosed in this embodiment. The center lines of each limiting pin 3 all pass through the same center point. Preferably, the annular limiting groove 21 is provided at the equator line position of the outer spherical surface of the inner ring 2, and the center lines of each limiting pin 3 all pass through the center of the inner ring 2. In addition, those skilled in the art can also specifically set the installation direction angle of the limiting pin 3 on the side of the rod end body 1 and open the annular limiting groove 21 at the corresponding angles and positions on the outer spherical surface of the inner ring 2 according to specific needs, so as to realize restricting the swing freedom of the inner ring 2 in a specified direction.

[0023] Please refer to the attached Figure 1 to the attached Figure 3 . In one of the preferred embodiments, the limiting pin 3 is of a cylindrical pin structure. In this embodiment, by configuring the limiting pin 3 as a cylindrical pin structure, the inner ring 2 can rotate around the center line of the cylindrical pin and, at the same time, can rotate on its own under the cooperation of the limiting pin 3 and the annular limiting groove 21.

[0024] Please refer to the attached Figure 1 to the attached Figure 3 , in one preferred embodiment, a self-lubricating gasket 4 for self-lubricating the rotation of the inner ring 2 relative to the rod end body 1 is provided on the inner wall of the inner hole 11 of the rod end body 1. Upper and lower annular lubricating grooves 13 and 14 are provided on the inner wall of the inner hole 11 of the rod end body 1, and self-lubricating gaskets 4 are provided in both the upper annular lubricating groove 13 and the lower annular lubricating groove 14. The self-lubricating gasket 4 is a PTFE self-lubricating gasket. In this embodiment, the effect of product maintenance-free can be achieved through the self-lubricating gasket 4, avoiding the cumbersome operation of subsequent lubrication performance maintenance. However, those skilled in the art should understand that in other embodiments, the self-lubricating gasket 4 can also be other existing conventional self-lubricating gasket materials, not limited to the specific implementation disclosed in this embodiment, and those skilled in the art can set it specifically according to specific needs.

[0025] In addition, the production process of the rod end spherical plain bearing in this embodiment is as follows: 1), Inner ring: Turning the end face of the shaft hole → Turning the outer circle end face → Turning the annular limiting groove → Turning the outer spherical surface and chamfering → Heat treatment → Grinding both end faces → Grinding the outer spherical surface → Grinding the shaft hole; 2), Rod end body: Turning the sphere and the outer cylindrical surface → Turning both end faces → Turning the rod end inner hole, annular lubricating groove and chamfering → Drilling the pin hole → Turning the handle thread and end face. 3), Assembly: Sandblasting the rod end inner hole → Cutting the gasket → Pasting the gasket → Pre-expansion treatment of the gasket → Installing the limit pin → Extrusion → Curing → Clearance or torque treatment.

[0026] As mentioned above, the embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Therefore, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Claims

1. A rod end spherical plain bearing, comprising a rod end body (1), an inner hole (11) is formed in the rod end body (1), and an inner ring (2) is adaptively installed in the inner hole (11), characterized in that: An annular limiting groove (21) is formed on the outer spherical surface of the inner ring (2), and a limiting pin (3) is fixed on the rod end body (1) for limiting cooperation with the annular limiting groove (21) to limit the swinging freedom degree of the inner ring (2) in a specified direction.

2. The rod end spherical plain bearing according to claim 1, characterized in that: The annular limiting groove (21) is formed at the equator line position of the outer spherical surface of the inner ring (2).

3. The rod end joint bearing according to claim 2, wherein: At least one pin hole (12) is formed on the side of the rod end body (1), and the limiting pin (3) is installed in the pin hole (12). The inner end of the limiting pin (3) is correspondingly inserted into the annular limiting groove (21) of the inner ring (2) to form a limiting cooperation, thereby restricting the swinging freedom degree of the inner ring (2) in a specified direction.

4. The rod end spherical plain bearing according to claim 3, characterized in that: Two oppositely arranged pin holes (12) are formed on the side of the rod end body (1), and a limiting pin (3) is installed in each of the two pin holes (12). The inner ends of the two limiting pins (3) are correspondingly inserted into the annular limiting groove (21) of the inner ring (2) to form a limiting cooperation.

5. The rod end spherical plain bearing according to claim 3, characterized in that: The limiting pin (3) is of a cylindrical pin structure.

6. The rod end spherical plain bearing according to any one of claims 1 to 5, characterized in that: A self-lubricating gasket (4) for self-lubricating the rotation of the inner ring (2) relative to the rod end body (1) is provided on the inner wall of the inner hole (11) of the rod end body (1).

7. The rod end spherical plain bearing according to claim 6, characterized in that: An upper annular lubricating groove (13) and a lower annular lubricating groove (14) are formed on the inner wall of the inner hole (11) of the rod end body (1), and the self-lubricating gasket (4) is arranged in both the upper annular lubricating groove (13) and the lower annular lubricating groove (14).

8. The rod end joint bearing according to claim 7, wherein: The self-lubricating gasket (4) is a PTFE self-lubricating gasket.

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