Robot knuckle bearing machining device with detection function

Abstract

The invention discloses a robot knuckle bearing machining device with a detection function, and relates to the field of grinding machining. The device comprises a grinding mechanism and a clamping assembly, the grinding mechanism comprises a main air cylinder, a supporting frame, a washing and punching piece, a multifunctional grinding assembly and a limiting supporting piece, the supporting frame is fixedly connected to the power output end of the main air cylinder, the washing and punching piece is fixedly connected to the front end of the supporting frame, and the multifunctional grinding assembly is rotationally connected into the multifunctional grinding assembly; the multifunctional grinding assembly comprises a grinding drill bit and a detection probe, and the limiting supporting piece is arranged in the supporting frame and used for damping the multifunctional grinding assembly. According to the device, the angle between the grinding drill bit and the inner ball groove of the knuckle bearing can be adjusted for grinding, the grinding effect is better, meanwhile, after grinding is completed, the multifunctional grinding assembly is rotated, and rapid detection can be conducted by entering the inner ball groove of the knuckle bearing through the detection probe at the other end.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding processing, and particularly to a processing device for a robot joint bearing with a detection function. Background Art

[0002] The processing device for a robot joint bearing is a core device dedicated to manufacturing robot joint bearings with high precision and high reliability. Its core purpose is to ensure the geometric accuracy, surface finish and material properties of the bearing through precision machining technology, so as to meet the operating requirements of high load, high speed, low friction and long life of the robot joint.

[0003] Since the joint bearing is divided into an inner bearing and an outer bearing, and due to the special arc cavity of the inner ball groove of the outer bearing, on the one hand, ordinary unidirectional grinding heads cannot fully grind the inner groove, and on the other hand, it is more difficult to detect the inner ball groove. It is necessary to additionally set up a detection mechanism to conduct unified detection after grinding, and it is impossible to grind again in time, resulting in an increase in processing costs. In addition, during grinding, the common milling fluid is sprayed from top to bottom, which not only easily causes the milling fluid to splash around the device, but also cannot spray the inner ball groove of the outer bearing. In view of the above situation, the present invention provides a processing device for a robot joint bearing with a detection function to solve the above problems. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a processing device for a robot joint bearing with a detection function, which solves the problems that since the joint bearing is divided into an inner bearing and an outer bearing, and due to the special arc cavity of the inner ball groove of the outer bearing, on the one hand, ordinary unidirectional grinding heads cannot fully grind the inner groove, and on the other hand, it is more difficult to detect the inner ball groove. It is necessary to additionally set up a detection mechanism to conduct unified detection after grinding, and it is impossible to grind again in time, resulting in an increase in processing costs. In addition, during grinding, the common milling fluid is sprayed from top to bottom, which not only easily causes the milling fluid to splash around the device, but also cannot spray the inner ball groove of the outer bearing.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A processing device for a robot joint bearing with a detection function, comprising a grinding mechanism and a clamping assembly. The grinding mechanism includes a main cylinder, a support frame, a washing and flushing component, a multi-functional grinding component, and a limiting support component. The support frame is fixedly connected to the power output end of the main cylinder, and the main cylinder is used to drive the support frame to move forward. The washing and flushing component is fixedly connected to the front end of the support frame, and the washing and flushing component is used to clean the inner cavity of the bearing. The multi-functional grinding component is rotatably connected within the multi-functional grinding component. The multi-functional grinding component includes a grinding drill bit and a detection probe. The grinding drill bit is used to grind the inner cavity of the bearing from multiple angles, and the detection probe is used to inspect the inner cavity of the bearing. The limiting support component is arranged within the support frame, and the limiting support component is used to dampen the multi-functional grinding component.

[0006] Preferably, the clamping assembly includes a clamping seat, an upper clamping component, and a lower fixed arc plate. The clamping seat is used to place the joint bearing. The upper clamping component is slidably connected to the top end of the clamping seat, and the upper clamping component is used to press the joint bearing downward. The lower fixed arc plate is fixedly connected to the bottom end of the clamping seat, and the lower fixed arc plate is used to place the joint bearing and drive the joint bearing to rotate.

[0007] Preferably, a first servo motor is installed at the top end of the support frame. The multi-functional grinding component is fixedly connected to the power output end of the first servo motor. The first servo motor is used to drive the multi-functional grinding component to rotate. A fixed top block is fixedly connected to the top end of the support frame, and the washing and flushing component is fixedly connected to the front end of the fixed top block. A fixed bottom block is fixedly connected to the bottom end of the support frame, and a sliding inner cavity is formed within the fixed bottom block.

[0008] Preferably, the washing and flushing component includes a first support rod, a spray washing nozzle, and a jet air nozzle. The first support rod is fixedly connected to one end of the washing and flushing component, and the first support rod is fixedly connected to the front end of the fixed top block. The spray washing nozzle is fixedly connected to the washing and flushing component, and the spray washing nozzle is used to spray milling fluid into the joint bearing. The jet air nozzle is fixedly connected to the washing and flushing component, and the jet air nozzle is used to spray air into the joint bearing. The jet air nozzle is used to remove the residual liquid within the inner cavity of the bearing.

[0009] Preferably, the multi-functional grinding component further includes a first rotating shaft and a second support rod. The first rotating shaft is rotatably connected within the support frame, and the first rotating shaft is fixedly connected to the power output end of the first servo motor. The second support rod is fixedly connected to both ends of the first rotating shaft. The back end of the grinding drill bit is fixedly connected to a second servo motor, and the second servo motor is used to drive the grinding drill bit to rotate. The second servo motor is fixedly connected to one end of the second support rod, and the detection probe is fixedly connected to the other end of the second support rod.

[0010] Preferably, the limiting and supporting member includes a supporting long plate, a limiting outer plate, a limiting inner plate, a rack and a rotating gear. The supporting long plate is slidably connected to the sliding inner cavity. There are two groups of the supporting long plates. The limiting outer plate is fixedly connected to the outer end of the supporting long plate. The limiting inner plate is fixedly connected to the inner end of the supporting long plate. The limiting inner plate is used to limit the supporting long plate. The rack is fixedly connected to the inner side of the limiting inner plate. The rack is slidably connected in the sliding inner cavity. There are also two groups of the racks. The rotating gear is rotatably connected in the sliding inner cavity. The rotating gear is fixedly connected to the bottom end of the first rotating shaft. The rotating gear meshes with the rack. The rotating gear is used to drive the supporting long plate to move.

[0011] Preferably, the upper clamping member includes a second cylinder and a pressing T-block. A power rod is slidably connected in the second cylinder. A sliding inclined groove is formed in the second cylinder. The pressing T-block is fixedly connected to the front end of the power rod. An inner sliding groove is formed in the pressing T-block.

[0012] Preferably, the upper clamping member further includes two groups of limiting side blocks. Each limiting side block includes a sliding limiting plate, a sliding top plate, a spring and a fixed bottom rod. The sliding limiting plate is slidably connected in the sliding inclined groove. The sliding limiting plate is fixedly connected to the front end of the limiting side block. The sliding top plate is fixedly connected to the top end of the limiting side block. The sliding top plate is slidably connected in the inner sliding groove. One end of the spring is fixedly connected to the inner wall of the inner sliding groove. The other end of the spring is fixedly connected to the side wall of the sliding top plate. The fixed bottom rod is fixedly connected to the bottom end of the limiting side block. The fixed bottom rod is used to support the washing and flushing member.

[0013] Preferably, the lower fixed arc plate includes driven roller wheels, a driving wheel, a water-blocking arc plate, fixed clamping blocks and a third servo motor. The driven roller wheels are arranged in an array on the lower fixed arc plate. The driven roller wheels are rotatably connected to the lower fixed arc plate. The driving wheel is rotatably connected inside the lower fixed arc plate. The driving wheel is used to drive the joint bearing to rotate. The water-blocking arc plate is fixedly connected to the front end of the lower fixed arc plate. The water-blocking arc plate is used to collect the milling fluid flowing out of the bearing inner groove. A water outlet groove is formed at the bottom end of the lower fixed arc plate. The water outlet groove is used to discharge downward the water converged by the water-blocking arc plate. The fixed clamping blocks are fixedly connected to the lower fixed arc plate. There are two groups of the fixed clamping blocks. The supporting long plate is slidably connected in the fixed clamping blocks. The fixed clamping blocks are used to support the supporting long plate. The fixed clamping blocks are used to limit the outer plate. The third servo motor is installed on the side wall of the lower fixed arc plate. The driving wheel is fixedly connected to the power output end of the third servo motor. The third servo motor is used to drive the driving wheel to rotate.

[0014] The present invention discloses a processing device for a robot joint bearing with a detection function, and its beneficial effects are as follows: 1. For this processing device for a robot joint bearing with a detection function, by setting a rotatable multi-functional grinding component, not only can the grinding drill bit adjust the angle with the inner spherical groove of the joint bearing for grinding, resulting in a better grinding effect, but also after the grinding is completed, rotating the multi-functional grinding component enables the detection probe at the other end to enter the inner spherical groove of the joint bearing for rapid detection, so that each group of joint bearings can be detected immediately after the grinding is completed.

[0015] 2. For this processing device for a robot joint bearing with a detection function, by setting a flushing part at the front end of the support frame, it is possible to timely spray milling fluid into the inner spherical groove during grinding, and at the same time, impact the inner spherical groove with air flow before detection to remove the residual milling fluid, so that there is no residue on the inner wall during detection to interfere with the visual sensor of the detection probe, and the detection of the grinding level is more accurate.

[0016] 3. For this processing device for a robot joint bearing with a detection function, by setting an upper clamping part on the clamping seat, while clamping the joint bearing, it supports the flushing part, and by setting a fixed clamping block on the clamping seat, it supports the support frame, preventing the overall vibration of the support frame caused by the vibration of the grinding head during the grinding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic front view of the whole of the present invention; Figure 2 It is a schematic side view of the whole of the present invention; Figure 3 It is a schematic view of the whole structure of the grinding mechanism of the present invention; Figure 4 It is an exploded view of the grinding mechanism of the present invention; Figure 5 It is a schematic sectional view of the fixed bottom block of the present invention; Figure 6 It is a schematic view of the whole structure of the clamping seat of the present invention; Figure 7 It is a schematic view of the bottom structure of the clamping seat of the present invention; Figure 8Schematic diagram of the explosion structure of the upper clamping member of the present invention; Figure 9 Schematic diagram of the overall structure of the limit side block of the present invention; Figure 10 Schematic diagram of the sectional structure of the second cylinder of the present invention.

[0019] In the figure: 1. Grinding mechanism; 11. Main cylinder; 12. Support frame; 121. First servo motor; 122. Fixed top block; 123. Fixed bottom block; 124. Sliding inner cavity; 13. Washing and flushing part; 131. First support rod; 132. Spray washing nozzle; 133. Jet nozzle; 14. Multi-functional grinding assembly; 141. First rotating shaft; 142. Second support rod; 143. Grinding drill bit; 1431. Second servo motor; 144. Detection probe; 15. Limit support part; 151. Support long plate; 152. Limit outer plate; 153. Limit inner plate; 154. Rack; 155. Rotating gear; 2. Clamping assembly; 21. Clamping seat; 22. Upper clamping member; 221. Second cylinder; 2211. Power rod; 2212. Sliding inclined groove; 222. Pressing T-block; 2221. Inner sliding groove; 223. Limit side block; 2231. Sliding limit plate; 2232. Sliding top plate; 2233. Spring; 2234. Fixed bottom rod; 23. Lower fixed arc plate; 231. Driven roller; 232. Driving wheel; 233. Water-blocking arc plate; 2331. Water outlet groove; 234. Fixed clamping block; 235. Third servo motor. Detailed implementation manners

[0020] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] By providing a robot joint bearing processing device with a detection function in the embodiments of the present application, the problems are solved that since the joint bearing is divided into an inner bearing and an outer bearing, and due to the special arc cavity of the inner ball groove of the outer bearing, on the one hand, it causes that an ordinary single-direction grinding head cannot fully grind the inner groove, and on the other hand, it makes the detection of the inner ball groove more difficult. It is necessary to additionally set up a detection mechanism to conduct unified detection after grinding, and it is impossible to grind again in time, resulting in an increase in processing costs. In addition, when grinding, the common milling fluid is sprayed from top to bottom, which not only easily causes the milling fluid to splash around the device, but also cannot spray the inner ball groove of the outer bearing.

[0022] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0023] An embodiment of the present invention discloses a processing device for a robot joint bearing with a detection function.

[0024] Embodiment 1: As shown in the attached Figure 1-10 figure, it includes a grinding mechanism 1 and a clamping assembly 2. The grinding mechanism 1 includes a main cylinder 11, a support frame 12, a flushing part 13, a multi-functional grinding assembly 14 and a limit support 15. The support frame 12 is fixedly connected to the power output end of the main cylinder 11. The main cylinder 11 is used to drive the support frame 12 to move forward. The flushing part 13 is fixedly connected to the front end of the support frame 12. The flushing part 13 is used to clean the inner cavity of the bearing. The multi-functional grinding assembly 14 is rotatably connected within the multi-functional grinding assembly 14. The multi-functional grinding assembly 14 includes a grinding drill bit 143 and a detection probe 144. The grinding drill bit 143 is used to grind the inner cavity of the bearing at multiple angles. The detection probe 144 is used to inspect the inner cavity of the bearing. The limit support 15 is arranged within the support frame 12. The limit support 15 is used to damp the multi-functional grinding assembly 14. During use, grinding and detection are performed through the multi-functional grinding assembly 14 of the grinding mechanism 1, and the clamping assembly 2 is used to assist in supporting the multi-functional grinding assembly 14 and clamping the joint bearing.

[0025] The clamping assembly 2 includes a clamping seat 21, an upper clamping part 22 and a lower fixed arc plate 23. The clamping seat 21 is used to place the joint bearing. The upper clamping part 22 is slidably connected to the top end of the clamping seat 21. The upper clamping part 22 is used to press the joint bearing downward. The lower fixed arc plate 23 is fixedly connected to the bottom end of the clamping seat 21. The lower fixed arc plate 23 is used to place the joint bearing and drive the joint bearing to rotate.

[0026] A first servo motor 121 is installed at the top end of the support frame 12. The multi-functional grinding assembly 14 is fixedly connected to the power output end of the first servo motor 121. The first servo motor 121 is used to drive the multi-functional grinding assembly 14 to rotate. A fixed top block 122 is fixedly connected to the top end of the support frame 12. The flushing part 13 is fixedly connected to the front end of the fixed top block 122. A fixed bottom block 123 is fixedly connected to the bottom end of the support frame 12. A sliding inner cavity 124 is formed within the fixed bottom block 123.

[0027] Embodiment 2: On the basis of Embodiment 1, according to the attached Figure 1-10As shown, the washing and flushing part 13 includes a first support rod 131, a flushing nozzle 132 and a jet nozzle 133. The first support rod 131 is fixedly connected to one end of the washing and flushing part 13. The first support rod 131 is fixedly connected to the front end of the fixed top block 122. The flushing nozzle 132 is fixedly connected to the washing and flushing part 13 and is used to spray milling fluid into the joint bearing. The jet nozzle 133 is fixedly connected to the washing and flushing part 13 and is used to spray air into the joint bearing. The jet nozzle 133 is used to remove the residual liquid in the bearing inner cavity. The flushing nozzle 132 is started during grinding, and the jet nozzle 133 is started after grinding ends.

[0028] The multi-functional grinding assembly 14 further includes a first rotating shaft 141 and a second support rod 142. The first rotating shaft 141 is rotatably connected within the support frame 12 and is fixedly connected to the power output end of the first servo motor 121. The second support rod 142 is fixedly connected to both ends of the first rotating shaft 141. The back end of the grinding drill bit 143 is fixedly connected with a second servo motor 1431, and the second servo motor 1431 is used to drive the grinding drill bit 143 to rotate. The second servo motor 1431 is fixedly connected to one end of the second support rod 142. The detection probe 144 is fixedly connected to the other end of the second support rod 142. The first servo motor 121 drives the first rotating shaft 141 to adjust the angle and the second support rod 142 to flip.

[0029] The limit support part 15 includes a support long plate 151, a limit outer plate 152, a limit inner plate 153, a rack 154 and a rotating gear 155. The support long plate 151 is slidably connected to the sliding inner cavity 124, and there are two groups of support long plates 151. The limit outer plate 152 is fixedly connected to the outer end of the support long plate 151. The limit inner plate 153 is fixedly connected to the inner end of the support long plate 151, and the limit inner plate 153 is used to limit the support long plate 151. The rack 154 is fixedly connected to the inner side of the limit inner plate 153, and the rack 154 is slidably connected within the sliding inner cavity 124, and there are also two groups of racks 154. The rotating gear 155 is rotatably connected within the sliding inner cavity 124, and the rotating gear 155 is fixedly connected to the bottom end of the first rotating shaft 141. The rotating gear 155 meshes with the rack 154, and the rotating gear 155 is used to drive the support long plate 151 to move. When the first servo motor 121 drives the first rotating shaft 141 to adjust the angle, the first rotating shaft 141 drives the rotating gear 155 to rotate, so that the two groups of racks 154 and the support long plate 151 extend outwards.

[0030] Embodiment Three: On the basis of Embodiments One and Two, according to the appendix Figure 1-10As shown in the figure, the upper clamping member 22 includes a second cylinder 221 and a pressing T-block 222. A power rod 2211 is slidably connected in the second cylinder 221. A sliding inclined groove 2212 is formed in the second cylinder 221. The pressing T-block 222 is fixedly connected to the front end of the power rod 2211. An inner sliding groove 2221 is formed in the pressing T-block 222. The upper clamping member 22 further includes two groups of limiting side blocks 223. Each limiting side block 223 includes a sliding limiting plate 2231, a sliding top plate 2232, a spring 2233 and a fixed bottom rod 2234. The sliding limiting plate 2231 is slidably connected in the sliding inclined groove 2212. The sliding limiting plate 2231 is fixedly connected to the front end of the limiting side block 223. The sliding top plate 2232 is fixedly connected to the top end of the limiting side block 223. The sliding top plate 2232 is slidably connected in the inner sliding groove 2221. One end of the spring 2233 is fixedly connected to the inner wall of the inner sliding groove 2221, and the other end of the spring 2233 is fixedly connected to the side wall of the sliding top plate 2232. The fixed bottom rod 2234 is fixedly connected to the bottom end of the limiting side block 223. The fixed bottom rod 2234 is used to support the washing and flushing member 13. When clamping the bearing, the power rod 2211 drives the pressing T-block 222 to contract, so that the sliding limiting plate 2231 gradually contracts in the sliding inclined groove 2212, and the two limiting side blocks 223 on both sides contract inward. Finally, the fixed bottom rods 2234 at the bottom are clamped together to form a clamping groove and fix the washing and flushing member 13.

[0031] The lower fixed arc plate 23 includes a driven roller 231, a driving wheel 232, a water retaining arc plate 233, a fixed clamping block 234 and a third servo motor 235. The driven roller 231 is distributed in an array on the lower fixed arc plate 23. The driven roller 231 is rotatably connected to the lower fixed arc plate 23. The driving wheel 232 is rotatably connected to the lower fixed arc plate 23. The driving wheel 232 is used to drive the joint bearing to rotate. The water retaining arc plate 233 is fixedly connected to the front end of the lower fixed arc plate 23. The water retaining arc plate 233 is used to rotate. In order to collect the milling fluid flowing out of the inner groove of the bearing, a water outlet 2331 is provided at the bottom of the lower fixed arc plate 23, and the water outlet 2331 is used to flow downwardly out of the water flow gathered by the water retaining arc plate 233. The fixed clamping block 234 is fixedly connected to the lower fixed arc plate 23. The fixed clamping block 234 is provided with two groups, and the support long plate 151 is slidably connected in the fixed clamping block 234. The fixed clamping block 234 is used to support the fixed clamping block 234. The fixed clamping block 234 is limited to limit the limit outer plate 152. The third The servo motor 235 is mounted on the side wall of the lower fixed arc plate 23, and the driving wheel 232 is fixedly connected to the power output end of the third servo motor 235. The third servo motor 235 is used to drive the driving wheel 232 to rotate. When the main cylinder 11 drives the support frame 12 to move forward, the supporting long plates 151 at both ends are slidably connected into the fixed clamping block 234, and the limiting outer plate 152 is arranged outside the fixed clamping block 234. When the rotation angle of the first rotating shaft 141 is too large, the second support rod 142, the grinding drill bit 143 and the detection probe 144 will be too close to the inner wall of the joint bearing, causing damage to the grinding drill bit 143 and the detection probe 144, and then causing the grinding of the ball groove in the joint bearing to fail. Therefore, the limiting outer plate 152 is set to limit the rotation angle, and the fixed clamping block 234 is used to prevent the angle from rotating too much. The water retaining arc plate 233 is used to block and collect the milling fluid in the inner ball groove to prevent it from splashing, and it is discharged uniformly through the water outlet 2331 at the bottom.

[0032] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A processing device for a robot joint bearing with a detection function, comprising a grinding mechanism (1) and a clamping assembly (2), characterized in that, The grinding mechanism (1) includes: A main cylinder (11); A support frame (12) fixedly connected to the power output end of the main cylinder (11), and the main cylinder (11) is used to drive the support frame (12) to move forward; A washing and flushing part (13) fixedly connected to the front end of the support frame (12), and the washing and flushing part (13) is used to clean the inner cavity of the bearing; A multi-functional grinding component (14) rotatably connected inside the support frame (12), the multi-functional grinding component (14) includes a grinding drill bit (143) and a detection probe (144), the grinding drill bit (143) is used to grind the inner cavity of the bearing at multiple angles, and the detection probe (144) is used to inspect the inner cavity of the bearing; A limit support part (15) arranged inside the support frame (12), and the limit support part (15) is used to damp the multi-functional grinding component (14).

2. The machining device for a robot joint bearing with a detection function according to claim 1, characterized in that: The clamping component (2) includes: A clamping seat (21) for placing a spherical plain bearing; An upper clamping part (22) slidably connected to the top end of the clamping seat (21), and the upper clamping part (22) is used to press down the spherical plain bearing; A lower fixed arc plate (23) fixedly connected to the bottom end of the clamping seat (21), and the lower fixed arc plate (23) is used to place the spherical plain bearing and drive the spherical plain bearing to rotate.

3. The machining device for a robot joint bearing with a detection function according to claim 2, characterized in that: A first servo motor (121) is installed at the top end of the support frame (12), the multi-functional grinding component (14) is fixedly connected to the power output end of the first servo motor (121), the first servo motor (121) is used to drive the multi-functional grinding component (14) to rotate, a fixed top block (122) is fixedly connected to the top end of the support frame (12), the washing and flushing part (13) is fixedly connected to the front end of the fixed top block (122), a fixed bottom block (123) is fixedly connected to the bottom end of the support frame (12), and a sliding inner cavity (124) is formed inside the fixed bottom block (123).

4. A processing device for a robotic joint bearing with a detection function according to claim 3, characterized in that: The washing and flushing part (13) includes: A first support rod (131) fixedly connected to one end of the washing and flushing part (13), and the first support rod (131) is fixedly connected to the front end of the fixed top block (122); A spray washing nozzle (132) fixedly connected to the washing and flushing part (13), and the spray washing nozzle (132) is used to spray milling fluid into the spherical plain bearing; An air jet nozzle (133) fixedly connected to the washing and flushing part (13), and the air jet nozzle (133) is used to spray air into the spherical plain bearing, and the air jet nozzle (133) is used to remove the residual liquid in the inner cavity of the bearing.

5. The machining device for a robot joint bearing with a detection function according to claim 3, wherein: The multi-functional grinding component (14) further includes: The first rotating shaft (141), the first rotating shaft (141) is rotatably connected within the support frame (12), and the first rotating shaft (141) is fixedly connected to the power output end of the first servo motor (121); The second support rod (142), the second support rod (142) is fixedly connected to both ends of the first rotating shaft (141), the back end of the grinding drill bit (143) is fixedly connected with a second servo motor (1431), the second servo motor (1431) is used to drive the grinding drill bit (143) to rotate, the second servo motor (1431) is fixedly connected to one end of the second support rod (142), and the detection probe (144) is fixedly connected to the other end of the second support rod (142).

6. The machining device for a robot articulated bearing with a detection function according to claim 5, characterized in that: The limiting support member (15) includes: Support long plates (151), the support long plates (151) are slidably connected to the sliding inner cavity (124), and two groups of support long plates (151) are provided; Limiting outer plates (152), the limiting outer plates (152) are fixedly connected to the outer ends of the support long plates (151); Limiting inner plates (153), the limiting inner plates (153) are fixedly connected to the inner ends of the support long plates (151), and the limiting inner plates (153) are used to limit the support long plates (151); Racks (154), the racks (154) are fixedly connected to the inner sides of the limiting inner plates (153), the racks (154) are slidably connected within the sliding inner cavity (124), and two groups of racks (154) are provided; Rotating gears (155), the rotating gears (155) are rotatably connected within the sliding inner cavity (124), the rotating gears (155) are fixedly connected to the bottom end of the first rotating shaft (141), the rotating gears (155) are meshed with the racks (154), and the rotating gears (155) are used to drive the support long plates (151) to move.

7. A processing device for a robot joint bearing with a detection function according to claim 2, characterized in that: The upper clamping member (22) includes: The second cylinder (221), a power rod (2211) is slidably connected within the second cylinder (221), and a sliding inclined groove (2212) is formed within the second cylinder (221); Pressing T-block (222), the pressing T-block (222) is fixedly connected to the front end of the power rod (2211), and an inner sliding groove (2221) is formed within the pressing T-block (222).

8. A processing device for a robot joint bearing with a detection function according to claim 7, characterized in that: The upper clamping member (22) further includes limiting side blocks (223), two groups of limiting side blocks (223) are provided, and the limiting side blocks (223) include: Sliding limiting plates (2231), the sliding limiting plates (2231) are slidably connected within the sliding inclined groove (2212), and the sliding limiting plates (2231) are fixedly connected to the front ends of the limiting side blocks (223); Sliding top plates (2232), the sliding top plates (2232) are fixedly connected to the top ends of the limiting side blocks (223), and the sliding top plates (2232) are slidably connected within the inner sliding groove (2221); A spring (2233), one end of the spring (2233) is fixedly connected to the inner wall of the inner slide groove (2221), and the other end of the spring (2233) is fixedly connected to the side wall of the sliding top plate (2232); A fixed bottom rod (2234) is fixedly connected to the bottom end of the limiting side block (223), and the fixed bottom rod (2234) is used to support the flushing member (13).

9. A processing device for a robotic spherical plain bearing with a detection function according to claim 6, characterized in that: The lower fixed arc plate (23) comprises: Driven rollers (231), the driven rollers (231) are distributed in an array on the lower fixed arc plate (23), and the driven rollers (231) are rotatably connected to the lower fixed arc plate (23); A driving wheel (232), the driving wheel (232) is rotatably connected to the lower fixed arc plate (23), and the driving wheel (232) is used to drive the joint bearing to rotate; A water retaining arc plate (233), the water retaining arc plate (233) is fixedly connected to the front end of the lower fixed arc plate (23), the water retaining arc plate (233) is used to collect the milling fluid flowing out of the bearing inner groove, and a water outlet groove (2331) is provided at the bottom end of the lower fixed arc plate (23), and the water outlet groove (2331) is used to flow the water flow gathered by the water retaining arc plate (233) downward; A fixed clamping block (234), the fixed clamping block (234) is fixedly connected to the lower fixed arc plate (23), two groups of the fixed clamping blocks (234) are provided, the supporting long plate (151) is slidably connected in the fixed clamping block (234), the fixed clamping block (234) is used to support the fixed clamping block (234), and the fixed clamping block (234) is used to limit the limiting outer plate (152); A third servo motor (235) is mounted on a side wall of the lower fixed arc plate (23), the driving wheel (232) is fixedly connected to a power output end of the third servo motor (235), and the third servo motor (235) is used to drive the driving wheel (232) to rotate.

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