Bearing oil seal for humanoid robot joint and press fitting device of bearing oil seal

Abstract

The bearing oil seal is applied to the technical field of humanoid robots, the bearing oil seal comprises a pedestal, the top of the pedestal is in bolted connection with a moving track, and one end of the top of the moving track is provided with a bearing cylinder in bolted connection with the pedestal; and a supporting shell is connected to one side of the pedestal through bolts, a grease injection assembly and a press-fitting assembly are slidably connected to the side, close to the moving track, of the supporting shell, and a driving mechanism and a translation mechanism are installed in the supporting shell and the pedestal correspondingly. The grease injection assembly and the press-fitting assembly are driven to move up and down on one side of the supporting shell, meanwhile, the V-shaped clamp is driven to continuously move among the bearing barrel, the grease injection assembly and the press-fitting assembly, and bearings in the bearing barrel are pushed out one by one and accurately moved to the bottoms of the grease injection assembly and the press-fitting assembly to be subjected to grease injection and press-fitting.

Description

Technical Field

[0001] The present invention belongs to the technical field of humanoid robots, and in particular relates to a bearing oil seal for a joint of a humanoid robot and a press-fitting device thereof. Background Art

[0002] A humanoid robot is a robot that mimics the human form in design and construction. Bearings are generally used as joint connection components of humanoid robots. They can move, manipulate objects and interact with the environment in a human-like manner.

[0003] Currently, a Chinese invention with the announcement number CN112775895B discloses an integrated press-fitting tool for oil seals and bearings. The press-fitting of oil seals for humanoid robot joint bearings is a key process to ensure the long-term and reliable operation of the joints. The oil seals can prevent the leakage of grease in the joint bearings and prevent external contaminants from entering the bearings, ensuring that the demanding requirements of humanoid robot joints such as high precision, low friction, and long life can be met. Existing bearing oil seal press-fitting devices generally require grease to be injected into the balls inside the bearings before the oil seals are press-fitted. However, small and medium-sized enterprises now press-fit oil seals through semi-automatic press-fitting equipment. When using semi-automatic press-fitting equipment, it is necessary to manually inject grease into the balls inside the bearings first. The greased bearings are then transported to the press-fitting process for press-fitting. The existing press-fitting process involves manually placing the oil seal into the bearing and then press-fitting it through the press-fitting equipment. This operation process is cumbersome, and during the operation, the oil seal may be damaged due to large deviation, which requires the oil seal to be disassembled and pressed again, reducing the accuracy of grease injection and oil seal press-fitting and the work efficiency of bearing oil seal press-fitting of humanoid robot joints. Summary of the Invention

[0004] The purpose of the present invention is to provide a bearing oil seal and a press-fitting device for a humanoid robot joint. The advantage is that the humanoid robot joint bearing can be moved toward it in sequence for grease injection and press-fitting, avoiding the occurrence of missed processing; the bearing is accurately positioned after moving forward, so that the bearing can be accurately greased and press-fitted.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions: a bearing oil seal for a humanoid robot joint, comprising a bearing oil seal, a slot being provided on the top of the bearing oil seal, a conical groove surface being provided on the inner ring surface of the bearing oil seal, and a self-tightening elastic ring being sleeved on the inner surface of the bearing oil seal for use with the conical groove surface.

[0006] The above technical solution press-fits the bearing oil seal onto one side of the bearing, utilizes the tapered groove of the inner ring of the bearing oil seal to fit against the inner ring surface of the bearing, and secures the bearing oil seal tightly against the inner ring surface via a self-tightening elastic ring. This reduces friction between the inner ring surface and the bearing oil seal when the bearing rotates, while ensuring tightness between the press-fitted bearing oil seal and the bearing, preventing grease leakage.

[0007] The present invention is further configured as follows: an L-shaped support ring is sleeved on the outer surface of the self-tightening elastic ring and is fixedly connected to the bearing oil seal.

[0008] By adopting the above technical solution, the bearing oil seal can use the L-shaped support ring to abut against the inner surface of the bearing outer ring, thereby improving the stability after press-fitting.

[0009] An oil seal press-fitting device for a humanoid robot joint bearing comprises a pedestal, the top of the pedestal being bolted to a movable track, a bearing cylinder being provided at one end of the top of the movable track being bolted to the pedestal, one side of the pedestal being bolted to a support shell, a grease injection assembly and a press-fitting assembly being slidingly connected to the side of the support shell close to the movable track, a drive mechanism and a translation mechanism being respectively installed inside the support shell and the pedestal.

[0010] Using this technical solution, the grease injection and press-fit assemblies are driven up and down on one side of the support shell, while the V-shaped fixture is driven to continuously move between the bearing barrel, the grease injection assembly, and the press-fit assembly, respectively. The bearings inside the bearing barrel are pushed out one by one and precisely moved to the bottom of the grease injection and press-fit assemblies for grease injection and press-fit. This allows for accurate positioning of the bearings, preventing positional offset and avoiding missed machining. The downward movement of the press-fit assembly drives the disc gear to engage with the linear rack, causing the press-fit plate to move downward to press-fit the bearing oil seal. The bearing clamp engages with the inner surface of the bearing, synchronously driving the bearing inner ring to rotate. This ensures that the grease injected into the bearing rotates evenly, facilitating press-fitting of the bearing oil seal and reducing grease spillage.

[0011] The present invention is further configured as follows: the driving mechanism includes a motor bolted to one side of the top of the support shell, the output end of the motor is bolted to a first screw, the inside of the support shell is rotatably connected to a side close to the press-fit assembly, the tops of the first screw and the second screw are fixedly sleeved with a first synchronous wheel, the surfaces of the two first synchronous wheels are transmission sleeved with a first synchronous belt, the surfaces of the first screw and the second screw are threadedly sleeved with threaded sleeves respectively bolted to the grease injection assembly and the press-fit assembly, and the bottom of the first screw is bolted to an extension rod.

[0012] By adopting the above technical solution, the grease injection component and the press-fitting component are driven to move up and down on one side of the support shell, so that the bearing is sequentially greased and press-fitted, thereby improving the bearing processing efficiency.

[0013] The present invention is further configured as follows: the translation mechanism includes a rotating disc rotatably connected to the top of the pedestal away from the side of the support shell, the internal rotation of the pedestal is connected to a large gear, the bottom of the rotating disc and the top of the large gear are bolted to a second synchronous wheel, the surface transmission sleeves of the two second synchronous wheels are connected to a second synchronous belt, the bottom of the extension rod is sleeved with a rotating sleeve, the bottom of the rotating sleeve is bolted to a small gear meshing with the large gear, the end array of the extension rod inside the rotating sleeve is provided with a one-way ratchet groove, the internal array of the rotating sleeve is bolted to a telescopic rod, the other end of the telescopic rod is bolted to a trapezoidal plug-in block slidably plugged into the one-way ratchet groove, and the surface of the telescopic rod is sleeved with a return spring bolted to the rotating sleeve and the trapezoidal plug-in block respectively.

[0014] By adopting the above technical solution, when the first screw rotates counterclockwise to drive the grease injection assembly and the press-fitting assembly downward, it does not drive the bearing to move. At the same time, when the first screw rotates clockwise to drive the grease injection assembly and the press-fitting assembly upward, it drives the bearing to move laterally.

[0015] The present invention is further configured as follows: a sliding plate is slidably connected to the side of the top of the pedestal close to the rotating disc, a linear slide groove is opened on one side of the interior of the sliding plate, a shaking wheel slidably connected to the linear slide groove is bolted on one side of the top of the rotating disc, a V-shaped clamp slidably connected to the moving rail is welded on the side of the sliding plate close to the moving rail, a sliding rod is welded on the bottom of the sliding plate close to one end of the moving rail, a semicircular slide groove slidably connected to the sliding rod is opened on the side of the top of the pedestal close to the rotating disc, a trapezoidal slide used in conjunction with the V-shaped clamp is slidably connected to the bottom of the inner cavity of the moving rail, and the trapezoidal slide away from the V-shaped clamp is bolted on a telescopic spring fixedly connected to the moving rail.

[0016] With this technical solution, the linear sliding distance of the rocking wheel on the top of the rotating disc and the linear sliding distance of the sliding rod within the semicircular groove are consistent with the spacing between the grease injection assembly, the press-fit assembly, and the bearing cartridge. This ensures that the bearing inside the bearing cartridge is accurately moved to the bottom of the grease injection assembly every time. Furthermore, because the clamping end of the V-shaped clamp is open, it can accurately clamp to the bottom of the grease injection and press-fit assemblies even if vibration causes slight deviation.

[0017] The present invention is further configured as follows: the grease injection assembly includes a grease storage tank, the bottom of the grease storage tank is bolted to an extrusion head, the top of the grease storage tank is threadedly sleeved with a movable cover, the top of the movable cover is bolted to a cylinder, and the output end of the cylinder is bolted to a piston that is slidably connected to the inside of the grease storage tank.

[0018] By adopting the above technical solution, the cylinder is opened to drive the piston to slide downward inside the grease storage tank, and the grease inside the grease storage tank can be squeezed out from the extrusion head into the bearing for grease injection.

[0019] The present invention is further configured as follows: the press-fitting assembly includes a press-fitting plate, the bottom of the press-fitting plate is slidably connected to a retaining ring, the bottom of the retaining ring is welded with a trapezoidal block engaged with the retaining groove, the top of the retaining ring and the inside of the press-fitting plate are bolted with magnetic rings that are magnetically attracted to each other, the end of the press-fitting plate close to the threaded sleeve is rotatably connected to the first synchronous belt, the side of the support shell close to the press-fitting assembly is bolted to a linear rack meshing with the disc gear, a rotating disk rotatably connected to the press-fitting plate is provided at the center of the retaining ring, a bearing retaining plate is welded to the bottom of the first synchronous wheel, the top of the rotating disk and the end of the disc gear close to the retaining ring are bolted with bevel gears that mesh with each other.

[0020] By adopting the above technical solution, when the press-fitting assembly moves downward, the bearing oil seal at the bottom of the retaining ring is pressed onto the top of the bearing, and when the press-fitting plate moves upward, the retaining ring with the bearing oil seal at the bottom of the press-fitting plate can be replaced for next use. The retaining ring and the press-fitting plate are magnetically adsorbed and fixed to each other by a magnet ring.

[0021] The present invention is further configured as follows: one end of the top of the bearing cylinder away from the moving track is bolted to the feed track, and the side of the support shell away from the grease injection assembly and the press-fit assembly is bolted to a detachable back plate.

[0022] Using this technical solution, the feed track facilitates sliding the bearings into the bearing barrel, placing them vertically one by one, allowing them to be pushed out one by one by the V-shaped clamp. The removable back plate allows the back of the support shell to be opened, making it easy to repair and replace internal parts.

[0023] The present invention is further configured as follows: a conical plug is slidably inserted into one side of the bottom of the rotating disc, a conical groove adapted to the conical plug is opened on one side of the bottom of the rotating disc, the bottom of the conical plug is bolted to a limit spring, and the bottom of the limit spring is bolted to the inside of the base.

[0024] With this technical solution, as the rotating disc rotates, the conical insert overcomes the force of the limit spring and moves downward. After the rotating disc drives the rocker wheel to rotate one full circle and returns to its initial position, the limit spring drives the conical insert to insert into the bottom of the rotating disc, thereby pushing up the rotating disc and ensuring the V-shaped clamp accurately moves to its initial position.

[0025] In summary, the present invention has the following beneficial effects: 1. By driving the grease injection assembly and the press-fit assembly up and down on one side of the support housing, the V-shaped fixture is driven to continuously move between the bearing barrel, the grease injection assembly, and the press-fit assembly, respectively, pushing out the bearings inside the bearing barrel one by one and precisely moving them to the bottom of the grease injection assembly and the press-fit assembly for grease injection and press-fit. This allows for accurate positioning of the bearings, preventing positional deviation and avoiding missed processing. 2. As the press-fit assembly moves downward, the disc gear engages with the linear rack, causing the press-fit plate to move downward to press-fit the bearing oil seal. The bearing clamping plate engages with the inner surface of the bearing, synchronously driving the bearing inner ring to rotate. This ensures that the grease injected into the bearing rotates evenly, facilitating press-fitting the bearing oil seal and reducing grease overflow. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 is a cross-sectional view of the support shell structure of the present invention; Figure 3 This is a cross-sectional view of the bearing cylinder structure of the present invention; Figure 4 This is a schematic diagram of the cooperation between the driving mechanism and the translation mechanism of the present invention; Figure 5 This is a cross-sectional view of the press-fit plate structure of the present invention; Figure 6 It is a schematic diagram of the partial structure of the press-fit assembly of the present invention; Figure 7 This is a cross-sectional view of the bearing oil seal structure of the present invention; Figure 8 This is a cross-sectional view of the grease injection assembly structure of the present invention; Figure 9 It is a schematic diagram of the structure of the trapezoidal slide of the present invention; Figure 10 It is a top view of the structure of the rotating sleeve of the present invention.

[0027] Figure numerals: 1. pedestal; 2. support shell; 3. grease injection assembly; 301. grease storage tank; 302. extrusion head; 303. movable cover; 304. cylinder; 305. piston; 4. press-fit assembly; 401. press-fit plate; 402. retaining ring; 403. magnet ring; 404. trapezoidal block; 405. disc gear; 406. bevel gear; 407. rotating disk; 408. bearing clamp; 5. bearing cylinder; 6. movable track; 7. driving mechanism; 701. motor; 702. first screw; 703. second screw; 704. first synchronous wheel; 705. first synchronous belt; 706. threaded sleeve; 707. extension rod; 8. translation mechanism; 801. large gear ;802, rotating disc; 803, small gear; 804, second synchronous wheel; 805, second synchronous belt; 806, rocking wheel; 807, sliding plate; 808, V-type clamp; 809, linear slide; 810, sliding rod; 811, semicircular slide; 812, telescopic spring; 813, trapezoidal slide; 814, rotating sleeve; 815, return spring; 816, trapezoidal plug; 817, one-way ratchet groove; 818, telescopic rod; 9, bearing oil seal; 10, linear rack; 11, card slot; 12, L-type support ring; 13, self-tightening elastic ring; 14, tapered groove surface; 15, limit spring; 16, tapered plug; 17, feed track; 18, removable back plate. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings.

[0029] Example 1: refer to Figure 7 A bearing oil seal for a humanoid robot joint includes a bearing oil seal 9 having a retaining groove 11 on its top and a tapered groove 14 on its inner ring. A self-tightening elastic ring 13 is sleeved on the inner surface of the bearing oil seal 9 for use with the tapered groove 14. The bearing oil seal 9 is press-fitted onto one side of a bearing, where the tapered groove 14 on the inner ring of the bearing oil seal 9 aligns with the inner ring surface of the bearing, and the self-tightening elastic ring 13 tightly sleeves the bearing oil seal 9 onto the inner ring surface of the bearing. This reduces friction between the inner ring surface of the bearing and the bearing oil seal 9 during rotation, while ensuring tightness between the press-fitted bearing oil seal 9 and the bearing, preventing grease leakage.

[0030] refer to Figure 7 The outer surface of the self-tightening elastic ring 13 is sleeved with an L-shaped support ring 12 fixedly connected to the bearing oil seal 9. The bearing oil seal 9 can utilize the L-shaped support ring 12 to abut against the inner surface of the bearing outer ring, thereby improving the stability after press-fitting.

[0031] Brief description of the usage process: The bearing oil seal 9 is press-fitted onto one side of the bearing. The inner surface of the bearing outer ring is abutted and fixed to the bearing oil seal 9 via the L-shaped support ring 12. At the same time, the tapered groove surface 14 of the inner ring of the bearing oil seal 9 fits the inner ring surface of the bearing, and the self-tightening elastic ring 13 makes the bearing oil seal 9 tightly fit onto the inner ring surface of the bearing, thereby reducing the friction between the inner ring surface and the bearing oil seal 9 when the bearing rotates.

[0032] Example 2: Based on Example 1, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 8 A device for pressing an oil seal for a humanoid robot joint bearing comprises a pedestal 1, the top of the pedestal 1 being bolted to a movable track 6, one end of the top of the movable track 6 being provided with a bearing cylinder 5 bolted to the pedestal 1, one side of the pedestal 1 being bolted to a support shell 2, the side of the support shell 2 close to the movable track 6 being slidably connected to a grease injection assembly 3 and a press-fit assembly 4, respectively, and a driving mechanism 7 and a translation mechanism 8 being installed inside the support shell 2 and the pedestal 1, respectively. During the downward movement of the press-fit assembly 4, the disc gear 405 is driven to engage with the linear rack 10, causing the press-fit plate 401 to move downward to press-fit the bearing oil seal 9. The bearing clamping plate 408 is engaged with the inner surface of the bearing to synchronously drive the inner ring of the bearing to rotate. This allows the grease injected into the bearing to rotate evenly, facilitating press-fitting the bearing oil seal 9 and reducing grease overflow.

[0033] refer to Figure 2 、 Figure 4 The drive mechanism 7 includes a motor 701 bolted to one side of the top of the support housing 2. The output end of the motor 701 is bolted to a first screw 702. A second screw 703 is rotatably connected to the side of the support housing 2 near the press-fit assembly 4. A first synchronous wheel 704 is fixedly sleeved on the top of each of the first and second screws 702 and 703. A first synchronous belt 705 is transmission-sleeved on the surfaces of the two first synchronous wheels 704. Threaded sleeves 706, which are bolted to the grease injection assembly 3 and press-fit assembly 4, respectively, are threadedly sleeved on the surfaces of the first and second screws 702 and 703. An extension rod 707 is bolted to the bottom of the first screw 702. These respectively drive the grease injection assembly 3 and press-fit assembly 4 to move up and down on one side of the support housing 2, allowing them to sequentially inject grease and press-fit the bearings, thereby improving bearing processing efficiency.

[0034] refer to Figure 1 、 Figure 8The grease injection assembly 3 includes a grease reservoir 301, the bottom of which is bolted to an extrusion head 302. A movable cover 303 is threadedly sleeved on the top of the grease reservoir 301. A cylinder 304 is bolted to the top of the movable cover 303. The output end of the cylinder 304 is bolted to a piston 305 that is slidably connected to the interior of the grease reservoir 301. By opening the cylinder 304, the piston 305 slides downward inside the grease reservoir 301, and the grease inside the grease reservoir 301 is squeezed out of the extrusion head 302 into the bearing for grease injection.

[0035] refer to Figure 1 、 Figure 5 、 Figure 6 The press-fitting assembly 4 includes a press-fitting plate 401, the bottom of the press-fitting plate 401 is slidably connected with a snap ring 402, the bottom of the snap ring 402 is welded with a trapezoidal block 404 that is engaged with the slot 11, the top of the snap ring 402 and the inside of the press-fitting plate 401 are bolted with magnetic rings 403 that are magnetically attracted to each other, and the end of the press-fitting plate 401 close to the threaded sleeve 706 is rotatably connected to the first synchronous belt 705, and the side of the support shell 2 close to the press-fitting assembly 4 is bolted with a linear rack 10 that meshes with the disc gear 405, and a rotating disk 407 rotatably connected to the press-fitting plate 401 is provided at the center of the snap ring 402, and a bearing clamping plate 408 is welded to the bottom of the first synchronous wheel 704, and the top of the rotating disk 407 and the end of the disc gear 405 close to the snap ring 402 are bolted with bevel gears 406 that mesh with each other. When the press-fitting assembly 4 moves downward, the bearing oil seal 9 at the bottom of the retaining ring 402 is pressed onto the top of the bearing, and when the press-fitting plate 401 moves upward, the retaining ring 402 with the bearing oil seal 9 at the bottom of the press-fitting plate 401 can be replaced for next use, and the retaining ring 402 and the press-fitting plate 401 are magnetically adsorbed and fixed to each other by the magnet ring 403.

[0036] A brief description of the operating process: The bearing is placed inside the bearing cylinder 5. The motor 701 is then turned on, using the first synchronous pulley 704 and first synchronous belt 705 to drive the first screw 702 and the second screw 703 to rotate synchronously. The first and second screws 702 and 703 then engage with the threaded sleeve 706, driving the grease injection assembly 3 and the press-fit assembly 4 downward in tandem. The cylinder 304 is then turned on, driving the piston 305 downward within the grease reservoir 301. This allows the grease in the reservoir 301 to be extruded from the extruder head 302 into the bearing for grease injection. Finally, the greased bearing is moved to the bottom of the press-fit assembly 4. As the press-fit assembly 4 moves downward, the bearing oil seal 9 at the bottom of the retaining ring 402 is press-fitted onto the top of the bearing. As the press-fit plate 401 moves upward, the retaining ring 402 with the bearing oil seal 9 can be replaced with the retaining ring 402 at the bottom of the press-fit plate 401 for the next use. At the same time, when the pressing plate 401 moves downward, it drives the disc gear 405 to mesh with the linear rack 10, and then drives the bevel gear 406 to rotate and mesh with each other, so that the bearing clamping plate 408 at the bottom of the rotating disk 407 can rotate at the bottom of the pressing plate 401, so that the pressing plate 401 moves downward to press the bearing oil seal 9, and the bearing clamping plate 408 is used to limit the inner surface of the bearing (such as Figure 6 As shown, the bearing clamping plate 408 is conical), thereby driving the inner ring of the bearing to rotate, so that the grease inside the bearing rotates evenly, making it easier to press-fit the bearing oil seal 9.

[0037] Example 3: Based on Example 2, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 9 、 Figure 10 , an oil seal press-fitting device for humanoid robot joint bearings, including a pedestal 1, the top of the pedestal 1 is bolted to a movable track 6, one end of the top of the movable track 6 is provided with a bearing cylinder 5 bolted to the pedestal 1, one side of the pedestal 1 is bolted to a support shell 2, the side of the support shell 2 close to the movable track 6 is slidably connected to a grease injection component 3 and a press-fitting component 4, and a driving mechanism 7 and a translation mechanism 8 are installed inside the support shell 2 and the pedestal 1 respectively. By driving the grease injection component 3 and the press-fitting component 4 to move up and down on one side of the support shell 2, and at the same time driving the V-shaped clamp 808 to continuously move between the bearing cylinder 5 and the grease injection component 3 and the press-fitting component 4 respectively, the bearings inside the bearing cylinder 5 are pushed out one by one and accurately moved to the bottom of the grease injection component 3 and the press-fitting component 4 for grease injection and press-fitting. In this way, the bearings can be accurately positioned to prevent position deviation and avoid the phenomenon of missed processing.

[0038] refer to Figure 4 、 Figure 10The translation mechanism 8 includes a rotating disc 802 rotatably connected to the top of the pedestal 1 away from the side of the support shell 2, and the pedestal 1 is internally rotatably connected to the large gear 801. The bottom of the rotating disc 802 and the top of the large gear 801 are both bolted to the second synchronous wheel 804, and the surface transmission sleeves of the two second synchronous wheels 804 are connected to the second synchronous belt 805. The bottom of the extension rod 707 is sleeved with a rotating sleeve 814, and the bottom of the rotating sleeve 814 is bolted to the small gear 803 meshing with the large gear 801. The end array of the extension rod 707 inside the rotating sleeve 814 is provided with a one-way ratchet groove 817, and the internal array of the rotating sleeve 814 is bolted with a telescopic rod 818. The other end of the telescopic rod 818 is bolted to a check pin 816 that is slidably inserted into the one-way ratchet groove 817, and the surface of the telescopic rod 818 is sleeved with a return spring 815 that is bolted to the rotating sleeve 814 and the check pin 816 respectively. When the first screw 702 rotates counterclockwise to drive the grease injection assembly 3 and the press-fit assembly 4 to move downward, it does not drive the bearing to move. At the same time, when the first screw 702 rotates clockwise to drive the grease injection assembly 3 and the press-fit assembly 4 to move upward, it drives the bearing to move laterally.

[0039] refer to Figure 1 、 Figure 3 、 Figure 9 The top of the pedestal 1 is slidably connected to the side of the rotating disc 802 with a sliding plate 807, and a linear slide groove 809 is opened on one side of the sliding plate 807. A shaking wheel 806 that is slidably connected to the linear slide groove 809 is bolted on one side of the top of the rotating disc 802. A V-shaped clamp 808 that is slidably connected to the moving rail 6 is welded on the side of the sliding plate 807 close to the moving rail 6. A sliding rod 810 is welded on the bottom of the sliding plate 807 close to one end of the moving rail 6. A semicircular slide groove 811 that is slidably connected to the sliding rod 810 is opened on the side of the top of the pedestal 1 close to the rotating disc 802. The bottom of the inner cavity of the moving rail 6 is slidably connected to a trapezoidal slide plate 813 used in conjunction with the V-shaped clamp 808. The side of the trapezoidal slide plate 813 away from the V-shaped clamp 808 is bolted to a telescopic spring 812 fixedly connected to the moving rail 6. Since the linear sliding distance of the rocking wheel 806 on the top of the rotating disk 802 and the linear sliding distance of the sliding rod 810 in the semicircular groove 811 are consistent with the distance between the grease injection assembly 3, the press assembly 4 and the bearing cylinder 5, it is possible to ensure that the bearing inside the bearing cylinder 5 is accurately moved to the bottom of the grease injection assembly 3 every time. In addition, since the clamping end of the V-shaped clamp 808 is open, it can be matched with the side of the movable track 6 (such as Figure 3 As shown, the side of the movable track 6 is convex), so even if vibration occurs and a small range of deviation occurs, the bearing can be accurately clamped at the bottom of the grease injection component 3 and the press-fit component 4.

[0040] refer to Figure 1 、 Figure 3The top end of the bearing cartridge 5, away from the moving track 6, is bolted to a feed rail 17. A removable back plate 18 is bolted to the side of the support shell 2, away from the grease injection assembly 3 and the press-fit assembly 4. The feed rail 17 facilitates sliding the bearings into the bearing cartridge 5. These bearings are then positioned vertically, allowing them to be pushed out one by one by the V-clamp 808. The removable back plate 18 allows the back of the support shell 2 to be opened, allowing for easy access to internal parts for repair and replacement.

[0041] refer to Figure 4 A conical insert 16 is slidably inserted into one side of the bottom of the rotating disk 802. A conical groove is defined on one side of the bottom of the rotating disk 802, which mates with the conical insert 16. The bottom of the conical insert 16 is bolted to a limit spring 15, the bottom of which is bolted to the interior of the pedestal 1. As the rotating disk 802 rotates, the conical insert 16 overcomes the elastic force of the limit spring 15 and moves downward. After the rotating disk 802 drives the rocking wheel 806 to rotate one full revolution and return to its initial position, the limit spring 15 drives the conical insert 16 to insert into the bottom of the rotating disk 802, thereby limiting the rotating disk 802 and ensuring that the V-shaped clamp 808 accurately moves to its initial position.

[0042] Operational Overview: When the motor 701 drives the retaining ring 402 to rotate, the grease injection assembly 3 and the press-fit assembly 4 move downward. At this point, the first screw 702 rotates counterclockwise. Because the inclined surfaces of the trapezoidal insert 816 and the trapezoidal insert 817 can slide against each other, the trapezoidal insert 816 overcomes the return spring 815 and slides into the rotating sleeve 814. This prevents the first screw 702 from directly rotating the pinion 803 at the bottom of the rotating sleeve 814, thereby preventing the V-clamp 808 from moving the clamped bearing. At the same time, when the motor 701 drives the grease injection assembly 3 and the press-fitting assembly 4 to move upward, the first screw 702 rotates clockwise. Since the other side planes of the trapezoidal plug 816 and the trapezoidal plug 817 cannot slide, the first screw 702 can drive the small gear 803 to rotate, so that the small gear 803 and the large gear 801 engage with each other, and rotate through the second synchronous wheel 804 and the second synchronous belt 805, thereby driving the rotating disk 802 to rotate on the top of the base 1.

[0043] Afterwards, the rotating disk 802 rotates and drives the rocking wheel 806 to rock, causing the rocking wheel 806 to drive the sliding plate 807 to move. Since the sliding plate 807 is limited by the sliding rod 810, so that the sliding rod 810 slides inside the semicircular chute 811, the rocking wheel 806 will drive the sliding plate 807 to slide horizontally. At the same time, the rocking wheel 806 slides and adjusts its position inside the linear chute 809. This allows the V-shaped clamp 808 on one side of the sliding plate 807 to drive the internally clamped bearing to slide horizontally inside the movable track 6. Since the linear sliding distance of the rocking wheel 806 at the top of the rotating disk 802 and the linear sliding distance of the sliding rod 810 inside the semicircular chute 811 are consistent with the spacing between the grease injection assembly 3, the press-fit assembly 4, and the bearing cartridge 5, it can be ensured that the bearing inside the bearing cartridge 5 is accurately moved to the bottom of the grease injection assembly 3, the bearing at the bottom of the grease injection assembly 3 is moved to the bottom of the press-fit assembly 4, and the bearing at the bottom of the press-fit assembly 4 is moved to the end of the movable track 6 and slides out. Then the rotating disc 802 continues to drive the rocking wheel 806 to move. At this time, the large gear 801 can make an arc movement trajectory to the side away from the support shell 2 to match the rocking wheel 806 under the limitation of the sliding rod 810 and the semicircular slide groove 811. When the grease injection component 3 and the press-fitting component 4 move to the top, the rocking wheel 806 moves to the initial position. At this time, the V-shaped clamp 808 will move to the position of the bearing cylinder 5, the grease injection component 3 and the press-fitting component 4, and clamp the bearing moved to this position. Since the clamping end of the V-shaped clamp 808 is open, it can cooperate with the side of the movable track 6 (such as Figure 3 As shown, the side of the movable track 6 is convex), so even if vibration occurs and a small range of deviation occurs, the bearing can be accurately clamped at the bottom of the grease injection component 3 and the press-fit component 4, so that when the grease injection component 3 and the press-fit component 4 move downward, the grease injection and press-fit processes can be performed on the continuously moving bearing respectively.

[0044] At the same time, each time the V-shaped clamp 808 slides into the bottom of the bearing cylinder 5, it squeezes the trapezoidal slide 813 to overcome the elastic force of the telescopic spring 812, so that the trapezoidal slide 813 is retracted into the bearing cylinder 5, and the bearing inside the bearing cylinder 5 can fall into the V-shaped clamp 808 and be brought into the bottom of the grease injection assembly 3 after the V-shaped clamp 808 slides horizontally. At this time, the trapezoidal slide 813 extends outwards during the sliding process of the V-shaped clamp 808 using the elastic force of the telescopic spring 812 to seal the bottom of the bearing cylinder 5, so that the bearing will fall in one by one after the V-shaped clamp 808 slides in next time, and then the bearings inside the bearing cylinder 5 can be greased and press-fitted one by one; It should be noted that parts have a life cycle and can be replaced during regular maintenance if they fail to meet their performance requirements. The deterioration of the performance of parts due to long-term use does not constitute a design defect in this application.

[0045] This specific embodiment is merely an explanation of the present invention and is not intended to limit the present invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed. However, as long as such modifications are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A bearing oil seal for a humanoid robot joint, comprising a bearing oil seal (9), characterized in that: The top of the bearing oil seal (9) is provided with a slot (11), the inner ring surface of the bearing oil seal (9) is provided with a tapered groove surface (14), and the inner surface of the bearing oil seal (9) is sleeved with a self-tightening elastic ring (13) used in conjunction with the tapered groove surface (14).

2. The bearing oil seal for a humanoid robot joint according to claim 1, characterized in that: The outer surface of the self-tightening elastic ring (13) is sleeved with an L-shaped support ring (12) fixedly connected to the bearing oil seal (9).

3. A press-fitting device for a bearing oil seal according to claim 1-2, characterized in that: The invention comprises a pedestal (1), wherein the top of the pedestal (1) is bolted to a movable track (6), one end of the top of the movable track (6) is provided with a bearing cylinder (5) bolted to the pedestal (1), one side of the pedestal (1) is bolted to a support shell (2), a side of the support shell (2) close to the movable track (6) is slidably connected to a grease injection component (3) and a press-fit component (4), and a driving mechanism (7) and a translation mechanism (8) are respectively installed inside the support shell (2) and the pedestal (1).

4. The press-fitting device for a bearing oil seal according to claim 3, characterized in that: The driving mechanism (7) comprises a motor (701) bolted to one side of the top of the support shell (2); the output end of the motor (701) is bolted to a first screw (702); a second screw (703) is rotatably connected to a side of the support shell (2) near the press-fitting assembly (4); the tops of the first screw (702) and the second screw (703) are fixedly sleeved with a first synchronous wheel (704); the surfaces of the two first synchronous wheels (704) are transmission sleeved with a first synchronous belt (705); the surfaces of the first screw (702) and the second screw (703) are threadedly sleeved with a threaded sleeve (706) bolted to the grease injection assembly (3) and the press-fitting assembly (4), respectively; and the bottom of the first screw (702) is bolted to an extension rod (707).

5. The press-fitting device for a bearing oil seal according to claim 4, characterized in that: The translation mechanism (8) comprises a rotating disc (802) rotatably connected to the top of the pedestal (1) away from the support shell (2), the pedestal (1) is internally rotatably connected to a large gear (801), the bottom of the rotating disc (802) and the top of the large gear (801) are both bolted to a second synchronous wheel (804), the surfaces of the two second synchronous wheels (804) are sleeved with a second synchronous belt (805), the bottom of the extension rod (707) is sleeved with a rotating sleeve (814), the bottom bolt of the rotating sleeve (814) is A small gear (803) meshing with the large gear (801) is connected to the extension rod (707), one end of which is located inside the rotating sleeve (814) and is provided with a one-way ratchet groove (817). The internal array of the rotating sleeve (814) is bolted with a telescopic rod (818). The other end of the telescopic rod (818) is bolted with a trapezoidal plug (816) slidably plugged into the one-way ratchet groove (817). The surface of the telescopic rod (818) is provided with a return spring (815) bolted to the rotating sleeve (814) and the trapezoidal plug (816) respectively.

6. The press-fitting device for a bearing oil seal according to claim 5, characterized in that: The top of the pedestal (1) is slidably connected to a sliding plate (807) on one side close to the rotating disc (802), and a linear slide groove (809) is provided on one side of the interior of the sliding plate (807). A rocking wheel (806) slidably connected to the linear slide groove (809) is bolted to one side of the top of the rotating disc (802). A V-shaped clamp (808) slidably connected to the moving track (6) is welded to one side of the sliding plate (807) close to the moving track (6). A sliding rod (810) is welded to the bottom of one end of the moving track (6), and a semicircular sliding groove (811) is provided on the side of the top of the base (1) close to the rotating disc (802) and is slidably connected to the sliding rod (810). The bottom of the inner cavity of the moving track (6) is slidably connected to a trapezoidal slide (813) used in conjunction with the V-shaped clamp (808), and the side of the trapezoidal slide (813) away from the V-shaped clamp (808) is bolted to a telescopic spring (812) fixedly connected to the moving track (6).

7. The press-fitting device for a bearing oil seal according to claim 3, characterized in that: The grease injection assembly (3) comprises a grease storage tank (301), the bottom of the grease storage tank (301) is bolted to an extrusion head (302), the top of the grease storage tank (301) is threadedly sleeved with a movable cover (303), the top of the movable cover (303) is bolted to a cylinder (304), and the output end of the cylinder (304) is bolted to a piston (305) that is slidably connected to the inside of the grease storage tank (301).

8. The press-fitting device for a bearing oil seal according to claim 3, characterized in that: The press-fit assembly (4) comprises a press-fit plate (401), the bottom of the press-fit plate (401) is slidably connected to a snap ring (402), the bottom of the snap ring (402) is welded with a trapezoidal clamping block (404) clamped to the clamping groove (11), the top of the snap ring (402) and the interior of the press-fit plate (401) are bolted with magnetic rings (403) that are magnetically attracted to each other, and one end of the press-fit plate (401) close to the threaded sleeve (706) is rotatably connected to a first synchronous belt (705), A linear rack (10) meshing with the disc gear (405) is bolted to one side of the support shell (2) near the press-fit assembly (4); a rotating disk (407) rotatably connected to the press-fit plate (401) is provided at the center of the retaining ring (402); a bearing retaining plate (408) is welded to the bottom of the first synchronous wheel (704); and a bevel gear (406) meshing with each other is bolted to the top of the rotating disk (407) and one end of the disc gear (405) near the retaining ring (402).

9. The press-fitting device for a bearing oil seal according to claim 3, characterized in that: The end of the top of the bearing cylinder (5) away from the moving track (6) is bolted to a feed track (17), and the side of the support shell (2) away from the grease injection component (3) and the press-fit component (4) is bolted to a detachable back plate (18).

10. The press-fitting device for a bearing oil seal according to claim 5, characterized in that: A conical plug (16) is slidably inserted into one side of the bottom of the rotating disc (802), and a conical groove adapted to the conical plug (16) is opened on one side of the bottom of the rotating disc (802). The bottom of the conical plug (16) is bolted to a limit spring (15), and the bottom of the limit spring (15) is bolted to the inside of the pedestal (1).

Images