A press fitting device for an oil seal of an articulated bearing of a humanoid robot

Abstract

The application discloses a press-fitting device for a joint bearing oil seal of a humanoid robot, and applies to the technical field of humanoid robots, and comprises a pedestal, the top of the pedestal is bolted with a moving track, one end of the top of the moving track is provided with a bearing cylinder which is bolted with the pedestal, one side of the pedestal is bolted with a supporting shell, the side, close to the moving track, of the supporting shell is respectively slidably connected with a grease injection assembly and a press-fitting assembly, and the interiors of the supporting shell and the pedestal are respectively provided with a driving mechanism and a translation mechanism. The grease injection assembly and the press-fitting assembly are driven to move up and down on the side of the supporting shell, meanwhile, the V-shaped clamp is continuously moved between the bearing cylinder and the grease injection assembly and the press-fitting assembly, bearings in the bearing cylinder are pushed out one by one and accurately moved to the bottom of the grease injection assembly and the press-fitting assembly for grease injection and press fitting.

Description

Technical Field

[0001] This invention belongs to the field of humanoid robot technology, and specifically relates to a press-fitting device for oil seals of joint bearings in humanoid robots. Background Technology

[0002] Humanoid robots are robots designed and constructed to mimic the human form. They typically use bearings as joint connecting components and can move, manipulate objects, and interact with the environment in a manner similar to that of humans.

[0003] Currently, Chinese invention patent CN112775895B discloses an integrated press-fit fixture for oil seals and bearings. Press-fitting the oil seals for humanoid robot joint bearings is a crucial process ensuring the long-term reliable operation of the joint. The oil seal prevents grease leakage from the joint bearing and prevents external contaminants from entering the bearing, ensuring that the stringent requirements of high precision, low friction, and long lifespan for humanoid robot joints are met. Existing bearing oil seal press-fitting devices generally require grease injection into the bearing's internal balls before pressing the oil seal. However, small and medium-sized enterprises currently use semi-automatic press-fitting equipment for oil seal pressing, which necessitates manual grease injection into the bearing's internal balls beforehand. The greased bearings are then transported to the press-fitting stage for pressing. Currently, the pressing process involves manually inserting the oil seal into the bearing and then pressing it with press-fitting equipment. This process is cumbersome and can lead to damage to the oil seal during pressing due to large deviations. In such cases, the oil seal needs to be disassembled and re-press-fitted, which reduces the accuracy of grease injection and oil seal pressing, as well as the efficiency of pressing the bearing oil seals of humanoid robot joints. Summary of the Invention

[0004] The purpose of this invention is to provide a pressing device for oil seals of joint bearings of humanoid robots. Its advantages are that the joint bearings of humanoid robots can be moved sequentially for grease injection and pressing, avoiding missed processing; and that the bearings are accurately positioned after moving forward, enabling accurate grease injection and pressing.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a press-fitting device for oil seals of joint bearings of humanoid robots, comprising a base, a movable rail bolted to the top of the base, a bearing cylinder bolted to the base at one end of the top of the movable rail, a support shell bolted to one side of the base, a grease injection assembly and a press-fitting assembly slidably connected to the side of the support shell near the movable rail, and a drive mechanism and a translation mechanism respectively installed inside the support shell and the base; the drive mechanism includes a motor bolted to the top side of the support shell, and the output end of the motor is bolted... A first screw is connected to the support housing, and a second screw is rotatably connected to the inside of the support housing near the press-fit assembly. A first synchronous pulley is fixedly sleeved on the top of both the first and second screws. A first synchronous belt is drivenly sleeved on the surfaces of the two first synchronous pulleys. Threaded sleeves, bolted to the grease injection assembly and the press-fit assembly respectively, are threaded onto the surfaces of both the first and second screws. An extension rod is bolted to the bottom of the first screw. The translation mechanism includes a rotating disk rotatably connected to the top of the platform away from the support housing. A large gear is rotatably connected inside the platform. The bottom of the rotating disk and the large gear... The top of each component is bolted with a second synchronous pulley, and the surfaces of the two second synchronous pulleys are fitted with second synchronous belts. A rotating sleeve is fitted onto the bottom of the extension rod, and a small gear meshing with a large gear is bolted to the bottom of the rotating sleeve. One-way ratchet grooves are arranged in an array at one end of the extension rod inside the rotating sleeve. A telescopic rod is bolted to an array inside the rotating sleeve, and a trapezoidal insert is bolted to the other end of the telescopic rod, slidingly engaging with the one-way ratchet groove. Return springs, bolted to the rotating sleeve and the trapezoidal insert, are fitted onto the surface of the telescopic rod. A sliding plate is slidably connected to the top of the base near the rotating disk. A straight groove is provided on one side of the interior of the sliding plate. A rocking wheel that is slidably connected to the straight groove is bolted to one side of the top of the rotating disk. A V-shaped clamp that is slidably connected to the moving track is welded to the side of the sliding plate near the moving track. A sliding rod is welded to the bottom of the sliding plate at one end near the moving track. A semi-circular groove that is slidably connected to the sliding rod is provided on the top of the platform near the rotating disk. A trapezoidal sliding plate that works with the V-shaped clamp is slidably connected to the bottom of the inner cavity of the moving track. A telescopic spring that is fixedly connected to the moving track is bolted to the side of the trapezoidal sliding plate away from the V-shaped clamp.

[0006] By employing the above technical solution, the grease injection assembly and the pressing assembly move up and down on one side of the support shell, while simultaneously moving the V-shaped clamps between the bearing cylinder, the grease injection assembly, and the pressing assembly. This pushes out the bearings one by one from inside the bearing cylinder and precisely moves them to the bottom of the grease injection assembly and the pressing assembly for grease injection and pressing. This allows for accurate bearing positioning, preventing positional misalignment and avoiding missed machining. During the downward movement of the pressing assembly, the disc gear meshes with the linear rack, causing the pressing plate to move downwards to press the bearing oil seal. Simultaneously, the bearing clamping plate engages with the inner surface of the bearing, driving the inner ring of the bearing to rotate. This ensures even rotation of the grease injected into the bearing, facilitating the pressing of the bearing oil seal and reducing grease overflow.

[0007] The present invention is further configured such that: the grease injection assembly includes a grease reservoir, an extrusion head is bolted to the bottom of the grease reservoir, a movable cover is threaded onto the top of the grease reservoir, a cylinder is bolted to the top of the movable cover, and a piston that is slidably connected to the inside of the grease reservoir is bolted to the output end of the cylinder.

[0008] Using the above technical solution, the piston is driven to slide downward inside the grease reservoir by opening the cylinder, thereby squeezing the grease inside the grease reservoir from the extruder into the bearing for grease injection.

[0009] The invention is further configured such that: the pressing assembly includes a pressing plate, a retaining ring is slidably connected to the bottom of the pressing plate, a trapezoidal retaining block is welded to the bottom of the retaining ring, and magnetic rings that are magnetically attracted to each other are bolted to the top of the retaining ring and the inside of the pressing plate; a first synchronous belt is rotatably connected to the end of the pressing plate near the threaded sleeve; a linear rack that meshes with a disc gear is bolted to the side of the support shell near the pressing assembly; a rotating disk that is rotatably connected to the pressing plate is provided at the center of the retaining ring; a bearing retaining plate is welded to the bottom of the rotating disk; and bevel gears that mesh with each other are bolted to the top of the rotating disk and the end of the disc gear near the retaining ring.

[0010] Using the above technical solution, when the pressing 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 pressing plate moves upward, the retaining ring with the bearing oil seal at the bottom of the pressing plate can be replaced for the next use. The retaining ring and the pressing plate are fixed together by magnetic attraction using a magnetic ring.

[0011] The present invention is further configured such that: a feed rail is bolted to the top of the bearing cylinder away from the moving track, and a detachable back plate is bolted to the side of the support shell away from the grease injection assembly and the pressing assembly.

[0012] Using the above technical solution, the feeding track facilitates the sliding of bearings into the bearing cylinder, allowing them to be placed vertically one by one, which is convenient for the bearings to be pushed out one by one by the V-shaped clamps. The detachable back plate allows the back of the support shell to be opened, thus facilitating the maintenance and replacement of internal parts.

[0013] The present invention is further configured such that: a conical plug is slidably inserted into one side of the bottom of the rotating disk, a conical groove adapted to the conical plug is provided on one side of the bottom of the rotating disk, a limit spring is bolted to the bottom of the conical plug, and the bottom of the limit spring is bolted to the inside of the base.

[0014] Using the above technical solution, when the rotating disk rotates, the conical insert will overcome the elastic force of the limiting spring and move downwards. After the rotating disk drives the rocking wheel to rotate one revolution and return to the initial position, the limiting spring drives the conical insert to insert into the bottom of the rotating disk, thereby controlling the top of the rotating disk and ensuring the accuracy of the V-shaped clamp moving to the initial position.

[0015] In summary, the present invention has the following beneficial effects:

[0016] 1. By moving the grease injection assembly and the pressing assembly up and down on one side of the support shell, and simultaneously moving the V-shaped clamps between the bearing cylinder, the grease injection assembly, and the pressing assembly, the bearings inside the bearing cylinder are pushed out one by one and precisely moved to the bottom of the grease injection assembly and the pressing assembly for grease injection and pressing. This allows for accurate positioning of the bearings, preventing positional misalignment and avoiding missed machining.

[0017] 2. During the downward movement of the pressing assembly, the disc gear meshes with the linear rack, causing the pressing plate to move downwards to press the bearing oil seal. Simultaneously, the bearing retainer plate engages with the inner surface of the bearing, causing the inner ring of the bearing to rotate. This ensures that the grease injected into the bearing rotates evenly, facilitating the pressing of the bearing oil seal and reducing grease overflow. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a cross-sectional view of the supporting shell structure of the present invention;

[0020] Figure 3 This is a cross-sectional view of the bearing cylinder structure of the present invention;

[0021] Figure 4 This is a schematic diagram of the cooperation between the drive mechanism and the translation mechanism of the present invention;

[0022] Figure 5 This is a cross-sectional view of the press-fit plate structure of the present invention;

[0023] Figure 6 This is a partial structural diagram of the press-fit assembly of the present invention;

[0024] Figure 7 This is a cross-sectional view of the grease injection assembly structure of the present invention;

[0025] Figure 8 This is a schematic diagram of the trapezoidal sliding plate structure of the present invention;

[0026] Figure 9 This is a top view of the rotating sleeve structure of the present invention.

[0027] Reference numerals: 1. Base; 2. Support shell; 3. Grease injection assembly; 301. Grease reservoir; 302. Extruder head; 303. Movable cover; 304. Cylinder; 305. Piston; 4. Press assembly; 401. Press plate; 402. Snap ring; 403. Magnet ring; 404. Trapezoidal locking block; 405. Disc gear; 406. Bevel gear; 407. Rotating disk; 408. Bearing locking plate; 5. Bearing cylinder; 6. Moving track; 7. Drive mechanism; 701. Motor; 702. First screw; 703. Second screw; 704. First synchronous pulley; 705. First synchronous belt; 706. Threaded sleeve; 707 8. Extension rod; 8. Translation mechanism; 801. Large gear; 802. Rotating disk; 803. Small gear; 804. Second synchronous pulley; 805. Second synchronous belt; 806. Rocking wheel; 807. Sliding plate; 808. V-shaped clamp; 809. Linear slide groove; 810. Sliding rod; 811. Semi-circular slide groove; 812. Telescopic spring; 813. Trapezoidal slide plate; 814. Rotating sleeve; 815. Return spring; 816. Trapezoidal insert; 817. One-way ratchet; 818. Telescopic rod; 10. Linear rack; 15. Limiting spring; 16. Conical insert; 17. Feed track; 18. Detachable back plate. Detailed Implementation

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

[0029] Example 1:

[0030] refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8A pressing device for oil seals on joint bearings of humanoid robots includes a base 1. A movable rail 6 is bolted to the top of the base 1. A bearing cylinder 5, bolted to the base 1, is located at one end of the top of the movable rail 6. A support shell 2 is bolted to one side of the base 1. A grease injection assembly 3 and a pressing assembly 4 are slidably connected to the side of the support shell 2 near the movable rail 6. A drive mechanism 7 and a translation mechanism 8 are respectively installed inside the support shell 2 and the base 1. During the downward movement of the pressing assembly 4, a disc gear 405 meshes with a linear rack 10, causing the pressing plate 401 to move downwards to press the bearing oil seal. Simultaneously, a bearing clamping plate 408 engages with the inner surface of the bearing, driving the inner ring of the bearing to rotate. This ensures that the grease injected into the bearing rotates evenly, facilitating the pressing of the bearing oil seal and reducing grease overflow.

[0031] 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. A first screw 702 is bolted to the output end of the motor 701. A second screw 703 is rotatably connected inside the support housing 2 near the pressing assembly 4. First synchronous pulleys 704 are fixedly sleeved on the tops of both the first screw 702 and the second screw 703. First synchronous belts 705 are driven onto the surfaces of the two first synchronous pulleys 704. Threaded sleeves 706, bolted to the grease injection assembly 3 and the pressing assembly 4 respectively, are threaded onto the surfaces of both the first screw 702 and the second screw 703. An extension rod 707 is bolted to the bottom of the first screw 702. This mechanism drives the grease injection assembly 3 and the pressing assembly 4 to move up and down on one side of the support housing 2, allowing them to sequentially inject grease and press the bearing, thus improving bearing processing efficiency.

[0032] refer to Figure 1 , Figure 8 The grease injection assembly 3 includes a grease reservoir 301, with an extrusion head 302 bolted to the bottom of the reservoir 301. A movable cover 303 is threaded onto the top of the reservoir 301, and a cylinder 304 is bolted to the top of the cover 303. A piston 305, which is slidably connected to the inside of the reservoir 301, is bolted to the output end of the cylinder 304. By opening the cylinder 304, the piston 305 slides downward inside the reservoir 301, thereby extruding the grease inside the reservoir 301 from the extrusion head 302 into the bearing for grease injection.

[0033] refer to Figure 1 , Figure 5 , Figure 6The pressing assembly 4 includes a pressing plate 401. A retaining ring 402 is slidably connected to the bottom of the pressing plate 401. A trapezoidal retaining block 404 is welded to the bottom of the retaining ring 402. Magnet rings 403 that are magnetically attracted to each other are bolted to the top of the retaining ring 402 and the inside of the pressing plate 401. A first synchronous belt 705 is rotatably connected to one end of the pressing plate 401 near the threaded sleeve 706. A linear rack 10 that meshes with the disc gear 405 is bolted to one side of the support shell 2 near the pressing assembly 4. A rotating disk 407 that is rotatably connected to the pressing plate 401 is set at the center of the retaining ring 402. A bearing retaining plate 408 is welded to the bottom of the rotating disk 407. A bevel gear 406 that meshes with each other is bolted to the top of the rotating disk 407 and the end of the disc gear 405 near the retaining ring 402. When the pressing assembly 4 moves downward, the bearing oil seal at the bottom of the retaining ring 402 is pressed onto the top of the bearing. When the pressing plate 401 moves upward, the retaining ring 402 with the bearing oil seal at the bottom of the pressing plate 401 can be replaced for the next use. The retaining ring 402 and the pressing plate 401 are magnetically attracted and fixed to each other by the magnetic ring 403.

[0034] Brief description of the usage process: By placing the bearing inside the bearing cylinder 5, the motor 701 is turned on, and the first synchronous pulley 704 and the first synchronous belt 705 are used for transmission, causing the first screw 702 and the second screw 703 to rotate synchronously. Then, the first screw 702 and the second screw 703 engage with the threaded sleeve 706, thereby driving the grease injection assembly 3 and the pressing assembly 4 to move downward synchronously. Afterward, the cylinder 304 is turned on, causing the piston 305 to slide downward inside the grease reservoir 301, thereby squeezing the grease inside the grease reservoir 301 from the extruder 302 into the bearing for grease injection. Finally, the greased bearing is moved to the bottom of the pressing assembly 4. When the pressing assembly 4 moves downward, the bearing oil seal at the bottom of the retaining ring 402 is pressed onto the top of the bearing. When the pressing plate 401 moves upward, the retaining ring 402 with the bearing oil seal at the bottom of the pressing plate 401 can be replaced for the next use. Simultaneously, as the pressing plate 401 moves downward, it drives the disc gear 405 to mesh with the linear rack 10, which in turn drives the bevel gear 406 to rotate and mesh with each other. This allows the bearing retaining plate 408 at the bottom of the rotating disk 407 to rotate on its own at the bottom of the pressing plate 401. When the pressing plate 401 moves downward to press the bearing oil seal, the bearing retaining plate 408 is used to limit the inner surface of the bearing (e.g., ...). Figure 6 As shown, the bearing clamp 408 is tapered, which drives the inner ring of the bearing to rotate, so that the grease inside the bearing rotates evenly, which facilitates the pressing of the bearing oil seal.

[0035] Example 2:

[0036] Based on Example 1, and referring to Figure 1 , Figure 2 , Figure 3, Figure 4 , Figure 9 Figure 10 shows a pressing device for oil seals on joint bearings of a humanoid robot. It includes a base 1, with a moving track 6 bolted to the top of the base 1. A bearing cylinder 5, bolted to the base 1, is located at one end of the top of the moving track 6. A support shell 2 is bolted to one side of the base 1. A grease injection assembly 3 and a pressing assembly 4 are slidably connected to the side of the support shell 2 near the moving track 6. A drive mechanism 7 and a translation mechanism 8 are installed inside the support shell 2 and the base 1, respectively. By driving the grease injection assembly 3 and the pressing assembly 4 to move up and down on one side of the support shell 2, and simultaneously driving the V-shaped clamp 808 to continuously move between the bearing cylinder 5 and the grease injection assembly 3 and the pressing assembly 4, the bearings inside the bearing cylinder 5 are pushed out one by one and precisely moved to the bottom of the grease injection assembly 3 and the pressing assembly 4 for grease injection and pressing. This allows for accurate positioning of the bearings, preventing positional deviation and avoiding missed machining.

[0037] refer to Figure 4 Figure 10 shows that the translation mechanism 8 includes a rotating disk 802 rotatably connected to the top of the platform 1 on the side away from the support shell 2. A large gear 801 is rotatably connected inside the platform 1. The bottom of the rotating disk 802 and the top of the large gear 801 are bolted to the second synchronous pulleys 804. The surfaces of the two second synchronous pulleys 804 are sleeved with second synchronous belts 805. The bottom of the extension rod 707 is sleeved with a rotating sleeve 814. The bottom of the rotating sleeve 814 is bolted to a small gear 803 that meshes with the large gear 801. One end of the extension rod 707 inside the rotating sleeve 814 has an array of one-way ratchet grooves 817. The inside of the rotating sleeve 814 is bolted with an array of telescopic rods 818. The other end of the telescopic rod 818 is bolted to a trapezoidal plug 816 that slides into the one-way ratchet groove 817. The surface of the telescopic rod 818 is sleeved with return springs 815 that are bolted to the rotating sleeve 814 and the trapezoidal plug 816 respectively. When the first screw 702 rotates counterclockwise, causing the grease injection assembly 3 and the pressing assembly 4 to move downwards, it does not cause the bearing to move. At the same time, when the first screw 702 rotates clockwise, causing the grease injection assembly 3 and the pressing assembly 4 to move upwards, it causes the bearing to move laterally.

[0038] refer to Figure 1 , Figure 3 , Figure 9A sliding plate 807 is slidably connected to the top of the platform 1 near the rotating disk 802. A straight groove 809 is provided on one side of the interior of the sliding plate 807. A rocking wheel 806 is bolted to the top of the rotating disk 802 and slidably connected to the straight groove 809. A V-shaped clamp 808 is welded to the side of the sliding plate 807 near the moving track 6 and slidably connected to the moving track 6. A sliding rod 810 is welded to the bottom of the sliding plate 807 near the moving track 6. A semi-circular groove 811 is provided on the top of the platform 1 near the rotating disk 802 and slidably connected to the sliding rod 810. A trapezoidal slide plate 813 that works with the V-shaped clamp 808 is slidably connected to the bottom of the inner cavity of the moving track 6. A telescopic spring 812 that is fixedly connected to the moving track 6 is bolted to the side of the trapezoidal slide plate 813 away from the V-shaped clamp 808. Because the linear sliding distance of the rocker wheel 806 at the top of the rotating disk 802 and the linear sliding distance of the sliding rod 810 inside the semi-circular groove 811 are consistent with the distance between the grease injection assembly 3, the press-fit assembly 4, and the bearing cylinder 5, it can be ensured that the bearing inside the bearing cylinder 5 is accurately moved to the bottom of the grease injection assembly 3 each time. Furthermore, because the clamping end of the V-shaped clamp 808 is open, it can cooperate with the side of the moving track 6 (e.g., Figure 3 As shown, the side of the moving track 6 is raised, so even if vibration causes a small range of displacement, the bearing can be accurately clamped at the bottom of the grease injection assembly 3 and the press-fit assembly 4.

[0039] refer to Figure 1 , Figure 3 The top end of the bearing cylinder 5, away from the moving track 6, is bolted to a feed track 17. A detachable back plate 18 is bolted to the side of the support shell 2 away from the grease injection assembly 3 and the pressing assembly 4. The feed track 17 facilitates the sliding of bearings into the bearing cylinder 5, allowing them to be placed vertically one by one and easily ejected by the V-shaped clamp 808. The detachable back plate 18 allows the back of the support shell 2 to be opened, facilitating the maintenance and replacement of internal parts.

[0040] 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 matching the conical insert 16 is formed on one side of the bottom of the rotating disk 802. A limit spring 15 is bolted to the bottom of the conical insert 16, and the bottom of the limit spring 15 is bolted to the inside of the base 1. When the rotating disk 802 rotates, the conical insert 16 moves downwards against the elastic force of the limit spring 15. After the rotating disk 802 drives the rocker wheel 806 to rotate one 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 rotation of the rotating disk 802 and ensuring the accuracy of the V-shaped clamp 808 moving to its initial position.

[0041] Brief description of the usage process: When the retaining ring 402 is rotated by the motor 701, the grease injection assembly 3 and the pressing assembly 4 move downwards. At this time, the first screw 702 rotates counterclockwise. Since the inclined surface on one side of the trapezoidal insert 816 and the one-way ratchet 817 can slide against each other, the trapezoidal insert 816 overcomes the return spring 815 and slides into the rotating sleeve 814. The first screw 702 cannot directly drive the small gear 803 at the bottom of the rotating sleeve 814 to rotate, thereby preventing the V-shaped clamp 808 from driving the clamped bearing to move. Simultaneously, when the motor 701 drives the grease injection assembly 3 and the pressing assembly 4 to move upward, the first screw 702 rotates clockwise. Since the trapezoidal insert 816 and the other side of the one-way ratchet 817 cannot slide, the first screw 702 can drive the pinion 803 to rotate, so that the pinion 803 meshes with the large gear 801, and rotates through the second synchronous pulley 804 and the second synchronous belt 805, thereby driving the rotating disk 802 to rotate on the top of the platform 1.

[0042] Then, the rotating disc 802 rotates, causing the rocking wheel 806 to rock, which in turn moves the sliding plate 807. Since the sliding plate 807 is limited by the sliding rod 810, the sliding rod 810 slides inside the semi-circular groove 811. Therefore, the rocking wheel 806 drives the sliding plate 807 to slide laterally. At the same time, the rocking wheel 806 slides and adjusts its position inside the straight groove 809. This allows the V-shaped clamp 808 on one side of the sliding plate 807 to drive the internally clamped bearing to slide laterally inside the moving track 6. Since the straight sliding distance of the rocking wheel 806 at the top of the rotating disc 802 and the straight sliding distance of the sliding rod 810 inside the semi-circular groove 811 are consistent with the distance between the grease injection assembly 3, the pressing assembly 4, and the bearing cylinder 5, it can be ensured that the bearing inside the bearing cylinder 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 pressing assembly 4, and the bearing at the bottom of the pressing assembly 4 is moved to the end of the moving track 6 and slides out. Then, rotating disk 802 continues to drive the rocker wheel 806 to move. At this time, under the limitation of sliding rod 810 and semi-circular groove 811, the large gear 801 can make an arc-shaped movement trajectory away from the support shell 2 to match the rocker wheel 806. When the grease injection assembly 3 and pressing assembly 4 move to the top, the rocker wheel 806 moves back to its initial position. At this time, the V-shaped clamp 808 will move to the position of bearing cylinder 5, grease injection assembly 3 and pressing assembly 4, and clamp the bearing that has moved to this position. Since the clamping end of the V-shaped clamp 808 is open, it can cooperate with the side of the moving track 6 (e.g., Figure 3 As shown, the side of the moving track 6 is raised, so even if vibration causes a small range of displacement, the bearing can be accurately clamped at the bottom of the grease injection assembly 3 and the pressing assembly 4. Then, when the grease injection assembly 3 and the pressing assembly 4 move downward, the grease injection and pressing processes can be performed on the continuously moving bearing respectively.

[0043] Meanwhile, each time the V-shaped clamp 808 slides into the bottom of the bearing cylinder 5, it will squeeze the trapezoidal slide plate 813 to overcome the elastic force of the telescopic spring 812, causing the trapezoidal slide plate 813 to retract into the bearing cylinder 5. 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 laterally. At this time, the trapezoidal slide plate 813 extends outward with the elastic force of the telescopic spring 812 during the sliding process of the V-shaped clamp 808, sealing the bottom of the bearing cylinder 5. This allows the bearing to fall into the V-shaped clamp 808 again after it slides in next time, so that the bearings inside the bearing cylinder 5 can be greased and pressed one by one.

[0044] It should be noted that parts have a lifespan and can be replaced during regular maintenance when they no longer meet performance requirements. Deterioration in performance due to prolonged use of parts is not a design defect of this application.

[0045] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A press fitting device for a joint bearing oil seal of a humanoid robot, characterized by: The system includes a platform (1), a moving track (6) bolted to the top of the platform (1), a bearing cylinder (5) bolted to the platform (1) at one end of the top of the moving track (6), a support shell (2) bolted to one side of the platform (1), a grease injection assembly (3) and a press assembly (4) slidably connected to the side of the support shell (2) near the moving track (6), and a drive mechanism (7) and a translation mechanism (8) respectively installed inside the support shell (2) and the platform (1); the drive mechanism (7) includes a motor (7) bolted to the top side of the support shell (2). 01), the output end of the motor (701) is bolted to a first screw (702), and a second screw (703) is rotatably connected to the inside of the support shell (2) near the press assembly (4). The tops of the first screw (702) and the second screw (703) are both fixedly sleeved with first synchronous pulleys (704). The surfaces of the two first synchronous pulleys (704) are driven by first synchronous belts (705). The surfaces of the first screw (702) and the second screw (703) are both threaded with threaded sleeves that are bolted to the grease injection assembly (3) and the press assembly (4), respectively. 706), the bottom of the first screw (702) is bolted with an extension rod (707); the translation mechanism (8) includes a rotating disk (802) rotatably connected to the top of the platform (1) away from the support shell (2), a large gear (801) is rotatably connected inside the platform (1), the bottom of the rotating disk (802) and the top of the large gear (801) are bolted with second synchronous pulleys (804), the surfaces of the two second synchronous pulleys (804) are sleeved with second synchronous belts (805), and the bottom of the extension rod (707) is sleeved with a rotating sleeve (814). The bottom of the rotating sleeve (814) is bolted to a small gear (803) that meshes with the large gear (801). One end of the extension rod (707) inside the rotating sleeve (814) is provided with an array of one-way ratchet grooves (817). The inside of the rotating sleeve (814) is bolted with an array of telescopic rods (818). The other end of the telescopic rod (818) is bolted to a trapezoidal plug (816) that slides into the one-way ratchet groove (817). The surface of the telescopic rod (818) is fitted with a return spring (815) that is bolted to the rotating sleeve (814) and the trapezoidal plug (816) respectively.The top of the pedestal (1) is slidably connected with a sliding plate (807) near one side of the rotating disc (802), a linear sliding groove (809) is formed in one side of the inner part of the sliding plate (807), a swing wheel (806) is boltedly connected with the sliding plate (807) near one side of the top of the rotating disc (802), the sliding plate (807) is welded with a V-shaped clamp (808) slidably connected with the moving track (6) near one side of the moving track (6), the bottom of the sliding plate (807) near one end of the moving track (6) is welded with a sliding rod (810), the top of the pedestal (1) is formed with a semicircular sliding groove (811) slidably connected with the sliding rod (810) near one side of the rotating disc (802), the inner cavity of the moving track (6) is slidably connected with a trapezoidal slide plate (813) used in cooperation with the V-shaped clamp (808), the trapezoidal slide plate (813) is boltedly connected with an extension spring (812) fixedly connected with the moving track (6) away from one side of the V-shaped clamp (808).

2. The press fitting device for the oil seal of the joint bearing of the humanoid robot according to claim 1, wherein: The grease injection assembly (3) includes a grease reservoir (301), with an extrusion head (302) bolted to the bottom of the grease reservoir (301), a movable cover (303) threaded onto the top of the grease reservoir (301), a cylinder (304) bolted to the top of the movable cover (303), and a piston (305) bolted to the output end of the cylinder (304) and slidably connected to the inside of the grease reservoir (301).

3. The press fitting device for the oil seal of the joint bearing of the humanoid robot according to claim 1, wherein: The press-fit assembly (4) includes a press-fit plate (401), a retaining ring (402) is slidably connected to the bottom of the press-fit plate (401), a trapezoidal retaining block (404) is welded to the bottom of the retaining ring (402), and magnetic rings (403) that are magnetically attracted to each other are bolted to the top of the retaining ring (402) and the inside of the press-fit plate (401). A first synchronous belt (705) is rotatably connected to one end of the press-fit plate (401) near the threaded sleeve (706). The support shell ( 2) A linear rack (10) that meshes with a disc gear (405) is bolted to the side of the internal part near the press assembly (4). A rotating disk (407) that is rotatably connected to the press plate (401) is provided at the center of the retaining ring (402). A bearing retaining plate (408) is welded to the bottom of the rotating disk (407). A bevel gear (406) that meshes with each other is bolted to the top of the rotating disk (407) and the end of the disc gear (405) near the retaining ring (402).

4. The press fitting device for the oil seal of the joint bearing of the humanoid robot according to claim 1, wherein: The top of the bearing cylinder (5) away from the moving track (6) is bolted to the feed track (17), and the side of the support shell (2) away from the grease injection assembly (3) and the press assembly (4) is bolted with a detachable back plate (18).

5. The press fitting device for the oil seal of the joint bearing of the humanoid robot according to claim 1, wherein: A conical plug (16) is slidably inserted into one side of the bottom of the rotating disk (802). A conical groove adapted to the conical plug (16) is opened on one side of the bottom of the rotating disk (802). A limit spring (15) is bolted to the bottom of the conical plug (16). The bottom of the limit spring (15) is bolted to the inside of the base (1).

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