A double-tapered bearing for a humanoid robot joint and a humanoid robot joint

Abstract

This invention discloses a double-cone bearing for a humanoid robot joint and the humanoid robot joint itself, comprising an outer ring and an inner ring, with a cage between the outer and inner rings. The cage has a groove within which a rolling element is movably limited, and a sealing ring is also included. Using this technical solution, both ends of the rolling element have a conical structure, capable of simultaneously withstanding axial and radial forces. When the bearing is horizontally arranged and in operation, the cage rotates, causing a moving block to move along with it, allowing grease at the bottom of the bearing to sequentially enter the interior of the moving block through the opening of the moving block, the first inlet of the extrusion block, and the second inlet of the blocking block. When a significant amount of grease settles at the bottom of the bearing, the movement of the extrusion block is obstructed, causing it to approach and push the blocking block, blocking the first and second inlets. Simultaneously, the blocking block extrudes the grease within the moving block, forcing it through the extrusion channel to the upper conical surface of the rolling element.

Description

Technical Field

[0001] This invention relates to the field of bearing technology, specifically to a double-tapered bearing for humanoid robot joints and a humanoid robot joint. Background Technology

[0002] In today's society, industrial development is rapid and products are highly integrated. For the field of robot joints, especially applications such as hip joints that require small size and high load-bearing capacity, existing bearings still have many shortcomings in terms of structure and lubrication, making it difficult to fully meet the needs of modern industrial development.

[0003] Specifically, existing bearings have the following main problems in robotic hip joint applications:

[0004] 1. The hip joint is the pivot connecting the torso and the thigh. During movement, it needs to withstand both the upward axial force generated during the support phase and the downward axial force caused by the weight of the legs during walking. However, existing internationally common bearing types, such as ball bearings, cylindrical bearings, and tapered bearings, are difficult to effectively meet the requirements of bearing this bidirectional axial alternating load.

[0005] 2. After grease is injected into existing bearings, the lubricating medium is prone to settling under gravity, resulting in insufficient lubrication in the upper area of ​​the bearing, which affects the bearing's operational reliability and service life.

[0006] A search revealed a utility model patent with authorization announcement number CN 207715542 U, which discloses a double tapered roller bearing with automatic lubrication. By employing a double tapered roller structure, it can bear axial loads from different directions. After installation, the centrifugal force during startup opens a ball valve, causing the lubricant to flow through nozzles into the roller grooves, thus achieving automatic lubrication. However, this technical solution still has certain limitations: on the one hand, robot joints typically operate at low speeds, generating limited centrifugal force, making it difficult to effectively trigger the automatic lubrication mechanism; on the other hand, replenishing the lubricant with each startup can easily lead to over-lubrication, potentially causing grease leakage or increasing operating resistance.

[0007] In summary, existing bearings, especially special bearings used in robot hip joints, urgently need further improvement in axial load capacity and lubrication capabilities. Summary of the Invention

[0008] The purpose of this invention is to solve the problems of poor axial load-bearing capacity and poor lubrication of existing humanoid robot bearings.

[0009] To address the aforementioned problems, this invention discloses a double-cone bearing for humanoid robot joints, comprising an outer ring and an inner ring, a cage provided between the outer ring and the inner ring, the cage having a groove in which a rolling element is movably limited, and further comprising:

[0010] A sealing ring, which is fixedly disposed at the bottom of the outer ring, is used to seal the gap between the outer ring and the inner ring;

[0011] Lubrication mechanism, the lubrication mechanism comprising:

[0012] A movable block is fixed to the bottom of the cage, and the bottom of the movable block is movably disposed on the surface of the sealing ring. One end of the movable block is provided with an opening, and the other end of the movable block is provided with a compression channel. The outlet end of the compression channel faces the upper conical surface of the rolling element.

[0013] An extrusion block is slidably disposed inside the movable block and positioned close to the opening, with a first inlet penetrating through the extrusion block;

[0014] A blocking block is slidably disposed inside the movable block and is located close to the extrusion channel. The blocking block is provided with a second inlet that is offset from the first inlet position. A telescopic member is connected between the blocking block and the extrusion block. When the extrusion block moves toward the opening, the telescopic member pulls the blocking block away from the extrusion channel.

[0015] A spring is connected between the moving block and the pressing block.

[0016] Using the above technical solution, when the bearing is horizontally arranged and in operation, the cage rotates, causing the moving block to move along with it. This allows the grease at the bottom of the bearing to sequentially enter the interior of the moving block through the opening of the moving block, the first inlet of the extrusion block, and the second inlet of the blocking block. When a significant amount of grease settles at the bottom of the bearing, the movement of the extrusion block is obstructed, causing it to approach and push the blocking block. This blocks the first and second inlets while simultaneously extruding the grease within the moving block through the extrusion channel onto the upper conical surface of the rolling element. As the rolling element rolls, it spreads the grease across the upper half of the bearing. Under gravity, the grease returns to the lower half of the bearing and then, through the lubrication mechanism, returns to the upper half again, creating a continuous cycle that ensures uniform lubrication inside the bearing.

[0017] According to another specific embodiment of the present invention, the two ends of the rolling element are conical structures, the outer ring is provided with an outer raceway adapted to the shape of the rolling element, and the inner ring is provided with an inner raceway adapted to the shape of the rolling element.

[0018] With the above technical solution, both ends of the rolling element are tapered structures, which can withstand axial force and radial force at the same time.

[0019] According to another specific embodiment of the present invention, the outer ring includes an upper ring and a lower ring, which are fixed by a first bolt. The inner walls of the upper ring and the lower ring are provided with inclined grooves, and the inclined grooves of the upper ring and the lower ring together form the outer raceway. The sealing ring is fixed to the bottom of the upper ring.

[0020] According to another specific embodiment of the present invention, the number of lubrication mechanisms is at least two sets, at least one set of lubrication mechanisms has its opening facing clockwise, and at least one set of lubrication mechanisms has its opening facing counterclockwise.

[0021] By adopting the above technical solution, when the grease settles at the bottom of the bearing, the bearing can be triggered by rotating clockwise or counterclockwise, so that the function of the lubrication mechanism is not limited by the direction of rotation.

[0022] According to another specific embodiment of the present invention, a guide rod is fixed inside the movable block, a guide hole is provided through the extrusion block, the guide rod is slidably connected to the guide hole, and the spring is sleeved on the guide rod.

[0023] According to another specific embodiment of the present invention, the telescopic member is a slide rod structure, one end of the slide rod structure is fixed to the block, and the other end of the slide rod structure is fixed with a slider. The extrusion block is provided with a groove, and the slider is slidably connected to the groove.

[0024] According to another specific embodiment of the present invention, the moving block is fixed with a stop block, which is disposed on the side of the block near the squeezing block and is used to limit the block when the squeezing block pulls the block.

[0025] According to another specific embodiment of the present invention, the sealing ring is fixed to the outer ring by a second bolt.

[0026] According to another specific embodiment of the present invention, the distance between the moving block and the surface of the sealing ring is 0.5-2 mm.

[0027] The present invention also discloses a humanoid robot joint, including a mounting base and a flange. The mounting base is used to connect the robot's torso, and the flange is used to connect the robot's legs. The flange is rotatably mounted on the mounting base via a double tapered bearing for humanoid robot joints as described in any of the above claims. Attached Figure Description

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:

[0029] Figure 1 This is a schematic diagram of the internal three-dimensional structure of the present invention.

[0030] Figure 2This is a cross-sectional structural diagram of the present invention.

[0031] Figure 3 This is a schematic diagram of the connection structure between the rolling element and the cage of the present invention.

[0032] Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A in the middle.

[0033] Figure 5 This is a schematic diagram of the connection structure between the lubrication mechanism and the cage of the present invention.

[0034] Figure 6 For the present invention Figure 5 Enlarged structural diagram at point B.

[0035] Figure 7 This is a schematic diagram of the connection structure between the blocking block and the squeezing block of the present invention.

[0036] Figure 8 This is a three-dimensional structural diagram of the present invention.

[0037] Figure 9 This is a schematic diagram of the assembly structure of the double tapered bearing of the present invention applied to the hip joint of a robot.

[0038] Figure 10 This is a schematic diagram of the rolling element structure of the present invention.

[0039] In the diagram: 10, Inner ring; 11, Inner raceway; 20, Outer ring; 21, Upper ring; 22, Lower ring; 23, Outer raceway; 24, First bolt; 30, Rolling element; 40, Cage; 50, Sealing ring; 51, Second bolt; 60, Lubrication mechanism; 61, Moving block; 611, Opening; 612, Stop block; 613, Extrusion channel; 614, Guide rod; 62, Extrusion block; 621, First inlet; 622, Slide groove; 623, Relief groove; 624, Guide hole; 63, Block; 631, Second inlet; 632, Telescopic component; 6321, Slider; 64, Spring; 70, Mounting seat; 80, Flange; E, Outlet end; M, Receiving cavity; N, Clearance. Detailed Implementation

[0040] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0041] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0042] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0043] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0044] like Figures 1 to 10 As shown, this invention discloses a double-cone bearing for a humanoid robot joint and a humanoid robot joint, such as... Figure 9 As shown, the humanoid robot joint includes a mounting base 70 and a flange 80. The flange 80 is rotatably mounted on the mounting base 70 via a double tapered bearing. The mounting base 70 is used to connect to the torso of the humanoid robot, and the flange 80 is used to connect to the legs of the humanoid robot. In the field of humanoid robots, the installation of the flange 80 and the mounting base 70 is prior art. Related technology can be found in Chinese invention patent application CN119305650A, which discloses a robot leg structure and a humanoid robot. Figure 10The specific implementation method is described in detail in the

[0067] section of the instruction manual, and will not be described in detail here.

[0045] like Figure 1 and Figure 2 As shown, the double tapered bearing includes an inner ring 10, an outer ring 20, rolling elements 30, and a cage 40. The cage 40 is located between the outer ring 20 and the inner ring 10 and has a groove. The rolling elements 30 are movably limited inside the groove. The outer ring 20 has an outer raceway 23 corresponding to the rolling elements 30, and the inner ring 10 has an inner raceway 11 corresponding to the rolling elements 30. The above is the existing structure of the bearing, which will not be described in detail here.

[0046] In this embodiment, the two ends of the rolling element 30 are tapered structures, and the specific structure of the rolling element 30 is as follows: Figure 10 As shown, it has a cylindrical structure in the middle and tapered structures at both ends with gradually decreasing diameters. Figure 2 As shown, the inner ring 10 and the outer ring 20 are respectively provided with an inner raceway 11 and an outer raceway 23 that are adapted to the shape of the rolling element 30, thereby forming effective support at both ends of the axial direction of the rolling element 30. When installed on the joint of a humanoid robot, especially the hip joint, it can not only withstand the upward axial force generated by the leg support, but also withstand the downward axial force caused by the weight of the legs when walking.

[0047] Understandably, the horizontal arrangement of the bearings in the hip joint of the humanoid robot is used to achieve horizontal rotation of the upper thigh. As a result, the grease inside the bearing will gradually settle to the lower half of the bearing under the action of gravity, resulting in uneven distribution of the grease. To solve this problem, the present invention also provides a lubrication mechanism 60, which is used to transport the grease that has settled to the lower half of the bearing back to the upper half of the bearing.

[0048] In this embodiment, a sealing ring 50 is provided at the bottom of the outer ring 20. The sealing ring 50 is fixed to the bottom of the outer ring 20 by a second bolt 51 and is used to seal the gap between the outer ring 20 and the inner ring 10. The lubrication mechanism 60 includes a moving block 61, a pressing block 62, a blocking block 63, and a spring 64. The moving block 61 is fixed to the bottom of the retainer 40 and can move with the retainer 40. The bottom of the moving block 61 is movably disposed on the surface of the sealing ring 50, and the bottom surface of the moving block 61 is close to the upper surface of the sealing ring 50, with a distance of 0.5-2mm. One end of the moving block 61 is provided with an opening 611. When the retainer 40 is in operation, the grease deposited on the surface of the sealing ring 50 can enter the moving block 61 through the opening 611. The other end of the moving block 61 is provided with a pressing channel 613, the structure of which is as follows: Figure 1 and Figure 6As shown in the dashed line, the inlet end of the extrusion channel 613 is connected to the interior of the moving block 61, and the outlet end E of the extrusion channel 613 faces the upper conical surface of the rolling element 30.

[0049] like Figure 4 and Figure 6 As shown, the extrusion block 62 is slidably disposed inside the moving block 61, and the extrusion block 62 is disposed close to the opening 611. The extrusion block 62 is provided with a first inlet 621. In this embodiment, the first inlet 621 is opened in the middle position of the extrusion block 62. When the grease enters the moving block 61 through the opening 611, it can continue to move towards one end of the extrusion channel 613 through the first inlet 621.

[0050] The plug 63 is slidably disposed inside the movable block 61, and the plug 63 is positioned close to the extrusion channel 613. The plug 63 has a second inlet 631 that is offset from the position of the first inlet 621, and a receiving cavity M is formed between the plug 63 and the extrusion channel 613. The inlet end of the extrusion channel 613 is connected to the receiving cavity M. In this embodiment, the second inlet 631 is located at both ends of the plug 63. When the extrusion block 62 is not in contact with the plug 63, a gap N is formed between the extrusion block 62 and the plug 63. The grease (…) entering through the first inlet 621… Figure 4 The middle arrow (pointed to by a) can reach the second inlet 631 through gap N. Figure 4 (As indicated by the middle arrow b), it then enters the receiving cavity M through the second inlet 631. When the squeezing block 62 contacts the blocking block 63, the blocking block 63 can block the first inlet 621, and the squeezing block 62 can block the second inlet 631.

[0051] like Figure 4 and Figure 7As shown, a telescopic member 632 connects the blocking block 63 and the extrusion block 62. When the extrusion block 62 moves toward the opening 611, the telescopic member 632 can pull the blocking block 63 away from the extrusion channel 613. In this embodiment, the telescopic member 632 is a sliding rod structure. One end of the sliding rod structure is fixed to the blocking block 63, and the other end of the sliding rod structure is fixed with a slider 6321. The slider 6321 is a T-shaped structure. The extrusion block 62 is provided with a groove 622, and the slider 6321 is slidably connected to the groove 622. When too much grease settles, the resistance encountered by the extrusion block 62 during movement will increase significantly. As the retainer 40 drives the moving block 61 to rotate, the extrusion block 62 will move towards the block 63 due to the resistance. When the extrusion block 62 moves towards the block 63, the block 63 remains stationary, and the slider 6321 slides in the groove 622. When the slider 6321 slides to the bottom of the groove 622, the extrusion block 62 contacts the block 63 and pushes the block 63 to move together. When the extrusion block 62 contacts the block 63, the first inlet 621 and the second inlet 631 are closed at the same time, causing the pressure in the receiving cavity M to increase sharply. This allows the grease collected in the receiving cavity M to be injected into the upper conical surface of the rolling element 30 through the outlet end E of the extrusion channel 613, realizing the automatic circulation of the grease.

[0052] Spring 64 is connected between moving block 61 and pressing block 62, and is used to generate elastic force when pressing block 62 moves away from opening 611, so that pressing block 62 is reset.

[0053] The specific implementation methods of the above embodiments are described below in two different cases:

[0054] 1. When a small amount of grease settles, there is less grease on the surface of the sealing ring 50. The retainer 40 drives the moving block 61 to rotate, and the grease enters the receiving cavity M and is stored through the opening 611, the first inlet 621, the gap N, and the second inlet 631 in sequence.

[0055] 2. When excessive grease settles, it accumulates locally on the surface of the sealing ring 50. When the retainer 40 rotates the moving block 61 to the accumulation area, the squeezing block 62 experiences a significant increase in resistance from the grease and slides towards the blocking block 63, sealing the second inlet 631 and the first inlet 621 upon contact with the blocking block 63. As the squeezing block 62 and the blocking block 63 continue to move, they compress the grease in the receiving cavity M, causing a sudden increase in pressure within the cavity M. This allows the grease collected in the receiving cavity M to be injected through the outlet end E of the squeezing channel 613 into the upper conical surface of the rolling element 30. When the moving block 61 continues to rotate away from the accumulation area, the surface resistance of the sealing ring 50 disappears, the squeezing block 62 resets under the elastic force of the spring 64, and the first inlet 621 and the second inlet 631 reopen, allowing the receiving cavity M to store grease again.

[0056] like Figure 1 and Figure 2As shown, the outer ring 20 includes an upper ring 21 and a lower ring 22, which are fixed together by a first bolt 24. Both the upper ring 21 and the lower ring 22 have inclined grooves on their inner walls, and these grooves together form the outer raceway 23. The sealing ring 50 is fixed to the bottom of the upper ring 21. By dividing the outer ring 20 into an upper ring 21 and a lower ring 22, during assembly, the inner ring 10 can be removed first, then the cage 40 and the rolling elements 30 can be installed, and finally the upper ring 21 and the lower ring 22 can be assembled from their respective sides, which is convenient and quick. It is understood that the installation of the cage 40 and the rolling elements 30 can be done in the same way as with ball bearings, which will not be elaborated here.

[0057] The number of lubrication mechanisms 60 is at least two sets, with at least one set having its opening 611 facing clockwise and at least one set having its opening 611 facing counterclockwise. This arrangement allows for the circulation of grease regardless of the direction of rotation, as the corresponding lubrication mechanism 60 can achieve this. Figure 5 and Figure 6 As shown, when the cage 40 rotates counterclockwise in the direction indicated by arrow c, the lubricating finger enters the receiving cavity M in the direction indicated by arrow d, and then enters the extrusion channel 613 in the direction indicated by arrow e, and is discharged through the outlet end E.

[0058] like Figure 4 As shown, a guide rod 614 is fixed inside the movable block 61, and a guide hole 624 is provided through the extrusion block 62. The guide rod 614 is slidably connected to the guide hole 624 to guide the sliding of the extrusion block 62. A spring 64 is sleeved on the guide rod 614. One end of the spring 64 is fixed to the extrusion block 62, and the other end is fixed to the movable block 61.

[0059] like Figure 4 As shown, the moving block 61 is fixed with a stop block 612, which is located on the side of the blocking block 63 near the squeezing block 62, and is used to limit the blocking block 63 when the squeezing block 62 pulls the blocking block 63. Specifically, Figure 7 As shown, the extrusion block 62 is provided with a relief groove 623 for displacement of the stop block 612. When the extrusion block 62 moves towards... Figure 4 When the block moves to the left as shown, it can push the block 63 to the left, squeezing the grease in the receiving cavity M. When the squeezing block 62 moves towards the left by the elastic force of the spring 64, it can push the block 63 to the left, squeezing the grease in the receiving cavity M. Figure 4 When the block moves to the right as shown, the telescopic member 632 can pull the block 63 to the right and stop moving when it contacts the stop block 612, thereby ensuring that a gap N is formed between the extrusion block 62 and the block 63 to facilitate the passage of grease.

[0060] While the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the invention to these descriptions. Various changes in form and detail can be made by those skilled in the art, including several simple deductions or substitutions, without departing from the spirit and scope of the invention.

Claims

1. A double tapered bearing for a humanoid robot joint, comprising an outer ring and an inner ring, a retainer being provided between the outer ring and the inner ring, the retainer being provided with pockets, and rolling elements being movably positioned in the pockets, characterized in that, It also includes, A sealing ring, which is fixedly disposed at the bottom of the outer ring, is used to seal the gap between the outer ring and the inner ring; The lubrication mechanism includes, A movable block is fixed to the bottom of the cage, and the bottom of the movable block is movably disposed on the surface of the sealing ring. One end of the movable block is provided with an opening, and the other end of the movable block is provided with a compression channel. The outlet end of the compression channel faces the upper conical surface of the rolling element. An extrusion block is slidably disposed inside the movable block and positioned close to the opening, with a first inlet penetrating through the extrusion block; A blocking block is slidably disposed inside the movable block and is located close to the extrusion channel. The blocking block is provided with a second inlet that is offset from the first inlet position. A telescopic member is connected between the blocking block and the extrusion block. When the extrusion block moves toward the opening, the telescopic member pulls the blocking block away from the extrusion channel. A spring, the spring being connected between the moving block and the pressing block; When grease accumulates on the surface of the sealing ring, the retainer drives the moving block to rotate to the accumulation area. The squeezing block is resisted by the grease and slides towards the blockage block. When it comes into contact with the blockage block, it seals the second inlet and the first inlet.

2. A dual taper bearing for a humanoid robot joint as claimed in claim 1, characterized in that, The two ends of the rolling element are tapered structures, the outer ring is provided with an outer raceway adapted to the shape of the rolling element, and the inner ring is provided with an inner raceway adapted to the shape of the rolling element.

3. A dual taper bearing for a humanoid robot joint as claimed in claim 2, wherein, The outer ring includes an upper ring and a lower ring, which are fixed together by a first bolt. The inner walls of the upper ring and the lower ring are provided with inclined grooves, and the inclined grooves of the upper ring and the lower ring together form the outer raceway. The sealing ring is fixed to the bottom of the lower ring.

4. A double-cone bearing for a humanoid robot joint as described in claim 1, characterized in that, The number of lubrication mechanisms is at least two sets, with at least one set of lubrication mechanisms having an opening facing clockwise and at least one set of lubrication mechanisms having an opening facing counterclockwise.

5. A double-cone bearing for a humanoid robot joint as described in claim 1, characterized in that, The movable block has a guide rod fixed inside, the extrusion block has a guide hole through it, the guide rod is slidably connected to the guide hole, and the spring is sleeved on the guide rod.

6. A double-cone bearing for a humanoid robot joint as described in claim 1, characterized in that, The telescopic component is a sliding rod structure. One end of the sliding rod structure is fixed to the blocking block, and the other end of the sliding rod structure is fixed to a slider. The extrusion block is provided with a sliding groove, and the slider is slidably connected to the sliding groove.

7. A double-cone bearing for a humanoid robot joint as described in claim 6, characterized in that, The moving block is fixed with a stop block, which is located on the side of the block near the squeezing block and is used to limit the block when the squeezing block pulls the block.

8. A double-cone bearing for a humanoid robot joint as described in claim 1, characterized in that, The sealing ring is fixed to the outer ring by a second bolt.

9. A double-cone bearing for a humanoid robot joint as described in claim 1, characterized in that, The distance between the moving block and the surface of the sealing ring is 0.5-2mm.

10. A humanoid robot joint, comprising a mounting base and a flange, the mounting base for connecting the robot's torso, and the flange for connecting the robot's legs, characterized in that, The flange is rotatably mounted on the mounting base via a double tapered bearing for a humanoid robot joint as described in any one of claims 1 to 9.

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