Connecting rod supporting structure of palletizing robot and assembling method

Abstract

The invention relates to the technical field of industrial robots, in particular to a palletizing robot connecting rod supporting structure and an assembling method. The structure comprises a large arm, a triangular connecting rod and a connecting rod hinge supporting shaft, one end of the connecting rod hinge supporting shaft is connected with the large arm, the other end of the connecting rod hinge supporting shaft is connected with the triangular connecting rod through a bearing assembly, and the bearing assembly comprises an inner side bearing, a supporting sleeve and an outer side bearing which are sequentially and coaxially arranged from inside to outside. The two ends of the supporting sleeve abut against the back faces of the outer rings of the inner side bearing and the outer side bearing respectively, the back face of the inner ring of the inner side bearing abuts against a shaft shoulder of the connecting rod hinge supporting shaft, and the inner ring of the outer side bearing is axially limited through a limiting assembly arranged on the connecting rod hinge supporting shaft in a sleeving mode. The front face of the outer ring of the outer bearing is axially limited through an end cover, and the end cover is connected to the outer end face of the triangular connecting rod. The two bearing outer rings are supported through the supporting sleeve, serialization and standardization of products are facilitated, different supporting rigidities can be obtained through different lengths of the supporting sleeve, and contact of the two bearing retainers is avoided.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a link support structure and assembly method for a palletizing robot. Background Technology

[0002] In existing industrial robots, the common practice for hinges between auxiliary links, or between auxiliary links and related structures, is to use an inner bearing ring for locking, with the outer ring serving as a preload retainer to address bearing positioning. However, this structure, where the outer bearing ring provides the preload retainer, is difficult to machine and assemble, requiring specialized tools, processes, fixtures, and equipment. Furthermore, while ensuring product performance, this method of providing preload via the outer bearing ring is only suitable for palletizing robots with lightweight and low-rigidity characteristics. Due to the lightweight and low-rigidity construction of the palletizing robot's arm, forearm, and links, the links are prone to wobbling during high-speed palletizing operations, affecting palletizing accuracy.

[0003] like Figure 1 and Figure 2 As shown, in the existing auxiliary linkage structure of industrial robots, the main arm 3 is connected to the triangular link 10 via a hinge support shaft 12. The hinge support shaft 12 and the triangular link 10 are sealed by a lip seal ring 13. An inner bearing 14 and an outer bearing 15 are mounted back-to-back on the linkage support shaft 12. The inner ring of the outer bearing 15 is locked by a nut, a retaining washer 16, and a nut 17. The outer ring of the outer bearing 15 is axially limited by a pressure sleeve 19 and a retaining spring 20. The retaining spring 20 is embedded in a groove in the inner hole of the triangular link 10, acting as a retaining ring to provide bearing preload. Some retaining rings for providing bearing preload utilize the engagement of the retaining spring's inclined surface with the inclined surface of the mounting groove and the elastic force of the retaining spring; others utilize the elastic force of the retaining spring's spatial deformation. However, such retaining springs require specifically designed grooves and special tools, which increases the difficulty of product manufacturing and assembly. Therefore, there is an urgent need for a simple processing and assembly method for the linkage support structure and assembly method of palletizing robots. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a link support structure and assembly method for a palletizing robot, thereby solving the problem of high processing and assembly difficulty of existing link support structures for palletizing robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention provides a linkage support structure for a palletizing robot, including a main arm, a triangular link, and a linkage hinge support shaft. One end of the linkage hinge support shaft is connected to the main arm, and the other end is connected to the triangular link via a bearing assembly. The bearing assembly includes an inner bearing, a support sleeve, and an outer bearing arranged coaxially from the inside out. The two ends of the support sleeve abut against the back of the outer rings of the inner and outer bearings, respectively. The back of the inner ring of the inner bearing abuts against the shoulder of the linkage hinge support shaft. The inner ring of the outer bearing is axially limited by a limiting component fitted on the linkage hinge support shaft. The front of the outer ring of the outer bearing is axially limited by an end cap connected to the outer end face of the triangular link.

[0007] In one possible implementation, the inner flange end face of the end cap is provided with a limiting ring and a plurality of connecting holes circumferentially surrounding the outer side of the limiting ring, wherein the inner flange end face is in contact with the outer end face of the triangular connecting rod, the outer circumferential surface of the limiting ring is in contact with the inner wall of the shaft hole of the triangular connecting rod, and the end of the limiting ring abuts against the front of the outer ring of the outer bearing; the end cap is connected to the triangular connecting rod by a plurality of screws passing through each connecting hole.

[0008] In one possible implementation, the limiting ring of the end cap and the triangular connecting rod are sealed by an O-ring, which is embedded in the inner sealing ring groove provided on the outer circumference of the limiting ring.

[0009] In one possible implementation, the limiting assembly includes a nut retaining washer and a nut, wherein the nut retaining washer and the nut are sequentially sleeved on the rod hinge support shaft, and the nut is threadedly connected to the rod hinge support shaft.

[0010] In one possible implementation, the nut is provided with an inner tongue and an outer tongue on the inner and outer edges of the locking washer, respectively. The inner tongue engages with the rod hinge support shaft, and the outer tongue engages with the nut.

[0011] In one possible implementation, the rod hinge support shaft is a stepped shaft, comprising a sealed shaft section, a bearing mounting section, and a threaded shaft section arranged sequentially along the axial direction. The sealed shaft section is sealed to the triangular connecting rod by a lip seal. The bearing mounting section mounts the bearing assembly. The outer circumference of the threaded shaft section is provided with a stop washer keyway along the axial direction. The threaded shaft section is threaded to the nut, and the nut is engaged in the stop washer keyway by the inner tongue of the stop washer.

[0012] In one possible implementation, the threaded shaft section has an annular groove near the root of the bearing mounting section, and the nut is engaged in the annular groove by a retaining washer.

[0013] In one possible implementation, the nut has an axial groove on its outer circumference, and the nut is engaged in the groove by the outer tongue of a retaining washer.

[0014] Another aspect of the present invention provides an assembly method for the link support structure of the palletizing robot as described above, comprising the following steps:

[0015] Step S1: Connect one end of the connecting rod hinge support shaft to the boom;

[0016] Step S2: Install the lip seal into the mounting hole of the triangular connecting rod, with the lip of the lip seal facing inward;

[0017] Step S3: Install the connecting rod hinge support shaft inside the lip seal ring, and the sealing shaft section of the connecting rod hinge support shaft forms a rotary dynamic seal with the lip seal ring;

[0018] Step S4: The inner bearing, support sleeve, and outer bearing are installed back-to-back from the inside to the outside.

[0019] Step S5: Install a round nut retaining washer on the connecting rod hinge support shaft. The round nut retaining washer abuts against the back of the inner ring of the outer bearing. The inner tongue of the nut retaining washer is inserted into the keyway of the retaining washer on the connecting rod hinge support shaft. The nut and the threaded shaft section of the connecting rod hinge support shaft are screwed together until they abut against the nut retaining washer.

[0020] Step S6: Tighten the nut to the specified torque range using a torque wrench, and let the outer tongue of the locking washer engage with the nut's groove.

[0021] Step S7: The O-ring is inserted into the inner hole sealing ring groove of the end cap, and then the end cap is inserted into the bearing mounting hole of the triangular connecting rod (10) to form a static seal;

[0022] Step S8: The inner end face of the inner ring of the end cap abuts against the front of the outer ring of the outer bearing;

[0023] Step S9: The screw passes through the screw hole and engages with the threaded hole of the triangular connecting rod; a torque wrench is used to apply a suitable locking torque to the screw, thereby fixing the inner bearing and the outer ring of the outer bearing relative to the triangular connecting rod.

[0024] The advantages and beneficial effects of this invention are as follows: The palletizing robot linkage support structure provided by this invention adopts a combination of sealing and bearing outer ring clamping structure, replacing the method of providing a sealing cover and bearing preload retaining ring. This avoids reliance on imported special tools and effectively reduces operational difficulty and assembly costs. The support sleeve supports the two bearing outer ring spatial bearing support points, facilitating product serialization and standardization. Different lengths of the support sleeve can achieve different support stiffnesses. The bearing inner ring is locked with a constant torque, thereby achieving consistent bearing preload.

[0025] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0026] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0027] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0028] Figure 1 This is a schematic diagram of the auxiliary link hinge structure of an existing industrial robot.

[0029] Figure 2 for Figure 1 Enlarged view of a portion of point A in the middle;

[0030] Figure 3 This is a schematic diagram of a linkage support structure for a palletizing robot according to the present invention;

[0031] Figure 4 for Figure 3 Enlarged view of a portion of point B in the middle;

[0032] Figure 5 This is an isometric view of the end cap in this invention;

[0033] Figure 6 This is an isometric view of the connecting rod hinge support shaft in this invention;

[0034] Figure 7 This is an isometric view of the locking washer for the nut in this invention;

[0035] Figure 8 This is an isometric view of the nut in this invention;

[0036] Figure 9 This is an isometric view of the palletizing robot in an embodiment of the present invention;

[0037] Figure 10 This is a side view of the palletizing robot in an embodiment of the present invention.

[0038] In the diagram: 1-Base, 2-Waist support, 3-Upright arm, 4-Forearm, 5-Wrist, 6-Flange, 7-Lower swing arm, 8-Rear connecting rod, 9-Outer connecting rod of forearm, 10-Triangular connecting rod, 11-Side swing arm, 12-Connecting rod hinge support shaft, 1201-Sealed shaft section, 1202-Sealed guide, 1203-Positioning shoulder, 1204-Bearing mounting section, 1205-Annular groove, 1206-Threaded shaft section, 1207-Stabilizing washer keyway, 13- Lip seal, 14-inner bearing, 15-outer bearing, 16-lock washer for nut, 1601-inner tongue, 1602-outer tongue, 17-nut, 1701-groove, 18-sealing end cap, 19-pressure sleeve, 20-circlip for hole, 21-O-ring, 22-screw, 23-end cap, 2301-limiting ring, 2302-inner hole sealing ring groove, 2303-inner flange end face, 2304-connecting hole, 24-support sleeve. Detailed Implementation

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 invention according to the specific circumstances.

[0040] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0041] See Figures 3 to 8 As shown, the present invention provides a linkage support structure for a palletizing robot, including a large arm 3, a triangular link 10, and a linkage hinge support shaft 12. One end of the linkage hinge support shaft 12 is connected to the large arm 3, and the other end of the linkage hinge support shaft 12 is connected to the triangular link 10 through a bearing assembly. The bearing assembly includes an inner bearing 14, a support sleeve 24, and an outer bearing 15 arranged coaxially from the inside to the outside. The two ends of the support sleeve 24 abut against the back of the outer rings of the inner bearing 14 and the outer bearing 15, respectively. The back of the inner ring of the inner bearing 14 abuts against the shoulder of the linkage hinge support shaft 12. The inner ring of the outer bearing 15 is axially limited by a limiting component fitted on the linkage hinge support shaft 12. The front of the outer ring of the outer bearing 15 is axially limited by an end cap 23, which is connected to the outer end face of the triangular link 10.

[0042] See Figure 5As shown, in an embodiment of the present invention, the inner flange end face 2303 of the end cover 23 is provided with a limiting ring 2301 and a plurality of connecting holes 2304 surrounding the outer side of the limiting ring 2301 in the circumferential direction. The inner flange end face 2303 is in contact with the outer end face of the triangular connecting rod 10, the outer circumferential surface of the limiting ring 2301 is in contact with the inner wall of the shaft hole of the triangular connecting rod 10, and the end of the limiting ring 2301 abuts against the front of the outer ring of the outer bearing 15. The end cover 23 is connected to the triangular connecting rod 10 by a plurality of screws 22 passing through each connecting hole 2304.

[0043] Furthermore, the limiting ring 2301 of the end cap 23 is sealed to the triangular connecting rod 10 by an O-ring 21, which is embedded in the inner hole sealing ring groove 2302 provided on the outer circumference of the limiting ring 2301.

[0044] See Figure 3 , Figure 4 As shown, in an embodiment of the present invention, the limiting component includes a stop washer 16 for nuts and a nut 17, wherein the stop washer 16 for nuts and the nut 17 are sequentially sleeved on the rod hinge support shaft 12, and the nut 17 is threadedly connected to the rod hinge support shaft 12.

[0045] See Figure 7 As shown in the embodiment of the present invention, the inner and outer edges of the locking washer 16 for the nut are respectively provided with an inner tongue 1601 and an outer tongue 1602. The inner tongue 1601 is engaged with the rod hinge support shaft 12, and the outer tongue 1602 is engaged with the nut 17.

[0046] See Figure 6 As shown, in an embodiment of the present invention, the rod hinge support shaft 12 is a stepped shaft, including a sealed shaft section 1201, a bearing mounting section 1204, and a threaded shaft section 1206 arranged sequentially along the axial direction. The sealed shaft section 1201 is sealed to the triangular connecting rod 10 through a lip seal ring 13. The bearing mounting section 1204 is used to install a bearing assembly. The outer circumference of the threaded shaft section 1206 is provided with a stop washer keyway 1207 along the axial direction. The threaded shaft section 1206 is threaded to a nut 17. The nut is engaged in the stop washer keyway 1207 by the inner tongue 1601 of the stop washer 16.

[0047] Furthermore, the threaded shaft section 1206 has an annular groove 1205 near the root of the bearing mounting section 1204, and the nut is engaged in the annular groove 1205 by a retaining washer 16. The threaded shaft section 1206 preferably has a fine thread.

[0048] See Figure 8 As shown in the embodiment of the present invention, a groove 1701 is provided along the axial direction on the outer circumference of the nut 17, and the nut is engaged in the groove 1701 by the outer tongue 1602 of the retaining washer 16.

[0049] In this embodiment, the palletizing robot linkage support structure provided by the present invention is applied to a four-axis palletizing robot. See also Figure 9 , Figure 10 As shown, the four-axis palletizing robot includes a base 1, a waist seat 2, an upper arm 3, a forearm 4, a wrist 5, a flange 6, a lower swing arm 7, and a rear connecting rod 8. The base 1 is fixed to the ground. The waist seat 2 contains a first drive that allows it to rotate with the base 1 around an axis perpendicular to the mounting surface of the base 1. The waist seat 2 contains a second drive that allows the upper arm 3 to rotate with the waist seat 2 around two axes, which are orthogonal to the first axis. The waist seat 2 contains a third drive that allows one end of the lower swing arm 7 to rotate with the waist seat 2 around the second axis. The other end of the lower swing arm 7 is hinged to the lower end of the rear connecting rod 8, and the upper end of the rear connecting rod 8 is hinged to the rear end of the forearm 4. The upper arm 3 and the rear part of the forearm 4 are hinged to three axes, which are parallel to the second axis. The wrist 5 is hinged to the front part of the forearm 4. The lower swing arm 7 moves parallel to the forearm 4, and the rear connecting rod 8 moves parallel to the upper arm 3.

[0050] The four-axis palletizing robot also includes an auxiliary linkage assembly, which comprises an outer forearm link 9, a triangular link 10, and a lateral swing arm 11. One corner of the triangular link 10 is hinged to the forearm 4 along the three axes. The other two corners of the triangular link 11 are hinged to the rear end of the outer forearm link 9 and the upper end of the lateral swing arm 11, respectively. The front end of the outer forearm link 9 is hinged to the wrist 5, and the outer forearm link 9 moves parallel to the forearm 4. The lower end of the lateral swing arm 11 is hinged to the waist support 2, and the lateral swing arm 11 moves parallel to the upper arm 3. All hinge axes are parallel to the second and third axes. The wrist 5 contains a fourth drive that can drive the flange 6 and the wrist 5 to rotate around the four axes, which are parallel to the first axis. Because the outer forearm link 9 and the lateral swing arm 11 are non-coplanar, the spatial force state of the triangular link 10 is relatively complex during palletizing.

[0051] In this embodiment, the connecting structure of the triangular link 10 utilizes the support sleeve 24 to support the spatial bearing support points of the two bearing outer rings, facilitating product serialization and standardization. Different lengths of the support sleeve 24 can achieve different support stiffnesses. The bearing inner ring is locked with a constant torque, thereby achieving consistent bearing preload.

[0052] Another embodiment of the present invention provides an assembly method for the link support structure of the palletizing robot as described in the above embodiment, comprising the following steps:

[0053] Step S1: One end of the connecting rod hinge support shaft 12 is connected to the upper arm 3;

[0054] Step S2: Install the lip seal 13 into the mounting hole of the triangular connecting rod 10, with the lip of the lip seal 13 facing inward;

[0055] Step S3: The connecting rod hinge support shaft 12 is installed inside the lip seal ring 13. After the lip of the lip seal ring 13 is opened by the sealing guide 1202 of the connecting rod hinge support shaft 12, it is fitted onto the sealing shaft section 1201 to form a rotary dynamic seal.

[0056] Step S4: The inner bearing 14, the support sleeve 24, and the outer bearing 15 are installed back-to-back from the inside to the outside. The back of the inner ring of the inner bearing 14 abuts against the positioning shoulder 1203 of the connecting rod hinge support shaft 12, the front of the outer ring of the inner bearing 14 abuts against the bottom 1003 of the bearing mounting hole of the triangular connecting rod 10, the back of the outer ring of the inner bearing 14 abuts against the inside of the support sleeve 24, and the outer end of the support sleeve 24 abuts against the back of the outer ring of the outer bearing 15.

[0057] Step S5: Install a round nut retaining washer 16 on the connecting rod hinge support shaft 12. The round nut retaining washer 16 abuts against the back of the inner ring of the outer bearing 15. The inner tongue 1601 of the nut retaining washer 16 is inserted into the retaining washer keyway 1207 of the connecting rod hinge support shaft 12. The nut 18 is screwed into the threaded shaft section 1206 of the connecting rod hinge support shaft 12 until it abuts against the nut retaining washer 16.

[0058] Step S6: Tighten the nut 18 to the specified torque range using a torque wrench, and let the outer tongue 1602 of the locking washer 16 engage with the groove 1801 of the nut 18 to prevent loosening;

[0059] Step S7: The O-ring 21 is fitted into the inner hole sealing ring groove 2302 of the end cap 23, and then the end cap 23 is inserted into the bearing mounting hole 1002 of the triangular connecting rod 10 to form a static seal.

[0060] Step S8: The inner end face of the inner ring 2301 of the end cap 23 abuts against the front of the outer ring of the outer bearing 15;

[0061] Step S9: Screw 22 passes through screw hole 2304 and engages with threaded hole 1004 of triangular connecting rod 10. Apply appropriate locking torque to screw 22 using a torque wrench, thereby fixing the inner bearing 14 and the outer ring of outer bearing 15 relative to triangular connecting rod 10.

[0062] This invention utilizes a shared sealing method with the bearing outer ring clamping structure, replacing the traditional sealing cap and bearing preload clamping method. This avoids reliance on imported specialized tools and reduces production costs, while also significantly reducing operational complexity and assembly costs. The support sleeve positions the bearing support point on the outer ring, facilitating product serialization and standardization. Different lengths of the support sleeve provide varying support stiffness, preventing contact between the two bearing cages. The bearing inner ring is locked with a constant torque, ensuring consistent bearing preload and promoting product consistency.

[0063] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A linkage support structure for a palletizing robot, characterized in that, The assembly includes a boom (3), a triangular link (10), and a link hinge support shaft (12). One end of the link hinge support shaft (12) is connected to the boom (3), and the other end of the link hinge support shaft (12) is connected to the triangular link (10) through a bearing assembly. The bearing assembly includes an inner bearing (14), a support sleeve (24), and an outer bearing (15) arranged coaxially from the inside to the outside. The two ends of the support sleeve (24) abut against the back of the outer ring of the inner bearing (14) and the outer bearing (15), respectively. The back of the inner ring of the inner bearing (14) abuts against the shoulder of the link hinge support shaft (12). The inner ring of the outer bearing (15) is axially limited by a limiting assembly fitted on the link hinge support shaft (12). The front of the outer ring of the outer bearing (15) is axially limited by an end cap (23), which is connected to the outer end face of the triangular link (10).

2. The palletizing robot linkage support structure according to claim 1, characterized in that, The end cap (23) has a limiting ring (2301) and a plurality of connecting holes (2304) circumferentially surrounding the outer side of the limiting ring (2301) on the inner flange end face (2303). The inner flange end face (2303) is in contact with the outer end face of the triangular connecting rod (10), the outer circumferential surface of the limiting ring (2301) is in contact with the inner wall of the shaft hole of the triangular connecting rod (10), and the end of the limiting ring (2301) abuts against the front of the outer ring of the outer bearing (15). The end cap (23) is connected to the triangular connecting rod (10) by a plurality of screws (22) passing through each connecting hole (2304).

3. The palletizing robot linkage support structure according to claim 2, characterized in that, The limiting ring (2301) of the end cap (23) is sealed to the triangular connecting rod (10) by an O-ring (21), which is embedded in the inner hole sealing ring groove (2302) provided on the outer circumference of the limiting ring (2301).

4. The palletizing robot linkage support structure according to claim 2, characterized in that, The limiting assembly includes a nut retaining washer (16) and a nut (17), wherein the nut retaining washer (16) and the nut (17) are sequentially sleeved on the rod hinge support shaft (12), and the nut (17) is threadedly connected to the rod hinge support shaft (12).

5. The palletizing robot linkage support structure according to claim 4, characterized in that, The inner and outer edges of the locking washer (16) for the nut are respectively provided with an inner tongue (1601) and an outer tongue (1602). The inner tongue (1601) is engaged with the rod hinge support shaft (12), and the outer tongue (1602) is engaged with the nut (17).

6. The palletizing robot linkage support structure according to claim 5, characterized in that, The rod hinge support shaft (12) is a stepped shaft, including a sealed shaft section (1201), a bearing mounting section (1204) and a threaded shaft section (1206) arranged sequentially along the axial direction. The sealed shaft section (1201) is sealed to the triangular connecting rod (10) by a lip seal (13). The bearing mounting section (1204) is used to install the bearing assembly. The outer circumference of the threaded shaft section (1206) is provided with a stop washer keyway (1207) along the axial direction. The threaded shaft section (1206) is threaded to the nut (17). The nut is engaged in the stop washer keyway (1207) by the inner tongue (1601) of the stop washer (16).

7. The palletizing robot linkage support structure according to claim 6, characterized in that, The threaded shaft section (1206) has an annular groove (1205) at the root near the bearing mounting section (1204), and the nut is engaged in the annular groove (1205) by a retaining washer (16).

8. The palletizing robot linkage support structure according to claim 6, characterized in that, The nut (17) has an axial groove (1701) on its outer circumference, and the nut is engaged in the groove (1701) by the outer tongue (1602) of the retaining washer (16).

9. An assembly method for the link support structure of a palletizing robot as described in claim 8, characterized in that, Includes the following steps: Step S1: One end of the connecting rod hinge support shaft (12) is connected to the upper arm (3); Step S2: Install the lip seal (13) into the mounting hole of the triangular connecting rod (10), with the lip of the lip seal (13) facing inward; Step S3: Install the connecting rod hinge support shaft (12) inside the lip seal (13), and the sealing shaft section (1201) of the connecting rod hinge support shaft (12) and the lip seal (13) form a rotary dynamic seal; Step S4: The inner bearing (14), support sleeve (24) and outer bearing (15) are installed in a back-to-back manner from the inside to the outside. Step S5: Install a round nut retaining washer (16) on the connecting rod hinge support shaft (12). The round nut retaining washer (16) abuts against the back of the inner ring of the outer bearing (15). The inner tongue (1601) of the nut retaining washer (16) is inserted into the retaining washer keyway (1207) of the connecting rod hinge support shaft (12). The nut (18) is screwed into the threaded shaft section (1206) of the connecting rod hinge support shaft (12) until it abuts against the nut retaining washer (16). Step S6: Tighten the nut (18) to the specified torque range using a torque wrench, and let the outer tongue (1602) of the locking washer (16) engage in the groove (1801) of the nut (18); Step S7: The O-ring (21) is fitted into the inner hole sealing ring groove (2302) of the end cap (23), and then the end cap (23) is inserted into the bearing mounting hole (1002) of the triangular connecting rod (10) to form a static seal; Step S8: The inner end face of the inner ring (2301) of the end cap (23) abuts against the front of the outer ring of the outer bearing (15); Step S9: The screw (22) passes through the screw hole (2304) and engages with the threaded hole (1004) of the triangular connecting rod (10). A suitable locking torque is applied to the screw (22) using a torque wrench, thereby fixing the outer rings of the inner bearing (14) and the outer bearing (15) relative to the triangular connecting rod (10).

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