Automatic manipulator knuckle bearing for industrial production

Abstract

The invention relates to the technical field of bearings, in particular to an automatic manipulator knuckle bearing for industrial production, which comprises two roller groups, and an inner ring, a middle ring and an outer ring which are coaxial from inside to outside and sequentially sleeved, and the middle ring selectively rotates synchronously with the inner ring or the outer ring; the inner ring and the outer ring are respectively connected with the base and the mechanical arm; the two roller sets are arranged between the inner ring and the middle ring and between the middle ring and the outer ring respectively, the contact area is filled with lubricating oil, and each roller set comprises a plurality of rollers distributed in the circumferential direction of the middle ring at intervals and a retainer located between every two adjacent rollers. According to the mechanical arm, the middle ring and the two roller sets are arranged, the middle ring and the inner ring or the outer ring act synchronously alternatively, then the two roller sets roll in one direction, the positions of the roller sets in the circumferential direction are changed, and the situation that rollers in a certain area are abraded due to long-term load pressure of the mechanical arm is avoided.

Description

Technical Field

[0001] This invention relates to the field of bearing technology, and more specifically to a joint bearing for automated robotic arms used in industrial production. Background Technology

[0002] Industrial automation robotic arms are typically connected to a base (or adjacent arm segments) via large slewing bearings or spherical bearings to enable flexible movement with multiple degrees of freedom. These bearings must withstand the weight of the robotic arm, the load, and complex dynamic torques while achieving high-precision, low-friction rotation. Their performance and lifespan directly limit the overall machine's working efficiency and maintenance costs.

[0003] Currently, spherical plain bearings used in such heavy-load, oscillating applications mostly employ single-row or multi-row rolling element (such as roller) structures. In actual operation, the movement patterns of robotic arms are often directional; for example, in pick-and-place cycles, they mainly perform reciprocating oscillations within a specific angular range. This makes the load area of ​​the bearing relatively fixed, and the rolling elements and raceways repeatedly bear alternating stress within a limited arc segment, which easily leads to early fatigue pitting, wear, and even plastic deformation in this area, forming so-called "indentations" or "pseudo-Britt indentations." At the same time, long-term unidirectional or small-angle reciprocating motion also causes the cage to be subjected to continuous lateral forces in a fixed direction, resulting in unilateral wear of the cage guide surface, affecting the uniform distribution and motion stability of the rolling elements, and potentially causing problems such as increased noise and vibration, thereby affecting the service life of the bearing and the overall working efficiency of the machine. Summary of the Invention

[0004] This invention provides a joint bearing for automated robotic arms used in industrial production, in order to solve the problem that fatigue wear at the load-bearing positions of existing robotic arm bearings easily affects the overall lifespan of the bearing.

[0005] The present invention provides a joint bearing for an automated robotic arm used in industrial production, which adopts the following technical solution: An automated robotic arm joint bearing for industrial production, mounted on a base, provides rotational support for the robotic arm. It includes two roller assemblies and an inner ring, a middle ring, and an outer ring, coaxially arranged from the inside out. The middle ring rotates synchronously with either the inner or outer ring. The two roller assemblies are respectively positioned between the inner and middle rings and between the middle and outer rings, with their contact areas filled with lubricating oil. Each roller assembly includes multiple rollers spaced circumferentially around the middle ring and a retainer located between adjacent rollers. The retainer includes a central block and a retainer positioned on the central block in the circumferential direction of the middle ring. The transition units on both sides include a guide plate and two inner sliders. The guide plate is an arc-shaped plate with its concave surface away from the middle block, and the concave surface of the guide plate is coaxial with the corresponding roller. The guide plate is connected to the middle block through an elastic ring. The two inner sliders are located between the guide plate and the middle block, and are arranged radially along the middle ring and connected by a metal sheet. The side of the inner slider close to the guide plate is an arc surface parallel to the guide plate. The metal sheet is connected to the middle block and is made of shape memory metal material. When the temperature rises, it causes the two inner sliders to move away from each other, hindering the flow of lubricating oil under the pressure of the roller.

[0006] Optionally, permanent magnet blocks are provided on the outer side of the inner ring and the inner side of the outer ring, and electromagnets are provided on both the inner and outer sides of the middle ring. When the electromagnet on the inner side of the middle ring is energized, it attracts the permanent magnet block on the outer side of the inner ring, thereby causing the middle ring and the inner ring to rotate synchronously. When the electromagnet on the outer side of the middle ring is energized, it attracts the permanent magnet block on the inner side of the outer ring, thereby locking the middle ring and the outer ring. One of the electromagnets on the inner and outer sides of the middle ring is energized.

[0007] Optionally, the rollers are inclined relative to the axial direction of the intermediate ring, and two adjacent rollers in the same roller group are arranged at 90°. The odd-numbered rollers have the same inclination direction and inclination angle in the circumferential direction of the intermediate ring, and the even-numbered rollers have the same inclination direction and inclination angle.

[0008] Optionally, a first annular groove is provided on the outer side of the inner ring and the inner side of the middle ring, and the two first annular grooves form a first slide rail. A second annular groove is provided on the outer side of the middle ring and the inner side of the outer ring, and the two second annular grooves form a second slide rail. Two roller groups are respectively disposed in the first slide rail and the second slide rail, and both the first slide rail and the second slide rail are filled with lubricating oil.

[0009] Optionally, guide ramps are provided on the sides of the two inner sliders that are far apart from each other. The guide ramps are located on the side of the inner sliders that are close to the middle block where they are located, and are used to guide the lubricating oil on both sides of the middle block into the space between the roller and the inner ring, middle ring or outer ring when the inner ring or middle ring rotates.

[0010] Optionally, the thickness of the inner slider in the circumferential direction of the middle ring increases from the side closer to the metal sheet to the side farther away from the metal sheet.

[0011] Optionally, the metal sheet is an arc-shaped sheet that tends to stretch when the temperature rises, thereby causing the two inner sliders to move away from each other.

[0012] Optionally, the elastic rings and metal sheets are staggered in the axial direction of the guide plate.

[0013] Optionally, the metal sheet is provided with a mounting strip that connects to the intermediate block.

[0014] Optionally, both the inner and outer rings are provided with connection holes for connecting other structures.

[0015] The beneficial effects of this invention are as follows: The industrial automated robot bearing of this invention features an intermediate ring and two roller groups between the inner and outer rings. The intermediate ring can be selectively synchronized with either the inner or outer ring, causing each roller group to roll in a different direction, thus changing their circumferential position and preventing wear caused by prolonged load pressure from the robot arm on rollers in a specific area. Furthermore, by changing the working state of the intermediate ring, the rolling direction of the two roller groups is altered, resulting in more even wear on the retainer on both sides of the roller groups in the circumferential direction. In the event of damage or jamming of one roller group, the system can switch to the other roller group without stopping the machine, thus maintaining work efficiency and extending the overall service life of the joint bearing.

[0016] Furthermore, by setting a metal sheet made of shape memory metal, when the temperature rises at this location, the metal sheet causes the two inner sliders connected to it to move away from each other, reducing the gaps in the lubricating oil flow channels between the two sides of the inner ring, middle ring, or outer ring, hindering the flow of lubricating oil under the pressure of the roller, maintaining a certain pressure of lubricating oil between the two adjacent retainers, improving the stability of the oil film on both sides of the roller, and the greater the squeezing force of the robotic arm on the joint bearing and the higher the temperature, the greater the distance that the metal sheet causes the two inner sliders to move away from each other, the smaller the gaps in the lubricating oil channels on both sides, and the more stable the lubricating oil pressure on both sides of the roller. No additional detection and control components are required, and the structure is simple and reliable.

[0017] Furthermore, the two inner sliders of each transition unit are driven away from each other by the metal sheet, which increases the gap between the intermediate block and the guide plate, leaving space for the expansion of the intermediate block when the temperature rises, and preventing the expansion of the intermediate block from pushing the guide plate and the roller tightly together, thus affecting the rotation of the roller. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram showing an embodiment of the joint bearing for an automated robotic arm for industrial production according to the present invention, and its connection with the robotic arm and base. Figure 2 This is a schematic diagram of the overall structure of an embodiment of the joint bearing for an automated robotic arm used in industrial production according to the present invention; Figure 3 This is an exploded view of an embodiment of the joint bearing for an automated robotic arm used in industrial production according to the present invention; Figure 4 This is a front view of an embodiment of the joint bearing for an automated robotic arm used in industrial production according to the present invention; Figure 5 for Figure 4 Schematic diagram of cross section along the AA direction; Figure 6 for Figure 5 Enlarged view of point B in the middle; Figure 7 This is a schematic diagram of the structure of the retainer and roller in an embodiment of the joint bearing for an automated robotic arm used in industrial production according to the present invention; Figure 8 This is a schematic diagram of the retainer and rollers from another perspective in an embodiment of the joint bearing for an automated robotic arm for industrial production according to the present invention; Figure 9 This is a schematic diagram of the retainer structure in an embodiment of the joint bearing for an automated robotic arm in industrial production according to the present invention; Figure 10 This is a split schematic diagram of the retainer in an embodiment of the joint bearing for an automated robotic arm used in industrial production according to the present invention.

[0020] In the diagram: 100, base; 200, robotic arm; 310, inner ring; 311, permanent magnet; 320, intermediate ring; 321, electromagnet; 330, outer ring; 340, roller; 350, retainer; 351, guide plate; 352, elastic ring; 353, inner slider; 354, metal sheet; 355, guide ramp; 356, mounting strip; 357, intermediate block. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] An embodiment of the joint bearing (hereinafter referred to as joint bearing) for an automated robotic arm in industrial production according to the present invention is as follows: Figures 1 to 10 As shown, the spherical bearing is mounted on the base 100 to provide rotational support for the robotic arm 200. It includes two roller sets and an inner ring 310, a middle ring 320, and an outer ring 330 that are coaxially arranged from the inside to the outside and are sequentially fitted together. The middle ring 320 can be selected to move synchronously with either the inner ring 310 or the outer ring 330. The inner ring 310 and the outer ring 330 are respectively connected to the base 100 and the robotic arm 200. Two roller groups are respectively disposed between the inner ring 310 and the intermediate ring 320, and between the intermediate ring 320 and the outer ring 330, and the contact area is filled with lubricating oil. Specifically, when the intermediate ring 320 and the inner ring 310 rotate synchronously, the roller group between the intermediate ring 320 and the outer ring 330 works. When the intermediate ring 320 and the outer ring 330 move synchronously, the roller group between the inner ring 310 and the intermediate ring 320 works. Each roller group includes multiple rollers 340 distributed circumferentially around the intermediate ring 320 and a retainer 350 located between two adjacent rollers 340. The retainer 350 includes an intermediate block 357 and transition units disposed on both sides of the intermediate block 357 in the circumferential direction of the intermediate ring 320. The two transition units correspond one-to-one with the rollers 340 on both sides of the retainer 350. Each transition unit includes a guide plate 351 and two inner sliders 353. The guide plate 351 is an arc-shaped plate with its concave surface away from the intermediate block 357, and the concave surface of the guide plate 351 is coaxial with the corresponding roller 340, serving to support the roller 340. The guide plate 351 is connected to the intermediate block 357 via an elastic ring 352. The two inner sliders 353 are located between the guide plate 351 and the intermediate block 357, and are arranged radially along the intermediate ring 320 and connected by a metal sheet 354. The side of the inner slider 353 closest to the guide plate 351 is an arc-shaped surface parallel to the guide plate 351. The metal sheet 354 is connected to the intermediate block 357 and is made of shape memory metal. When the temperature rises, it causes the two inner sliders 353 to move away from each other, hindering the flow of lubricating oil under the pressure of the roller 340. Specifically, the metal sheet 354 is an arc-shaped sheet and tends to stretch when the temperature rises, thereby causing the two inner sliders 353 to move away from each other. The elastic ring 352 and the metal sheet 354 are staggered in the axial direction of the guide plate 351, and the metal sheet 354 is provided with an installation strip 356 that connects to the intermediate block 357.

[0023] In use, the robotic arm 200 and the base 100 can be fixed to the inner ring 310 and the outer ring 330 of the joint bearing, respectively. For ease of explanation, the robotic arm 200 is fixed to the inner ring 310 and the outer ring 330 is fixed to the base 100. When the robotic arm 200 is working, it drives the inner ring 310 to rotate back and forth. When the robotic arm 200 drives the inner ring 310 to rotate clockwise, it can make the middle ring 320 rotate synchronously with the inner ring 310. This allows the middle ring 320 to rotate relative to the outer ring 330 through the roller set between it and the outer ring 330. When the robotic arm 200 drives the inner ring 310 to rotate counterclockwise, it makes the middle ring 320 and the outer ring 330 move synchronously. This allows the inner ring 310 to rotate relative to the middle ring 320 and the outer ring 330 through the roller set between it and the middle ring 320. The middle ring 320 moves synchronously with the inner ring 310 and the outer ring 330 alternately, so that the two roller sets roll in one direction, changing their circumferential position and preventing the rollers 340 in a certain area from being worn by the load pressure of the robotic arm 200 for a long time. Furthermore, after a certain period of use, when the robotic arm 200 drives the inner ring 310 to rotate forward, the intermediate ring 320 and the outer ring 330 can move synchronously. When the robotic arm 200 drives the inner ring 310 to rotate in reverse, the intermediate ring 320 and the inner ring 310 can move synchronously, changing the rolling direction of the roller assembly. This results in more even wear on the retainer 350 on both sides of the roller assembly in the circumferential direction. If one roller assembly is damaged or jammed, the machine can be switched to the other roller assembly by changing the working state of the intermediate ring 320 without stopping the machine, without affecting work efficiency and extending the overall service life of the spherical bearing.

[0024] Furthermore, when the robotic arm 200 is working with a load, if the joint bearing is not set horizontally, the robotic arm 200 and its load will exert greater pressure on one side of the joint bearing. During the reciprocating swing of the robotic arm 200, the pressure-bearing side of the joint bearing is repeatedly squeezed, causing the temperature of the pressure-bearing side to rise. Moreover, the lubricating oil is easily squeezed out during the repeated squeezing process, affecting the lubrication effect of the roller 340 at that position. By setting a metal sheet 354 made of shape memory metal, when the temperature rises at this location, the metal sheet 354 causes the two inner sliders 353 connected to it to move away from each other, reducing the gaps in the lubricating oil flow channels between the two sides of the inner ring 310, the middle ring 320, or the outer ring 330, hindering the flow of lubricating oil under the pressure of the roller 340, maintaining a certain pressure of lubricating oil between the two adjacent retainers 350, improving the stability of the oil film on both sides of the roller 340, and the greater the pressure of the mechanical arm 200 on the joint bearing, the higher the temperature, the greater the distance that the metal sheet 354 causes the two inner sliders 353 to move away from each other, the smaller the gaps in the lubricating oil channels on both sides, and the more stable the lubricating oil pressure on both sides of the roller 340. No additional detection and control components are required, and the structure is simple and reliable.

[0025] An intermediate ring 320 with two roller sets is provided between the inner ring 310 and the outer ring 330. The intermediate ring 320 can be selectively synchronized with either the inner ring 310 or the outer ring 330, causing each roller set to roll in one direction, changing its circumferential position and preventing rollers 340 in a certain area from being worn by the load pressure of the robotic arm 200 for a long time. Furthermore, by changing the working state of the intermediate ring 320, the rolling direction of the two roller sets is changed, resulting in more even wear on the retainer 350 on both sides of the roller sets in the circumferential direction. In the event that one roller set is damaged or jammed, the machine can be switched to the other roller set without stopping the machine, thus not affecting work efficiency and extending the overall service life of the spherical bearing.

[0026] In this embodiment, permanent magnet blocks 311 are provided on the outer side of the inner ring 310 and the inner side of the outer ring 330, and electromagnets 321 are provided on both the inner and outer sides of the middle ring 320. When the electromagnet 321 on the inner side of the middle ring 320 is energized, it attracts the permanent magnet block 311 on the outer side of the inner ring 310, thereby causing the middle ring 320 to rotate synchronously with the inner ring 310. When the electromagnet 321 on the outer side of the middle ring 320 is energized, it attracts the permanent magnet block 311 on the inner side of the outer ring 330, thereby locking the middle ring 320 with the outer ring 330. One of the electromagnets 321 on the inner and outer sides of the middle ring 320 is energized. Specifically, there are multiple permanent magnet blocks 311, which are circumferentially distributed in the inner ring 310 and the outer ring 330. The electromagnets 321 are metal coils circumferentially distributed around the middle ring 320, and each metal coil contains an iron core parallel to the axis of the middle ring 320. When the metal coil is energized, the iron core becomes magnetic and attracts the permanent magnet blocks 311 on the inner ring 310 or the outer ring 330. Each electromagnet 321 is connected to an external power supply (not shown in the figure) through a brush to control the energization of two electromagnets 321 respectively.

[0027] In this embodiment, the rollers 340 are axially inclined relative to the intermediate ring 320, and adjacent rollers 340 in the same roller group are arranged at a 90° angle. The odd-numbered rollers in the circumferential direction of the intermediate ring 320 have the same inclination direction and angle, while the even-numbered rollers 340 have the same inclination direction and angle. Specifically, the distribution of the rollers 340 is consistent with the roller arrangement in existing crossed roller bearings.

[0028] In this embodiment, a first annular groove is provided on the outer side of the inner ring 310 and the inner side of the middle ring 320, and the two first annular grooves form a first slide rail. A second annular groove is provided on the outer side of the middle ring 320 and the inner side of the outer ring 330, and the two second annular grooves form a second slide rail. Two roller groups are respectively disposed in the first slide rail and the second slide rail, and both the first slide rail and the second slide rail are filled with lubricating oil.

[0029] In this embodiment, each of the two inner sliders 353 is provided with a guide slope 355 on the side away from each other. The guide slope 355 is located on the side of the inner slider 353 near the middle block 357 where it is located. It is used to guide the lubricating oil on both sides of the middle block 357 into the space between the roller 340 and the inner ring 310, the middle ring 320 or the outer ring 330 when the inner ring 310 or the middle ring 320 rotates.

[0030] In this embodiment, the thickness of the inner slider 353 in the circumferential direction of the intermediate ring 320 increases from the side closer to the metal sheet 354 to the side farther away from the metal sheet 354. When the temperature rises due to pressure on the spherical bearing side, the intermediate block 357 of the retainer 350 at that location expands due to heat. At the same time, the two inner sliders 353 of each transition unit move away from each other under the drive of the metal sheet 354, which increases the gap between the intermediate block 357 and the guide plate 351. This provides space for the expansion of the intermediate block 357 when the temperature rises, and prevents the expansion of the intermediate block 357 from pushing the guide plate 351 and the roller 340 into close contact, thus affecting the rotation of the roller 340.

[0031] In this embodiment, both the inner ring 310 and the outer ring 330 are provided with connection holes for connecting other structures.

[0032] In the use of the automated robotic arm joint bearing of the present invention, the outer ring 330 is fixed to the base 100, and the inner ring 310 is connected to the robotic arm 200. When the robotic arm 200 drives the inner ring 310 to rotate forward, the electromagnet 321 on the inner side of the intermediate ring 320 is energized and attracts the permanent magnet block 311 on the inner ring 310, thereby causing the intermediate ring 320 and the inner ring 310 to rotate synchronously. The intermediate ring 320 drives the roller 340 between itself and the outer ring 330 to roll. When the robotic arm 200 drives the inner ring 310 to rotate in reverse, the electromagnet 321 on the outer side of the intermediate ring 320 is attracted to the permanent magnet block 311 on the outer ring 330, thereby keeping the intermediate ring 320 and the outer ring 330 synchronously stationary, and the inner ring 310 drives the roller 340 between itself and the intermediate ring 320 to roll. After working for a period of time, when the robotic arm 200 drives the inner ring 310 to rotate forward, the electromagnet 321 on the outer side of the middle ring 320 can be energized and attracted to the permanent magnet block 311 on the outer ring 330. When the robotic arm 200 drives the inner ring 310 to rotate in reverse, the electromagnet 321 on the inner side of the middle ring 320 can be energized and attracted to the permanent magnet block 311 on the inner ring 310, so as to change the rolling direction of the roller assembly and make the roller assembly wear evenly on both sides of its circumferential direction.

[0033] When the robotic arm 200 is carrying a load, if the joint bearing is not set horizontally, the robotic arm 200 and its load will exert greater pressure on one side of the joint bearing. During the reciprocating swing of the robotic arm 200, the pressure side of the joint bearing is repeatedly squeezed, causing the temperature of the pressure side to rise. Furthermore, the lubricating oil is easily squeezed out during the repeated squeezing process, affecting the lubrication effect of the roller 340 at that position. By setting a metal sheet 354 made of shape memory metal, when the temperature rises at this location, the metal sheet 354 causes the two inner sliders 353 connected to it to move away from each other, reducing the gaps in the lubricating oil flow channels between the two sides of the inner ring 310, the middle ring 320, or the outer ring 330, hindering the flow of lubricating oil under the pressure of the roller 340, maintaining a certain pressure of lubricating oil between the two adjacent retainers 350, improving the stability of the oil film on both sides of the roller 340, and the greater the pressure of the mechanical arm 200 on the joint bearing, the higher the temperature, the greater the distance that the metal sheet 354 causes the two inner sliders 353 to move away from each other, the smaller the gaps in the lubricating oil channels on both sides, and the more stable the lubricating oil pressure on both sides of the roller 340. No additional detection and control components are required, and the structure is simple and reliable.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A joint bearing for an automated robotic arm used in industrial production, mounted on a base, for providing rotational support for the robotic arm, characterized in that... It includes two roller sets and an inner ring, a middle ring, and an outer ring, which are coaxially arranged and nested from the inside out. The middle ring rotates synchronously with either the inner or outer ring. The inner and outer rings are connected to the base and the robotic arm, respectively. The two roller sets are respectively located between the inner and middle rings and between the middle and outer rings, and the contact areas are filled with lubricating oil. Each roller set includes multiple rollers spaced circumferentially around the middle ring and a retainer located between two adjacent rollers. The retainer includes a middle block and transition units located on both sides of the middle block in the circumferential direction of the middle ring. Each transition unit includes a guide plate and two inner sliders. The guide plate is an arc-shaped plate with its concave surface away from the middle block, and the concave surface of the guide plate is coaxial with the corresponding roller. The guide plate is connected to the middle block by an elastic ring. The two inner sliders are located between the guide plate and the middle block, and are arranged radially along the middle ring and connected by a metal sheet. The side of the inner slider close to the guide plate is an arc surface parallel to the guide plate. The metal sheet is connected to the middle block and is made of shape memory metal material. When the temperature rises, it causes the two inner sliders to move away from each other, hindering the flow of lubricating oil under the pressure of the roller.

2. The joint bearing for automated robotic arms in industrial production according to claim 1, characterized in that, Permanent magnets are installed on the outer side of the inner ring and the inner side of the outer ring. Electromagnets are installed on both the inner and outer sides of the middle ring. When the electromagnet on the inner side of the middle ring is energized, it attracts the permanent magnet on the outer side of the inner ring, thereby causing the middle ring to rotate synchronously with the inner ring. When the electromagnet on the outer side of the middle ring is energized, it attracts the permanent magnet on the inner side of the outer ring, thereby locking the middle ring with the outer ring. One of the electromagnets on the inner and outer sides of the middle ring can be energized at a time.

3. The joint bearing for automated robotic arms in industrial production according to claim 1, characterized in that, The rollers are axially inclined relative to the intermediate ring, and adjacent rollers in the same roller group are arranged at 90°. The odd-numbered rollers in the circumferential direction of the intermediate ring have the same inclination direction and inclination angle, while the even-numbered rollers have the same inclination direction and inclination angle.

4. The joint bearing for automated robotic arms in industrial production according to claim 1, characterized in that, The outer side of the inner ring and the inner side of the middle ring are provided with first annular grooves, and the two first annular grooves form a first slide rail. The outer side of the middle ring and the inner side of the outer ring are provided with second annular grooves, and the two second annular grooves form a second slide rail. Two roller groups are respectively provided in the first slide rail and the second slide rail, and both the first slide rail and the second slide rail are filled with lubricating oil.

5. The joint bearing for automated robotic arms in industrial production according to claim 1, characterized in that, Both inner sliders are provided with guide ramps on the sides that are far apart from each other. The guide ramps are located on the side of the inner slider that is close to the middle block where it is located. They are used to guide the lubricating oil on both sides of the middle block into the space between the roller and the inner ring, middle ring or outer ring when the inner ring or middle ring rotates.

6. The joint bearing for automated robotic arms in industrial production according to claim 1, characterized in that, The thickness of the inner slider in the circumferential direction of the middle ring increases from the side closer to the metal sheet to the side farther away from the metal sheet.

7. The joint bearing for automated robotic arms in industrial production according to claim 1, characterized in that, The metal sheet is arc-shaped and tends to stretch as the temperature rises, which in turn causes the two inner sliders to move away from each other.

8. The joint bearing for automated robotic arms in industrial production according to claim 1, characterized in that, The elastic rings and metal sheets are staggered in the axial direction of the guide plate.

9. The joint bearing for automated robotic arms in industrial production according to claim 1, characterized in that, The metal sheet is equipped with mounting strips that connect to the intermediate block.

10. The joint bearing for automated robotic arms in industrial production according to claim 1, characterized in that, Both the inner and outer rings have connection holes for connecting other structures.

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