A highly automated industrial robot

Abstract

The application relates to the field of industrial robots, in particular to a highly automated industrial manipulator. The industrial manipulator comprises a base, a rotary table and a mechanical arm, the rotary table is rotationally arranged on the base, the mechanical arm is arranged on the rotary table, a cross roller bearing is arranged between the rotary table and the base, the cross roller bearing comprises an outer ring, an inner ring, rolling elements and a retainer, the retainer comprises a fixed block and two clamping blocks, the two clamping blocks are slidingly inserted into two ends of the fixed block, a liquid storage cavity is formed between the clamping blocks and the fixed block, a liquid inlet channel is arranged on the side wall of the fixed block, a liquid outlet channel is arranged in the clamping block, a connecting piece is arranged between the clamping block and the fixed block, and the connecting piece is made of a shape memory alloy. The lubricating oil supply channel is arranged on the retainer, the structure of the retainer is optimized, the self-circulation of the lubricating oil is realized, the integrity of the running raceway is maintained, the running of the rolling elements is more stable and reliable, the structure is simple, the assembly difficulty is low, and maintenance is convenient.

Description

Technical Field

[0001] This invention relates to the field of industrial robots, and more specifically to a highly automated industrial manipulator. Background Technology

[0002] With the advancement of technology, industrial robots have become one of the most representative core equipment in the intelligent manufacturing equipment industry. Through high-precision and high-stability operation, they support the requirements of intelligent manufacturing for quality consistency and production efficiency. Industrial robots not only exist as independent manufacturing units but are also key nodes connecting automated production lines, realizing flexible manufacturing, and building a complete intelligent factory system. Highly automated industrial manipulators are one typical application of industrial robots. They can perform a series of tasks such as loading and unloading, fixed-point gripping and placing, and material handling and transfer, and are widely used in automated production lines in industries such as automobile manufacturing, electronic assembly, and food packaging.

[0003] Industrial robots, as highly automated intelligent equipment, rely on the coordinated movement of multiple joints for every action. These joints commonly utilize crossed roller bearings to achieve high-precision rotation and multi-directional load bearing. The performance of these crossed roller bearings significantly impacts the motion accuracy, stability, and load-bearing capacity of the robot's joints. Chinese patent document CN 121251686 A discloses a lightweight, thin-walled crossed roller bearing for high-precision industrial robots. This bearing features a lubrication assembly on its outer ring. This assembly adaptively supplies lubricating oil to the crossed roller assembly based on the bearing's operating temperature. The oil is evenly distributed across the surface of the crossed roller assembly through several perforations on a distributor, forming an oil film for lubrication and heat dissipation. However, the lubrication assembly in this design is complex and difficult to assemble. Furthermore, the lubrication assembly is located within the raceway, requiring the machining of numerous channels and cut-off points, which compromises the overall performance of the raceway. This can easily lead to uneven stress on the rollers, resulting in severe roller damage and affecting the operation of the industrial robot. Meanwhile, existing crossed roller bearings have isolation blocks between adjacent rollers to separate and position them. Due to thermal expansion and contraction at different temperatures, the contact pressure between the rollers and the isolation blocks varies. Excessive contact pressure can lead to accelerated wear on both rollers and affect the service life of the bearing.

[0004] The information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention, and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention proposes a highly automated industrial robot to solve the problem of easily damaged bearings in existing industrial robots during use.

[0006] The highly automated industrial robot of the present invention adopts the following technical solution: including:

[0007] The base has a drive motor mounted on it;

[0008] A turntable, which is rotatably mounted on a base and connected to the output shaft of a drive motor;

[0009] A robotic arm is mounted on a turntable, with a gripper at the end of the robotic arm furthest from the turntable.

[0010] Among them, a cross roller bearing is provided between the turntable and the base. The cross roller bearing includes an outer ring, an inner ring, several rolling elements and several retainers. The inner ring is coaxially arranged inside the outer ring and can rotate relative to the outer ring. The inner ring and the outer ring together form a running raceway. Several rolling elements are spaced apart in the running raceway. Adjacent rolling elements are arranged perpendicularly at 90 degrees. The retainer is provided between adjacent rolling elements.

[0011] The retainer includes a fixed block and two clamping blocks, which are slidably inserted into both ends of the fixed block. Each clamping block forms a liquid storage cavity between itself and the fixed block. The side wall of the fixed block is provided with a liquid inlet channel, which connects the liquid storage cavity and the running raceway. The end face of the clamping block away from the fixed block is an arc-shaped surface that is adapted to the outer circumference of the roller. Each clamping block is provided with a liquid outlet channel that penetrates the arc-shaped surface of the clamping block and connects to the liquid storage cavity. The liquid storage cavity is filled with lubricating oil. A first check valve is provided in the liquid outlet channel, which is configured to allow oil to drain only from the liquid outlet channel. A second check valve is provided in the liquid inlet channel, which is configured to allow oil to enter only from the liquid inlet channel.

[0012] A connector is provided between the clamping block and the fixing block. The connector is made of shape memory alloy and is configured to be in a contracted state when the temperature is higher than the preset value and to extend and reset when the temperature is lower than the preset value.

[0013] Optionally, there are multiple parallel strips for both the liquid outlet channel and the liquid inlet channel, and the first and second check valves are diaphragm structures to adapt to the shapes of the liquid inlet channel and the liquid outlet channel.

[0014] Optionally, a filter screen is provided at the position of the clamping block corresponding to the liquid outlet channel.

[0015] Optionally, the connector is elastic and spring-shaped.

[0016] Optionally, the connector is made of nickel-titanium shape memory alloy.

[0017] Optionally, the side wall of the fixing block is provided with a guide plate, which can slide relative to the fixing block and thus extend or retract into the fixing block;

[0018] An elastic adjustment element is provided inside the liquid storage chamber. The elastic adjustment element is elastic and connects the fixed block and the clamping block and acts on the guide plate. The elastic adjustment element is configured such that the guide plate extends at least partially out of the fixed block in the initial state, and deforms and drives the guide plate to retract into the fixed block when the clamping block moves into the fixed block.

[0019] Optionally, the elastic adjustment member includes a first spring, a second spring, and a third spring. The first and second springs are arranged in a V-shape with their openings pointing towards the guide plate. The end of the first spring away from the second spring is fixedly connected to the clamping block, and the end of the second spring away from the first spring is connected to the fixing block. The third spring is disposed between the first and second springs, with one end connected to the angle between the first and second springs and the other end connected to the guide plate.

[0020] Optionally, a swing plate and a stop are provided on both the upper and lower sides of the inner ring on the running raceway. The swing plate can rotate around its own axis, and the axis of the swing plate is parallel to the axis of the inner ring. The stop is located on one side of the swing plate to limit the rotation range of the swing plate.

[0021] Optionally, the outer circumferential surface of the inner ring is provided with an inner raceway with a V-shaped cross section, and the inner circumferential surface of the outer ring is provided with an outer raceway with a V-shaped cross section. The inner raceway and the outer raceway are aligned and together form the running raceway.

[0022] Optionally, the outer ring includes an upper outer ring and a lower outer ring, which are connected by fasteners.

[0023] The beneficial effects of this invention are as follows: This highly automated industrial robot improves and optimizes its internal crossed roller bearing by placing the lubricating oil supply channel on the retainer. The retainer's split structure enables self-circulating lubrication, maintaining the integrity of the raceway and making the rolling elements run more stably and reliably. Furthermore, the structure is simpler, assembly is easier, and the retainer can be directly replaced when damaged, making maintenance more convenient. Simultaneously, a shape memory alloy connector controls the movement of the retainer's clamping block relative to the fixed block. At high temperatures, the clamping block moves into the fixed block, releasing the retainer's pressure on the rolling elements; at low temperatures, the retainer resets to restore the pressure, resulting in more stable contact between the rolling elements and the retainer. This improves the performance of the crossed roller bearing, thereby enhancing the operating accuracy and reliability of the industrial robot.

[0024] Furthermore, by setting the connector as a shape memory spring structure, the connector can buffer the impact force between the retainer and the roller when the industrial robot is changing direction and accelerating or decelerating, thereby reducing the degree of impact damage and friction damage between the two, improving the operational reliability of the retainer and the rolling elements, and extending their service life.

[0025] Furthermore, a sliding guide plate is provided on the side wall of the retainer's fixed block, and an elastic adjustment component is provided in the liquid storage cavity of the fixed block to connect the guide plate and the clamping block. This not only helps to establish lubrication conditions in the initial stage of equipment operation and improves the lubrication effect of the crossed roller bearings in the early stage of equipment startup, ensuring smooth operation, but also guides the flow of lubricating oil to a suitable degree at different temperatures. The lower the temperature, the stronger the guiding effect, and the higher the temperature, the weaker the guiding effect, further improving the lubrication effect.

[0026] Furthermore, by installing a swing plate and a stop on the inner ring of the crossed roller bearing, the swing plate can be used to push the lubricating oil in the running raceway to flow in one direction when the crossed roller bearing is working. Under the reciprocating motion of the industrial robot, the lubricating oil in different parts of the running raceway in the circumferential direction can be exchanged, thus avoiding lubrication failure in the high-pressure area. Attached Figure Description

[0027] 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.

[0028] Figure 1 This is a schematic diagram of the structure of a highly automated industrial robot according to the present invention;

[0029] Figure 2 This is a schematic diagram of the cross roller bearing in this invention;

[0030] Figure 3 This is an exploded view of the crossed roller bearing in this invention;

[0031] Figure 4 This is a cross-sectional view of the crossed roller bearing in this invention;

[0032] Figure 5 This is a perspective view of the crossed roller bearing in this invention (outer ring omitted).

[0033] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0034] Figure 7 This is a schematic diagram of the retainer structure of the crossed roller bearing in this invention;

[0035] Figure 8 for Figure 7 Side view;

[0036] Figure 9 for Figure 8BB section view.

[0037] In the picture:

[0038] 100. Base;

[0039] 200. Turntable;

[0040] 300. Robotic arm;

[0041] 400, crossed roller bearing;

[0042] 410. Outer ring; 411. Outer raceway;

[0043] 420. Inner ring; 421. Inner raceway; 422. Stop block; 423. Swing plate;

[0044] 430. Rolling element;

[0045] 440. Holder; 441. Clamping block; 442. Fixing block; 4420. Liquid storage chamber; 4421. Divider plate; 443. Guide plate; 444. Liquid outlet channel; 4441. First check valve; 445. Liquid inlet channel; 4451. Second check valve; 446. Filter screen; 447. Connector; 448. Elastic adjusting element; 4481. First spring; 4482. Second spring; 4483. Third spring. Detailed Implementation

[0046] 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.

[0047] like Figures 1 to 9 As shown in the figure, the highly automated industrial robot (hereinafter referred to as the industrial robot) provided in this embodiment of the invention is a typical application of industrial robots. It can realize automated operations such as loading and unloading, palletizing, fixed-point gripping and placing, and handling and transferring. It is the core equipment for building an intelligent manufacturing production line. It includes a base 100, a turntable 200 and a robotic arm 300. A drive motor is provided on the base 100; the turntable 200 is rotatably mounted on the base 100 and connected to the output shaft of the drive motor; the robotic arm 300 is mounted on the turntable 200, and a gripper is provided at the end of the robotic arm 300 away from the turntable 200.

[0048] Among them, a cross roller bearing 400 is provided between the turntable 200 and the base 100. The cross roller bearing 400 includes: an outer ring 410, an inner ring 420, a plurality of rolling elements 430 and a plurality of retainers 440.

[0049] The inner ring 420 is coaxially disposed inside the outer ring 410 and can rotate relative to the outer ring 410. During installation, the inner ring 420 is connected to the turntable 200 and the outer ring 410 is connected to the base 100. The inner ring 420 and the outer ring 410 together form a running raceway. Specifically, the outer circumferential surface of the inner ring 420 is provided with an inner raceway 421 with a V-shaped cross section, and the inner circumferential surface of the outer ring 410 is provided with an outer raceway 411 with a V-shaped cross section. The inner raceway 421 and the outer raceway 411 are aligned and together form the running raceway.

[0050] A number of rolling elements 430 are spaced apart in the running raceway, with adjacent rolling elements 430 arranged perpendicularly at 90 degrees. A retainer 440 is disposed between adjacent rolling elements 430 to prevent the rolling elements 430 from rubbing against each other or tilting, effectively reducing rotational torque and preventing lock-up.

[0051] The retainer 440 includes a fixing block 442 and a clamping block 441. There are two clamping blocks 441, which are slidably inserted into both ends of the fixing block 442. Each clamping block 441 and the fixing block 442 form a liquid storage cavity 4420. Specifically, the fixing block 442 is hollow inside, and the cavity extends through both ends of the fixing block 442. A partition plate 4421 is provided inside the cavity, which divides the cavity into two non-communicating unit cavities. The clamping block 441 is inserted into the unit cavity and slides and seals with the unit cavity, thereby forming a liquid storage cavity 4420 between itself and the fixing block 442.

[0052] The side wall of the fixed block 442 is provided with a liquid inlet channel 445, which connects the liquid storage chamber 4420 and the running raceway; the end face of the clamping block 441 away from the fixed block 442 is an arc-shaped surface and is adapted to the outer periphery of the roller; each clamping block 441 is provided with a liquid outlet channel 444, which penetrates the arc-shaped surface of the clamping block 441 and connects to the liquid storage chamber 4420; the liquid storage chamber 4420 is filled with lubricating oil; a first one-way valve 4441 is provided in the liquid outlet channel 444, which is configured to allow only the liquid outlet channel 444 to discharge oil; a second one-way valve 4451 is provided in the liquid inlet channel 445, which is configured to allow only the liquid inlet channel 445 to enter oil.

[0053] A connector 447 is provided between the clamping block 441 and the fixing block 442. The connector 447 is made of shape memory alloy and is configured to be in a contracted state when the temperature is higher than a preset value and to be extended and reset when the temperature is lower than the preset value. That is, in the initial low temperature state, the connector 447 is in an extended state and keeps the clamping block 441 in contact with the rolling element 430 with a preset pressure. When the temperature of the connector 447 is higher than the preset value, the connector 447 contracts, thereby driving the clamping block 441 to retract a certain distance into the fixing block 442.

[0054] When the industrial robot of the present invention is working, the inner ring 420 of the crossed roller bearing 400 rotates relative to the outer ring 410, thereby causing the rolling element 430 to roll in the running raceway. The crossed roller bearing 400 can improve the connection rigidity and rotational accuracy between the two mutually rotating parts of the industrial robot, thereby improving the working accuracy of the industrial robot. It is the preferred bearing for industrial robot joints, high-speed machine tools and precision instruments.

[0055] In this embodiment, initially, the overall temperature of the crossed roller bearing 400 is relatively low, the connecting member 447 is in an extended state, and the clamping block 441 and the rolling element 430 are kept in contact with a preset pressure. As the working time of the industrial robot increases, the temperature of the crossed roller bearing 400 rises accordingly, and the temperature of the connecting member 447 also rises. When the temperature of the connecting member 447 exceeds a preset value, the connecting member 447 retracts and drives the clamping block 441 to retract a certain distance into the fixed block 442. After the clamping block 441 moves into the fixed block 442, the liquid storage chamber... As the volume of 4420 decreases, the lubricating oil in the reservoir 4420 is squeezed out through the outlet channel to lubricate the rolling element 430. After lubrication, the temperature of the rolling element 430 decreases, the temperature of the crossed roller bearing 400 decreases overall, and the temperature of the connecting member 447 decreases. When the temperature of the connecting member 447 is lower than the preset value, the connecting member 447 gradually resets and extends, causing the clamping block 441 to extend out from the fixed block 442. The volume of the reservoir 4420 increases, and the lubricating oil in the running raceway is drawn into the reservoir 4420 through the inlet channel 445, forming a self-circulation of the lubricating oil.

[0056] In this embodiment, the lubricating oil supply channel is located on the retainer 440. Simultaneously, by optimizing the structure of the retainer 440, self-circulating lubrication of the lubricating oil is achieved. This not only maintains the integrity of the running raceway, making the operation of the rolling element 430 more stable and reliable, but also simplifies the structure, reduces assembly difficulty, and allows for direct replacement of the retainer 440 when damaged, making maintenance more convenient. Furthermore, due to thermal expansion and contraction, the contact pressure between the rolling element 430 and the retainer 440 varies at different temperatures. Excessive temperature leads to excessive contact pressure, which in turn exacerbates wear between the two. In this embodiment, the clamping block 441 is moved relative to the fixed block 442 via the connecting member 447. At high temperatures, the clamping block 441 moves into the fixed block 442, releasing the pressure exerted by the retainer 440 on the rolling element 430. At low temperatures, the retainer 440 resets to restore the pressure, resulting in more stable contact between the rolling element 430 and the retainer 440.

[0057] It should also be noted that the robotic arm 300 includes several articulated arms, which are rotatably connected and controlled by a motor. Cross roller bearings 400 can also be installed at the connection points of the articulated arms to further improve the operating accuracy of the industrial robot.

[0058] In a further embodiment, both the liquid outlet channel 444 and the liquid inlet channel 445 are multiple and arranged in parallel strips. At the same time, the first one-way valve 4441 and the second one-way valve 4451 are configured as diaphragm structures to adapt to the shapes of the liquid inlet channel 445 and the liquid outlet channel 444.

[0059] In this embodiment, by setting the inlet channel 445 and outlet channel 444 to strip shape and having multiple channels, the extrusion and intake of lubricating oil can be improved, thereby improving the circulation efficiency of lubricating oil and thus improving the lubrication effect.

[0060] In a further embodiment, a filter screen 446 is provided on the clamping block 441 at the position corresponding to the liquid outlet channel 444. The filter screen 446 can filter the lubricating oil in the liquid storage chamber 4420, reduce impurities in the lubricating oil discharged from the liquid outlet channel 444, and keep the lubricating oil clean.

[0061] In a further embodiment, the connector 447 is elastic and spring-shaped, meaning that the connector 447 is a shape memory spring. Specifically, the connector 447 can be made of nickel-titanium shape memory alloy, which is a binary alloy composed of nickel and titanium. It has a unique shape memory effect and superelasticity, can be shaped at low temperatures, and recovers its original shape after heating, with a strain of 5% to 20%. At the same time, it can produce elastic deformation far exceeding that of ordinary metals (up to 8% to 10%) under external force, and can completely recover after unloading. It is widely used in many high-tech fields such as medical, aerospace, and smart devices.

[0062] It is understandable that when an industrial robot is working, the inner ring 420 of the crossed roller bearing 400 rotates relative to the outer ring 410, which causes the rolling element 430 to roll along the running raceway. When the rolling element 430 rolls, it pushes the cage 440 to move. There is a speed difference between the movement of the rolling element 430 and the cage 440. When an industrial robot is working, it often performs high-frequency reciprocating motion. The reversing acceleration and deceleration will cause a certain impact between the cage 440 and the roller, which will cause impact damage to the surface of the cage 440 and friction damage to the contact with the rolling element 430.

[0063] In this embodiment, by setting the structure of the connector 447 as a spring structure, the connector 447 has a certain elasticity. When the industrial robot changes direction and accelerates or decelerates, the connector 447 can buffer the impact force between the retainer 440 and the roller, reduce the degree of impact damage and friction damage between the two, improve the operational reliability of the retainer 440 and the rolling element 430, and extend the service life.

[0064] In a further embodiment, a guide plate 443 is provided on the side wall of the fixing block 442. The guide plate 443 can slide relative to the fixing block 442 and thus can extend or retract into the fixing block 442.

[0065] An elastic adjusting member 448 is provided in the liquid storage chamber 4420. The elastic adjusting member 448 is elastic and connects the fixing block 442 and the clamping block 441 and acts on the guide plate 443. The elastic adjusting member 448 is configured such that the guide plate 443 extends at least partially out of the fixing block 442 in the initial state, and deforms when the clamping block 441 moves into the fixing block 442, thereby causing the guide plate 443 to retract into the fixing block 442.

[0066] It is understandable that the lubricating oil in the running raceway is driven by the rolling element 430. There is a certain speed difference between the movement of the lubricating oil and the rolling element 430. The hysteresis effect of the lubricating oil causes the lubrication conditions to not be established in time during the initial operation of the equipment, which is not conducive to lubrication. At the same time, the lubricating oil is significantly affected by temperature. The flow resistance of the lubricating oil is different at different temperatures. At high temperatures, the flow resistance is small, while at low temperatures, the flow resistance is large, which affects the lubrication effect.

[0067] In the initial state of this embodiment, under the action of the elastic adjusting member 448, the guide plate 443 extends out of the fixing block 442. When the rolling element 430 rolls and drives the retainer 440 to move, the extended guide plate 443 pushes the lubricating oil in the running raceway forward, reducing the speed difference between the rolling element 430 and the lubricating oil, assisting in the timely establishment of lubrication conditions, improving the lubrication effect in the initial stage of equipment startup, and ensuring smooth operation. At the same time, in the initial stage of equipment startup, the overall temperature of the crossed roller bearing 400 is low, the lubricating oil temperature is low, and the flow resistance is high. Through the guiding action of the guide plate 443, the flow of lubricating oil can be assisted, improving the lubrication effect. As the running time of the industrial robot increases, the temperature of the crossed roller bearing 400 rises, and the connection... When component 447 deforms and contracts, clamping block 441 retracts into fixed block 442 under the action of connector 447. After retraction, clamping block 441 squeezes elastic adjusting component 448. Elastic adjusting component 448 deforms and causes guide plate 443 to retract into fixed block 442. At this time, since lubrication conditions have been established and the temperature of lubricating oil has increased, the flow resistance is small. After guide plate 443 retracts, the guiding effect on lubricating oil is weakened, and lubricating oil flows normally under the action of rolling element 430. Afterward, if the temperature of crossed roller bearing 400 drops again, connector 447 resets and causes clamping block 441 to move out of fixed block 442. Elastic adjusting component 448 resets and causes guide plate 443 to extend, guiding the flow of lubricating oil again.

[0068] The solution in this embodiment, by setting a guide plate 443 that extends and retracts synchronously with the clamping block 441, can not only help establish lubrication conditions in the initial stage of equipment operation, improve the lubrication effect in the early stage of equipment startup, and ensure smooth operation, but also guide the flow of lubricating oil to a suitable degree at different temperatures. The lower the temperature, the stronger the guiding effect, and the higher the temperature, the weaker the guiding effect, further improving the lubrication effect. At the same time, the setting of the elastic adjustment element 448 can also work together with the connecting element 447 to buffer the impact between the retainer 440 and the roller caused by the acceleration and deceleration of the industrial robot during reversal, thereby improving the buffering effect.

[0069] Reference Figure 9In a preferred embodiment of the present invention, the elastic adjusting member 448 includes a first spring piece 4481, a second spring piece 4482, and a third spring piece 4483. The first spring piece 4481 and the second spring piece 4482 are arranged in a V-shape, with their openings pointing towards the guide plate 443. The end of the first spring piece 4481 away from the second spring piece 4482 is fixedly connected to the clamping block 441, and the end of the second spring piece 4482 away from the first spring piece 4481 is connected to the fixing block 442. The third spring piece 4483 is disposed between the first spring piece 4481 and the second spring piece 4482, and the third spring piece 4483 is disposed between the first spring piece 4481 and the second spring piece 4482. One end of the three spring pieces 4483 is connected at the angle between the first spring piece 4481 and the second spring piece 4482, and the other end is connected to the guide plate 443. When the clamping block 441 moves into the fixed block 442, it squeezes the first spring piece 4481, which in turn squeezes the second spring piece 4482 and the third spring piece 4483. The third spring piece 4483 pulls the guide plate 443 into the fixed block 442. When the clamping block 441 moves out of the fixed block 442, the first spring piece 4481, the second spring piece 4482, and the third spring piece 4483 reset, and the guide plate 443 also resets. In this embodiment, the elastic adjusting member 448 is a combination of the first spring piece 4481, the second spring piece 4482, and the third spring piece 4483. The structure is simple and ingenious, easy to control, low in cost, and conducive to widespread implementation.

[0070] Furthermore, in a preferred embodiment of the present invention, the overall shape of the fixing block 442 is a cuboid, and two guide plates 443 are provided on each of the four circumferential surfaces of the fixing block 442 to improve the guiding effect. Correspondingly, the number of elastic adjustment members 448 is adapted to the number of guide plates 443 to control the movement of the guide plates 443.

[0071] In a further embodiment, a swing plate 423 and a stop block 422 are provided on both the upper and lower sides of the running raceway (specifically the inner raceway 421) on the inner ring 420. The swing plate 423 can rotate around its own axis, and the axis of the swing plate 423 is parallel to the axis of the inner ring 420. The stop block 422 is located on one side of the swing plate 423 to limit the rotation range of the swing plate 423.

[0072] It is understandable that, due to the structure of the industrial robot and the high-frequency reciprocating motion characteristics of the industrial robot during operation, the crossed roller bearing 400 is subjected to a certain off-center load during operation. This will lead to uneven circumferential pressure and temperature, which in turn will result in inconsistent lubrication conditions around the circumference of the crossed roller bearing 400. The high-pressure side is more prone to lubrication failure due to the large contact stress and concentrated heat generation.

[0073] In this embodiment, the arrangement of the stop block 422 and the swing plate 423 allows the swing plate 423 to swing to an extended state and push the lubricating oil at the bottom of the running raceway when the inner ring 420 rotates relative to the outer ring 410 in a set direction, thus not pushing the lubricating oil. When the inner ring 420 rotates relative to the outer ring 410 in the opposite direction of the set direction, the swing plate 423 swings to a retracted state and no longer pushes the lubricating oil. (Refer to...) Figure 6 Taking a clockwise (top-down view) direction with the stop block 422 positioned in front of the swing plate 423 as an example, when the inner ring 420 rotates clockwise relative to the outer ring 410, the swing plate 423, under the stop of the lubricating oil, swings counterclockwise around its axis to the retracted state, thus preventing the lubricating oil from flowing. When the inner ring 420 rotates counterclockwise relative to the outer ring 410, the swing plate 423 swings to... Figure 6 As shown in the extended state, it pushes the lubricating oil at the bottom of the running raceway to flow circumferentially as it rotates with the inner ring 420, thus circulating.

[0074] In this embodiment, the swing plate 423 and the stop block 422 are configured so that when the crossed roller bearing 400 is working, the swing plate 423 can drive the lubricating oil in the running raceway to flow in one direction. Under the reciprocating motion of the industrial robot, the lubricating oil in different parts of the running raceway in the circumferential direction can be exchanged, thus avoiding lubrication failure in the high-pressure area.

[0075] In a further embodiment, a torsion spring is provided at the rotatable connection between the swing plate 423 and the inner ring 420. The torsion spring causes the swing plate 423 to adhere to the stop block 422 in the initial state. The torsion spring is a light spring, and the torsion spring helps to maintain the initial position of the swing plate 423.

[0076] In a further embodiment, the outer ring 410 includes an upper outer ring and a lower outer ring, which are connected by fasteners, such as bolts, which can enable detachable connection.

[0077] In this embodiment, the outer ring 410 is designed as a split structure, which facilitates assembly and also makes it easier to maintain the crossed roller bearing 400.

[0078] 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 highly automated industrial robot characterized in that, include: The base has a drive motor mounted on it; A turntable, which is rotatably mounted on a base and connected to the output shaft of a drive motor; A robotic arm is mounted on a turntable, with a gripper at the end of the robotic arm furthest from the turntable. Among them, a cross roller bearing is provided between the turntable and the base. The cross roller bearing includes an outer ring, an inner ring, several rolling elements and several retainers. The inner ring is coaxially arranged inside the outer ring and can rotate relative to the outer ring. The inner ring and the outer ring together form a running raceway. Several rolling elements are spaced apart in the running raceway. Adjacent rolling elements are arranged perpendicularly at 90 degrees. The retainer is provided between adjacent rolling elements. The retainer includes a fixed block and two clamping blocks, which are slidably inserted into both ends of the fixed block. Each clamping block forms a liquid storage cavity between itself and the fixed block. The side wall of the fixed block is provided with a liquid inlet channel, which connects the liquid storage cavity and the running raceway. The end face of the clamping block away from the fixed block is an arc-shaped surface and is adapted to the outer periphery of the rolling element. Each clamping block is provided with a liquid outlet channel, which penetrates the arc-shaped surface of the clamping block and connects to the liquid storage cavity. The liquid storage cavity is filled with lubricating oil. A first check valve is provided in the liquid outlet channel, which is configured to allow oil to drain only from the liquid outlet channel. A second check valve is provided in the liquid inlet channel, which is configured to allow oil to enter only from the liquid inlet channel. A connector is provided between the clamping block and the fixing block. The connector is made of shape memory alloy and is configured to be in a contracted state when the temperature is higher than the preset value and to be extended and reset when the temperature is lower than the preset value. The side wall of the fixed block is provided with a guide plate, which can slide relative to the fixed block and thus extend or retract into the fixed block; An elastic adjustment element is provided in the liquid storage chamber. The elastic adjustment element is elastic and connects the fixed block and the clamping block and acts on the guide plate. The elastic adjustment element is configured such that the guide plate at least partially extends out of the fixed block in the initial state, and deforms and drives the guide plate to retract into the fixed block when the clamping block moves into the fixed block. The elastic adjustment component includes a first spring, a second spring, and a third spring. The first and second springs are arranged in a V-shape with their openings pointing towards the guide plate. The end of the first spring away from the second spring is fixedly connected to the clamping block, and the end of the second spring away from the first spring is connected to the fixing block. The third spring is disposed between the first and second springs, with one end connected to the angle between the first and second springs and the other end connected to the guide plate.

2. The highly automated industrial robot according to claim 1, characterized in that, Both the liquid outlet channel and the liquid inlet channel have multiple parallel strips. The first and second check valves are diaphragm structures to adapt to the shapes of the liquid inlet channel and the liquid outlet channel.

3. The highly automated industrial robot according to claim 1, characterized in that, A filter screen is installed at the position of the clamping block corresponding to the liquid outlet channel.

4. The highly automated industrial robot according to claim 1, characterized in that, The connector is elastic and spring-shaped.

5. A highly automated industrial robot according to claim 4, characterized in that, The connectors are made of nickel-titanium shape memory alloy.

6. A highly automated industrial robot according to claim 1, characterized in that, The inner ring is equipped with swing plates and stops on both the upper and lower sides of the running raceway. The swing plates can rotate around their own axis, and the axis of the swing plates is parallel to the axis of the inner ring. The stops are located on one side of the swing plates to limit the rotation range of the swing plates.

7. A highly automated industrial robot according to claim 1, characterized in that, The inner ring has an inner raceway with a V-shaped cross-section on its outer circumferential surface, and the outer ring has an outer raceway with a V-shaped cross-section on its inner circumferential surface. The inner and outer raceways are aligned and together form the running raceway.

8. A highly automated industrial robot according to claim 1, characterized in that, The outer ring consists of an upper outer ring and a lower outer ring, which are connected by fasteners.

Images