A bearing with cross-shaped cross-shaped special-shaped inner and outer rolling groove structure for humanoid robot

Abstract

This invention discloses a bearing with a cross-shaped irregular inner and outer roller groove structure for humanoid robots, comprising an outer ring, an inner ring, a mounting hole, an outer roller groove, an outer groove, an inner roller groove, an inner groove, a first roller, and a second roller. The outer ring is fitted inside the inner ring. The outer ring has an outer roller groove on its inner wall, and outer grooves are formed on the inner walls of both sides of the outer roller groove. The inner ring has an inner roller groove on its outer wall, and inner grooves are formed on the inner walls of both sides of the inner roller groove. This invention designs a bearing with a cross-shaped irregular inner and outer roller groove structure for humanoid robots, replacing the four inclined planes of the original 90° roller cavity with a structure containing inclined plane grooves. This design makes it easier for the contact line between the roller and the roller groove surface to achieve a contact rate of over 95%, improving the stability and reliability of the bearing operation, reducing wear and failures caused by insufficient contact, and significantly reducing the noise generated by the bearing during operation.

Description

Technical Field

[0001] This invention relates to the field of cross-shaped bearing technology, and in particular to a bearing with a cross-shaped irregular inner and outer roller groove structure for humanoid robots. Background Technology

[0002] Cross-bearings feature an internal design with cross-arranged rollers, typically with two raceways. The rollers are arranged at 90-degree angles within the raceways. This unique structure allows the bearing to simultaneously withstand loads in the radial, axial, and overturning moment directions, resulting in high rigidity and load-bearing capacity. They are widely used in the joints of humanoid robots, ensuring that robot joints maintain high precision and stability even during high-speed movement and under complex loads. However, traditional cross-bearings do not adequately consider lightweight design, leading to a large overall weight that hinders the flexible movement and energy efficiency of humanoid robots. Furthermore, the lack of an effective grease storage and lubrication mechanism results in insufficient lubrication and poor heat dissipation during prolonged operation, ultimately affecting the bearing's lifespan and performance. Summary of the Invention

[0003] The purpose of this invention is to provide a bearing with a cross-shaped irregular inner and outer roller groove structure for humanoid robots, so as to solve the problems mentioned in the background art.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a bearing for a humanoid robot with a cross-shaped irregular inner and outer roller groove structure, including an outer ring, an inner ring sleeved inside the outer ring, an outer roller groove formed on the inner wall of the outer ring, and outer grooves formed on the inner walls on both sides of the outer roller groove, an inner roller groove formed on the outer wall of the inner ring, and inner grooves formed on the inner walls on both sides of the inner roller groove.

[0005] As a further technical solution of the present invention, a first roller and a second roller are provided between the outer roller groove and the inner roller groove, and the first roller and the second roller are perpendicular to each other and arranged at intervals.

[0006] As a further technical solution of the present invention, a mounting hole is provided on one side of the outer wall of the inner ring.

[0007] As a further technical solution of the present invention, the outer groove is located at the center of the outer roller groove inclined plane, and the inner groove is located at the center of the inner roller groove inclined plane.

[0008] As a further technical solution of the present invention, the width of the outer groove is 20-40% of the width of the outer roller groove inclined plane, and the width of the inner groove is 20-40% of the width of the inner roller groove inclined plane.

[0009] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: This invention designs a bearing with a cross-shaped irregular inner and outer roller groove structure for humanoid robots. The four inclined planes of the original 90° roller cavity are replaced with a structure with inclined plane grooves. This design makes it easier for the contact line between the roller and the roller groove surface to achieve a contact rate of over 95%, improving the stability and reliability of the bearing operation, reducing wear and failures caused by insufficient contact, and significantly reducing the noise generated by the bearing during operation. This enhances the overall performance and user experience of the humanoid robot. By optimizing the roller groove structure, a lightweight design of the bearing is achieved. Reducing the bearing weight helps to reduce the overall energy consumption of the humanoid robot, improves its mobility, and extends its endurance. The groove design on the 90° inclined plane can store grease, providing continuous lubrication for the bearing, reducing friction and wear during operation, and extending its service life. At the same time, the groove structure also helps with heat dissipation, improving the bearing's operational stability in high-temperature environments. Attached Figure Description

[0010] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the overall frontal cross-sectional structure of the present invention; Figure 3 for Figure 2 Enlarged structural diagram of region A in the middle; Figure 4 for Figure 2 A magnified structural diagram of region B in the middle.

[0012] In the diagram: 1. Outer ring; 2. Inner ring; 3. Mounting hole; 4. Outer groove; 5. Outer groove; 6. Inner groove; 7. Inner groove; 8. First roller; 9. Second roller. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0014] Please see the appendix Figure 1 -Appendix Figure 4 This invention provides an embodiment of a bearing for a humanoid robot with a cross-shaped irregular inner and outer roller groove structure, comprising an outer ring 1, an inner ring 2 fitted inside the outer ring 1, an outer roller groove 4 formed on the inner wall of the outer ring 1, and outer grooves 5 formed on the inner walls on both sides of the outer roller groove 4; an inner roller groove 6 formed on the outer wall of the inner ring 2, and inner grooves 7 formed on the inner walls on both sides of the inner roller groove 6; the outer ring 1 serves as the outer layer structure of the bearing, and the inner ring 2 fitted inside the outer ring 1 together constitute the basic framework of the bearing; the inner wall of the outer ring 1 is designed with a 90° outer roller groove 4 to accommodate the rollers and guide their movement; the outer wall of the inner ring 2 has a 90° inner roller groove 6 corresponding to the outer roller groove 4; the outer roller groove 4 and the inner roller groove 6 together constitute the running track of the rollers; a first roller 8 and a second roller 9 are arranged between the outer roller groove 4 and the inner roller groove 6, and the first roller... The first roller 8 and the second roller 9 are perpendicular to each other and are arranged alternately. The first roller 8 and the second roller 9 are located between the outer groove 4 and the inner groove 6, and are arranged perpendicularly to each other and are distributed alternately. This cross arrangement design allows the bearing to bear loads simultaneously in the radial, axial and overturning moment directions, improving the bearing's rigidity and load-bearing capacity. A mounting hole 3 is provided on one side of the outer wall of the inner ring 2. The mounting hole 3 is used to fix the bearing to the joint of the humanoid robot or other parts that need support and rotation. The outer groove 5 is located at the center of the inclined plane of the outer groove 4, and the inner groove 7 is located at the center of the inclined plane of the inner groove 6. The width of the outer groove 5 is 20-40% of the width of the inclined plane of the outer groove 4, and the width of the inner groove 7 is 20-40% of the width of the inclined plane of the inner groove 6.

[0015] Working Principle: This invention reduces bearing weight and improves lubrication and heat dissipation through a cross-shaped irregular groove structure, achieving efficient, stable, and low-noise operation. The outer ring 1 serves as the outer layer of the bearing, with the inner ring 2 nested within it. Together, they form the basic framework of the bearing. The inner wall of the outer ring 1 is designed with a 90° outer groove 4 to accommodate the rollers and guide their movement. The outer wall of the inner ring 2 has a corresponding 90° inner groove 6. The outer groove 4 and the inner groove 6 together form the roller's running track. A mounting hole 3 is also provided on one side of the outer wall of the inner ring 2 for fixing the bearing to the joint of a humanoid robot or other components requiring support and rotation. The outer groove 4 has external grooves 5 further formed on its inner walls on both sides. The external grooves 5 are located at the center of the inclined plane of the outer groove 4, and their width is 30% of the width of the inclined plane of the outer groove 4. The inner grooves 6 have internal grooves 7 on their inner walls on both sides. The outer groove 5 and inner groove 7 are positioned at the center of the inclined plane of the inner groove 6, with a width of 30% of the width of the inclined plane of the inner groove 6. The design of the outer groove 5 and inner groove 7 helps to store grease, providing continuous lubrication for the rollers, while increasing the heat dissipation area and improving the operating stability of the bearing in high-temperature environments. The first roller 8 and the second roller 9 are arranged between the outer groove 4 and the inner groove 6, and are arranged perpendicularly to each other with intervals. This cross arrangement design allows the bearing to bear loads simultaneously in the radial, axial and overturning moment directions, improving the rigidity and load-bearing capacity of the bearing. When the bearing is subjected to external forces, the first roller 8 and the second roller 9 roll in the outer groove 4 and the inner groove 6 respectively, dispersing the load through the cross arrangement, reducing single-point stress concentration, thereby improving the durability and stability of the bearing. At the same time, due to the design of the outer groove 5 and inner groove 7, the rollers can continuously obtain lubrication during operation, reducing friction and wear, and reducing noise generation.

[0016] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 based on the specific circumstances.

[0017] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0018] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bearing for humanoid robots with a cross-shaped irregular inner and outer roller groove structure, comprising an outer ring (1), characterized in that: The outer ring (1) is fitted with an inner ring (2). An outer rolling groove (4) is provided on the inner wall of the outer ring (1). An outer groove (5) is provided on the inner walls of both sides of the outer rolling groove (4). An inner rolling groove (6) is provided on the outer wall of the inner ring (2). An inner groove (7) is provided on the inner walls of both sides of the inner rolling groove (6).

2. The bearing with a cross-shaped inner and outer roller groove structure for humanoid robots according to claim 1, characterized in that: A first roller (8) and a second roller (9) are provided between the outer roller groove (4) and the inner roller groove (6), and the first roller (8) and the second roller (9) are perpendicular to each other and are arranged at intervals.

3. The bearing with a cross-shaped inner and outer roller groove structure for humanoid robots according to claim 1, characterized in that: An installation hole (3) is provided on one side of the outer wall of the inner ring (2).

4. The bearing with a cross-shaped inner and outer roller groove structure for humanoid robots according to claim 1, characterized in that: The outer groove (5) is located at the center of the inclined plane of the outer roller groove (4), and the inner groove (7) is located at the center of the inclined plane of the inner roller groove (6).

5. A bearing with a cross-shaped inner and outer roller groove structure for humanoid robots according to claim 4, characterized in that: The width of the outer groove (5) is 20-40% of the width of the inclined plane of the outer rolling groove (4), and the width of the inner groove (7) is 20-40% of the width of the inclined plane of the inner rolling groove (6).

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