Thin-walled double-row rolling humanoid robot bearing

Abstract

The present application relates to the technical field of bearing, in particular to a thin-wall double-row rolling humanoid robot bearing, which comprises an inner ring and an outer ring, the inner ring and the outer ring are coaxially arranged at two ends, a rolling cavity for accommodating rollers is formed between the inner ring and the outer ring, sealing rings are arranged at two ends of the rolling cavity, an oil injection port is arranged on the outer ring, two raceways are arranged on the inner ring, a plurality of rollers are rolling installed on each raceway, a retainer is arranged in the rolling cavity, a plurality of pockets are symmetrically arranged on the left and right sides of the retainer, a plurality of oil storage pockets are circumferentially arranged in the retainer with the retainer axis as the reference, and an oil pocket port is arranged at both ends of the oil storage pocket along the tangent direction of the position of the oil storage pocket. The present application sets the structure with oil storage pockets on the retainer between the two raceways, which can actively transport the lubricating oil deposited at the bottom of the rolling cavity to the top of the rolling cavity by using the power of the rotation of the retainer itself.

Description

Technical Field

[0001] This invention relates to the field of bearing technology, specifically to a thin-walled double-row rolling humanoid robot bearing. Background Technology

[0002] Bearings are an important component in modern mechanical equipment. Rolling bearings generally consist of four parts: outer ring, inner ring, rolling elements, and cage.

[0003] In recent years, humanoid robot technology has developed rapidly, placing extremely high demands on joint bearings. Thin-walled double-row rolling bearings, due to their characteristics of uniform cross-section, small footprint, and high load-bearing capacity, are widely used in the shoulder, hip, and knee joints of humanoid robots. These parts, especially the knee joint, need to withstand greater loads when humanoid robots perform various complex movements. Therefore, carburized bearing steel is often used as the material for the inner and outer rings of the bearings, combined with double-row rollers to withstand axial and radial loads.

[0004] However, existing thin-walled double-row rolling bearings still have significant shortcomings in lubrication. Because the wall thickness of thin-walled bearings is much smaller than that of conventional bearings, the space inside for storing lubricating oil or grease is extremely limited, leading to frequent lubrication maintenance and affecting the operating efficiency and reliability of robots.

[0005] Meanwhile, the lubricating oil or grease inside the bearing tends to settle and accumulate on the lower side of the raceway under the influence of gravity. Especially after long-term use, when the lubricating oil or grease inside the bearing is reduced due to oil leakage, there is insufficient lubricant supply when the rolling elements rotate to the upper part. The oil film between the rolling elements and the raceway is difficult to maintain, resulting in poor lubrication and increased friction in the upper contact area, which ultimately leads to bearing damage.

[0006] There are some existing lubrication improvement solutions for cages, such as setting grooves on the cage to fill with grease, or setting connecting channels between adjacent pockets to allow lubricating oil to flow. However, most solutions only achieve static storage of lubricant and lack a dynamic mechanism to actively transport lubricating oil from the bottom to the upper contact area.

[0007] Especially for thin-walled double-row rolling bearings, whose internal space is more compact than that of single-row bearings, how to achieve sufficient oil storage and effective active oil supply within a limited space is still a technical problem that needs to be solved.

[0008] To address this, a thin-walled double-row rolling humanoid robot bearing is proposed. Summary of the Invention

[0009] The purpose of this invention is to provide a thin-walled double-row rolling humanoid robot bearing to solve the problem mentioned in the background art that the top of the rolling cavity is difficult to lubricate after the lubricating oil or grease is consumed.

[0010] To achieve the above objectives, the present invention provides the following technical solution: A thin-walled double-row rolling humanoid robot bearing includes an inner ring and an outer ring. The inner ring and outer ring are aligned at both ends and coaxially arranged. An annular rolling cavity for accommodating rollers is formed between the inner ring and the outer ring. Sealing rings for preventing lubricating oil leakage are provided at both ends of the rolling cavity. An oil injection port communicating with the rolling cavity is provided on the outer ring. The inner ring is provided with two raceways, which are parallel and spaced apart along the axial direction of the inner ring. Both raceways are located within the rolling cavity, and multiple rollers are rotatably mounted on each raceway. The column has a retainer installed inside the rolling chamber. The retainer is located between two raceways. Multiple pockets are symmetrically arranged on the left and right sides of the retainer. The rollers on the two raceways correspond one-to-one with the pockets on both sides of the retainer and are engaged inside the pockets. Multiple oil reservoirs are evenly distributed around the circumference of the retainer with the retainer axis as the reference. The opening of the oil reservoir faces the axis of the retainer and protrudes towards the outer ring of the retainer. Oil outlets are opened at both ends of the oil reservoir along the tangent direction of its position.

[0011] By setting up an oil reservoir, the retainer's own rotational power allows the oil reservoir to be immersed in lubricating oil when the rollers and oil reservoir rotate to the lower side of the rolling chamber. The lubricating oil is retained at the corners of the oil reservoir due to its viscosity. Before the oil reservoir reaches the top of the rolling chamber, the bottom of the oil reservoir provides an upward supporting force for the lubricating oil. When the oil reservoir reaches the top of the rolling chamber, the bottom of the oil reservoir is directly above the lubricating oil. The bottom of the lubricating oil loses support and drips downwards to the top of the inner ring of the rolling chamber, eventually flowing into the two raceways, thus achieving lubrication of the top of the rolling chamber.

[0012] In this way, the lubricating oil deposited at the bottom of the rolling chamber can be actively transported to the top of the rolling chamber without the need for additional power and without taking up too much compact internal space. This can meet the space constraints of thin-walled double-row bearings and solve the problem in the prior art where lubricating oil deposits at the bottom of the bearing under gravity, resulting in insufficient lubrication of the upper raceway and rolling elements of the bearing.

[0013] Meanwhile, the oil reservoir is located in the middle of the cage between the two raceways, eliminating the need for additional modifications to the original inner ring, outer ring, or raceway structure.

[0014] Preferably, each of the oil storage pockets is fixedly provided with an oil pusher plate at the bottom, the oil pusher plate is located between the two oil pocket openings, and each oil pusher plate is arranged towards the axis of the retainer.

[0015] By incorporating a pusher plate, lubricating oil can be more easily pushed from the bottom to the top of the rolling chamber, ensuring adequate lubrication of the top of the raceway. Furthermore, even at low speeds, the angle between the pusher plate and the bottom of the oil reservoir provides a better adhesion point for the lubricating oil, allowing it to be carried by the reservoir to the top of the rolling chamber for convenient lubrication of the raceway top.

[0016] The oil pusher plate is positioned between the oil pockets, but it does not completely seal the oil pockets. The lubricating oil exceeding the oil pusher plate can flow out of the oil reservoir from the oil pocket opposite to the rotation direction. This ensures that each oil reservoir can only carry a portion of the lubricating oil upwards, preventing a large amount of lubricating oil at the bottom of the raceway from being carried upwards and affecting the lubrication at the bottom of the raceway, thus ensuring the uniformity of bearing lubrication.

[0017] The pusher plates are all oriented towards the axis of the cage. This is to ensure that the pusher plates remain vertical when they are at the highest point of the rolling chamber, making it easier for the lubricating oil to drip into the raceway. Furthermore, since the diameters of the pusher plates and the cage coincide, the pushing effect of the pusher plates is the same regardless of which direction the cage rotates.

[0018] Preferably, the oil storage bag is inclined downward on both the left and right sides of the two end faces of the inner ring to form a drainage slope.

[0019] By setting up a flow ramp, the bottom area of ​​the oil reservoir can be reduced, allowing the lubricating oil adhering to the outer wall of the oil reservoir to slide to both sides more quickly after reaching the top of the rolling chamber, and fall directly into the two raceways, thus accelerating the lubrication speed of the top of the rolling chamber.

[0020] On the other hand, during the stamping process of the oil reservoir, the drainage ramp can prevent stress concentration at the bottom of the reservoir due to an excessively small included angle, thus improving the yield rate and structural strength of the cage. Simultaneously, the drainage ramp splits the original one included angle inside the oil reservoir into two, providing more adhesion points for the lubricating oil and making it easier to move the lubricating oil to the top of the rolling chamber.

[0021] Preferably, the two opposite pockets on the cage form a group, and the multiple oil storage pockets correspond one-to-one with the multiple groups of pockets, with each oil storage pocket located between the two pockets in each group.

[0022] By positioning the oil reservoir to correspond with the left and right pockets, the drainage ramp can be precisely aligned with the pockets on both sides. The lubricating oil adhering to the outer wall of the oil reservoir can flow directly into the pocket along the drainage ramp, lubricating the rollers inside the pocket. This ensures that when the roller rotates to the top of the rolling chamber, the surface can still maintain a complete lubricating oil film, effectively reducing roller wear. The lubrication of the raceway is completed by the lubricating oil carried up from inside the oil reservoir, ultimately achieving simultaneous and sufficient lubrication of both the raceway and the rollers, further improving the overall lubrication effect of the bearing.

[0023] Preferably, each of the drainage slopes is provided with an oil outlet slit, and two oil outlet slits on the same oil storage bag are aligned with each other. The width of the oil outlet slit is greater than the width of the oil pusher plate, and the oil pusher plate is located in the middle of the oil outlet slit.

[0024] When the cage is rotating at high speed, due to centrifugal force, even if the oil reservoir moves directly above the raceway, the lubricating oil inside the oil reservoir cannot drip down. As a result, the raceway cannot get enough lubrication.

[0025] However, by setting an oil outlet gap, when the pusher plate pushes the lubricating oil inside the oil reservoir upwards, the lubricating oil will move towards the bottom of the oil reservoir due to centrifugal force. However, because the bottom of the oil reservoir blocks the movement of the lubricating oil, it can only move horizontally along the bottom of the oil reservoir. Under the guidance of the bottom of the oil reservoir and the action of centrifugal force, some lubricating oil will be discharged from the oil outlet gap towards the pockets on both sides of the oil reservoir and finally fall onto the rollers. By forming a lubricating oil film on the rollers, the wear of the rollers at the top of the rolling chamber is reduced. By forming an oil film on the rollers, the raceway can also be protected as the rollers rotate.

[0026] It not only solves the problem of insufficient top lubrication under high-speed conditions, but also forms a double guarantee with the drip lubrication of the oil reservoir at low speeds. Whether the bearing is rotating at high or low speed, it can ensure the lubrication effect between the rolling elements and the raceway and avoid accelerated wear.

[0027] Preferably, each of the pockets is surrounded by an oil reservoir, which is located on the side of the retainer facing the outer ring. The oil reservoir has the same shape as the pocket and covers the periphery of the pocket.

[0028] By incorporating an oil reservoir, the lubricant retention capacity is further enhanced, ensuring a continuous supply of lubricant even when the rollers reach the top of the rolling chamber. This prevents oil film breakage due to a lack of fresh lubricant supply in a short period. Combined with the oil outlet gap and oil reservoir, this further improves lubrication continuity. Furthermore, the oil outlet gap... The discharged lubricating oil can be temporarily stored in the oil reservoir, and then slowly seep into the roller surface in the pocket along the oil reservoir, ensuring that the roller always has sufficient lubrication.

[0029] Preferably, the oil storage tank has multiple recessed grooves inside, all of which are oriented towards the pocket.

[0030] The recessed texture increases the surface area inside the oil reservoir, improving the adhesion of the lubricating oil and enhancing its ability to resist centrifugal force and prevent it from being thrown out. Simultaneously, the recessed texture, oriented towards the pocket, guides the lubricating oil from the reservoir towards the roller surface within the pocket through capillary action, continuously maintaining the integrity of the oil film on the roller surface.

[0031] Preferably, the oil-pushing plate has an arc-shaped groove on the side facing the retainer.

[0032] When the cage rotates at low speed and the oil reservoir moves to the top of the rolling chamber, the arc-shaped groove can guide the lubricating oil to flow to the left and right side walls of the oil reservoir. After sliding down the side walls, the lubricating oil can fall more accurately into the two raceways on the inner ring, further improving the lubrication effect at the top of the raceways under low-speed conditions and making lubrication more precise.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The thin-walled double-row rolling humanoid robot bearing designed in this invention, by setting an oil reservoir on the cage between the two raceways, can actively transport the lubricating oil deposited at the bottom of the rolling cavity to the top of the rolling cavity using the rotational power of the cage itself. It does not require an additional drive mechanism and does not occupy too much internal space, adapting to the compact space constraints of thin-walled double-row bearings. It solves the problem in the prior art that lubricating oil is deposited at the bottom of the bearing due to gravity, resulting in insufficient lubrication and accelerated wear of the upper raceway and rolling elements of the bearing.

[0034] 2. By setting up an oil pusher plate in conjunction with a drainage ramp with an oil outlet gap, this invention can ensure that the lubricating oil drips steadily to the top raceway during low-speed rotation, and can also use centrifugal force to guide the lubricating oil from the oil outlet gap to the roller surface during high-speed rotation. This provides effective oil supply for different working conditions at high and low speeds, forming a dual lubrication guarantee. At the same time, it can control the amount of lubricating oil carried by each oil reservoir at one time, avoiding excessive lifting of the bottom lubricating oil and ensuring the uniformity of lubrication of the entire bearing.

[0035] 3. The present invention adds an oil storage groove with recessed textures facing the pocket around the periphery. This not only stores additional lubricating oil thrown out of the oil gap, but also increases adhesion and guides the lubricating oil to be gradually supplied to the rollers by relying on the texture. Combined with the active oil supply of the oil storage pocket, the continuous lubrication is further improved. It can maintain an intact oil film on the roller and raceway surface for a longer time when the lubricating oil is gradually reduced, and further extend the maintenance cycle of the bearing. Attached Figure Description

[0036] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is an exploded view of the present invention; Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the internal structure of the present invention; Figure 5 For the present invention Figure 4 Enlarged view of point B in the middle; Figure 6 This is a three-dimensional view of the internal structure of the oil storage bag in this invention.

[0037] In the diagram: 1. Inner ring; 2. Outer ring; 3. Rolling chamber; 4. Sealing ring; 5. Oil inlet; 6. Raceway; 7. Roller; 8. Cage; 9. Pocket; 10. Oil reservoir; 11. Oil inlet; 12. Push plate; 13. Drainage ramp; 14. Oil outlet gap; 15. Oil reservoir; 16. Recessed texture; 17. Arc-shaped groove. Detailed Implementation

[0038] Please see Figures 1 to 6 This invention provides a thin-walled double-row rolling humanoid robot bearing, the technical solution of which is as follows: A thin-walled double-row rolling humanoid robot bearing includes an inner ring 1 and an outer ring 2. The inner ring 1 and the outer ring 2 are aligned at both ends and coaxially arranged. An annular rolling cavity 3 is formed between the inner ring 1 and the outer ring 2 to accommodate rollers 7. Sealing rings 4 are provided at both ends of the rolling cavity 3 to prevent lubricating oil leakage. An oil inlet 5 communicating with the rolling cavity 3 is provided on the outer ring 2. Two raceways 6 are provided on the inner ring 1, and the two raceways 6 are parallel and spaced apart along the axial direction of the inner ring 1. Both raceways 6 are located within the rolling cavity 3. Multiple rollers 7 are rotatably mounted on each raceway 6. The cage 8 is provided inside, and the cage 8 is located between two raceways 6. Multiple pockets 9 are symmetrically stamped on the left and right sides of the cage 8. The rollers 7 on the two raceways 6 correspond one-to-one with the pockets 9 on both sides of the cage 8 and are locked inside the pockets 9. Multiple oil reservoirs 10 are evenly distributed around the center of the cage 8 with the axis of the cage 8 as the reference. The opening of the oil reservoir 10 faces the axis of the cage 8 and protrudes towards the outer ring of the cage 8. The oil reservoir 10 is open at both ends along the tangent direction of its position to form an oil reservoir opening 11.

[0039] Among them, reference Figure 2 and Figure 3 The two opposite pockets 9 on the left and right sides of the retainer 8 form a group, and multiple oil storage pockets 10 correspond one-to-one with multiple groups of pockets 9, and each oil storage pocket 10 is located between the two pockets 9 in each group.

[0040] Above this, refer to Figure 3 The oil storage bag 10 is inclined downward on both sides of the two end faces of the inner ring, forming a drainage slope 13.

[0041] Furthermore, refer to Figures 3 to 6 Each oil storage hopper 10 has a fixed oil pusher plate 12 at its bottom. The oil pusher plate 12 is located between the two oil outlets 11. Each oil pusher plate 12 is oriented toward the axis of the retainer 8, and an arc-shaped groove 17 is provided on the side of the oil pusher plate 12 facing the retainer 8.

[0042] Furthermore, refer to Figure 3 and Figure 6 Each diversion slope 13 is provided with an oil outlet slit 14. The two oil outlet slits 14 on the same oil storage bag 10 are aligned with each other. The width of the oil outlet slit 14 is greater than the width of the oil pusher plate 12. The oil pusher plate 12 is located in the middle of the oil outlet slit 14.

[0043] In addition, refer to Figure 3 Each pocket 9 is surrounded by an oil reservoir 15, which is located on the side of the retainer 8 facing the outer ring 2. The shape of the oil reservoir 15 is the same as that of the pocket 9, and the oil reservoir 15 covers the periphery of the pocket 9. Furthermore, the inside of the oil reservoir 15 is provided with multiple recessed textures 16, which are all oriented towards the pocket 9.

[0044] Working principle: When the bearing is working, the cage 8 will rotate together with the roller 7. When the oil reservoir 10 rotates with the cage 8 to the lower side of the rolling chamber 3, the oil reservoir 10 will be immersed in the lubricating oil deposited at the bottom of the rolling chamber 3. Some of the lubricating oil will enter the interior of the oil reservoir 10 through the oil port 11 and adhere to the oil pusher plate 12, the arc groove 17, and the inner wall of the oil reservoir 10. Some of the lubricating oil will also adhere to the outer wall of the drainage slope 13 of the oil reservoir 10 and the oil storage groove 15 around the hole 9.

[0045] The cage 8 continues to rotate, driving the oil reservoir 10 containing lubricating oil to move towards the top of the rolling chamber 3. During this process, the oil pusher 12 and the wall of the oil reservoir 10 will provide support for the lubricating oil to prevent it from dripping prematurely. When the oil reservoir 10 moves to the top of the rolling chamber 3, if the bearing is rotating at a low speed and the centrifugal force is small, the lubricating oil in the oil reservoir 10 loses its bottom support and will flow along the arc-shaped groove 17 to the two side drainage ramps 13. Then it will slide down along the drainage ramps 13 and flow directly into the raceways 6 on both sides to lubricate the top of the raceways 6. At the same time, some lubricating oil will flow along the drainage ramps 13 into the pocket hole 9 to directly lubricate the rollers 7 in the pocket hole 9, thus completing the top lubrication supply.

[0046] If the bearing is rotating at high speed, the lubricating oil in the oil reservoir 10 is subjected to a large centrifugal force and will flow towards the bottom of the oil reservoir 10 near the outer ring 2. Then, it will move along the bottom of the oil reservoir 10 to both sides and flow out through the oil outlet gap 14 on the drainage slope 13, directly into the two side pockets 9. Some of the ejected lubricating oil directly contacts the rollers 7, lubricating them, while some lubricating oil is retained in the oil reservoir 15 around the pockets 9 for continued lubrication of the rollers 7. The recessed grooves 16 in the oil reservoir 15 increase the adhesion of the lubricating oil, preventing it from being ejected by centrifugal force, and continuously supplying oil to the rollers 7 in the pockets 9 through capillary action, ensuring that a complete oil film always exists between the rollers 7 and the top of the raceway 6, thus achieving continuous lubrication of the rollers 7.

[0047] The entire process relies on the power of the bearing's own rotation to supply oil, requiring no additional power and not occupying too much internal space of the bearing. This is suitable for the thin-walled and compact structure requirements of humanoid robot bearings and solves the problem of insufficient top lubrication.

[0048] The specific embodiment of the present invention has been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the embodiments described above. For those skilled in the art, various changes, modifications, substitutions, and variations made to these embodiments without departing from the principles and ideas of the present invention should still fall within the protection scope of the present invention.

Claims

1. A thin-walled double-row rolling humanoid robot bearing, comprising an inner ring (1) and an outer ring (2), wherein the inner ring (1) and the outer ring (2) are aligned at both ends and coaxially arranged, and an annular rolling cavity (3) for accommodating rollers (7) is formed between the inner ring (1) and the outer ring (2), wherein sealing rings (4) for preventing lubricating oil leakage are provided at both ends of the rolling cavity (3), and an oil inlet (5) communicating with the rolling cavity (3) is provided on the outer ring (2), wherein two raceways (6) are provided on the inner ring (1), the two raceways (6) are arranged parallel to each other along the axial direction of the inner ring (1), and the raceways (6) are all located in the rolling cavity (3), and multiple rollers (7) are rolledly mounted on each raceway (6), characterized in that, A retainer (8) is provided inside the rolling cavity (3). The retainer (8) is located between two raceways (6). Multiple pockets (9) are symmetrically arranged on the left and right sides of the retainer (8). The rollers (7) on the two raceways (6) correspond one-to-one with the pockets (9) on both sides of the retainer (8) and are locked inside the pockets (9). Multiple oil reservoirs (10) are evenly distributed around the center of the retainer (8) with the axis of the retainer (8) as the reference. The openings of the oil reservoirs (10) are all facing the axis of the retainer (8), and the oil reservoirs (10) protrude towards the outer ring of the retainer (8). Oil reservoirs (11) are provided at both ends of the oil reservoirs (10) along the tangent direction of their location.

2. The thin-walled double-row rolling humanoid robot bearing according to claim 1, characterized in that, Each of the oil storage pockets (10) is fixedly provided with an oil pusher plate (12) at the bottom. The oil pusher plate (12) is located between the two oil pockets (11), and each of the oil pusher plates (12) is arranged in the direction of the axis of the retainer (8).

3. A thin-walled double-row rolling humanoid robot bearing according to claim 2, characterized in that, The oil storage bag (10) is inclined downward on both the left and right sides of the two end faces of the inner ring to form a drainage slope (13).

4. A thin-walled double-row rolling humanoid robot bearing according to claim 3, characterized in that, The two opposite pockets (9) on the retainer (8) form a group, and the multiple oil storage pockets (10) correspond one-to-one with the multiple groups of pockets (9), and each oil storage pocket (10) is located between the two pockets (9) in each group.

5. A thin-walled double-row rolling humanoid robot bearing according to claim 4, characterized in that, Each of the aforementioned drainage slopes (13) is provided with an oil outlet slit (14). The two oil outlet slits (14) on the same oil storage sump (10) are aligned with each other. The width of the oil outlet slit (14) is greater than the width of the oil pusher plate (12). The oil pusher plate (12) is located in the middle of the oil outlet slit (14).

6. A thin-walled double-row rolling humanoid robot bearing according to claim 4, characterized in that, Each of the pockets (9) is surrounded by an oil reservoir (15), which is located on the side of the retainer (8) facing the outer ring (2). The oil reservoir (15) has the same shape as the pocket (9) and covers the periphery of the pocket (9).

7. A thin-walled double-row rolling humanoid robot bearing according to claim 6, characterized in that, The oil storage tank (15) has multiple recessed textures (16) inside, and the recessed textures (16) are all oriented toward the pocket (9).

8. A thin-walled double-row rolling humanoid robot bearing according to claim 2, characterized in that, The oil-pushing plate (12) has an arc-shaped groove (17) on the side facing the retainer (8).

Images