A robot knuckle bearing
By setting arc-shaped covering surfaces and support components on the inner and outer rings of the robot finger bearing, the problem of insufficient axial load capacity of the bearing was solved, and the high axial load capacity and speed were improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEINING INTELLIGENT TECH (ZHEJIANG) CO LTD
- Filing Date
- 2025-09-17
- Publication Date
- 2026-06-26
AI Technical Summary
Existing robot finger bearings are insufficient in terms of load-bearing capacity, especially in terms of axial load-bearing capacity, and are unable to meet high load requirements.
A robotic knuckle bearing was designed, which features first and second arc-shaped covering surfaces on the inner and outer rings, with balls distributed between them. A support member is provided on the outer ring. The arc-shaped covering surfaces transmit axial thrust, enhancing the axial load-bearing capacity of the bearing, and the support member reduces ball slippage.
This improves the axial load capacity of the bearing, meeting the high axial thrust requirements of the robotics field, while reducing ball slippage and increasing the bearing's speed and service life.
Smart Images
Figure CN224414121U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of bearing technology, specifically a robot finger bearing. Background Technology
[0002] Robot knuckle bearings are core components of industrial robot motion systems, primarily used in the knuckle bearings of humanoid robot dexterity hands. Their performance directly affects the robot's motion accuracy, stability, and lifespan.
[0003] The characteristics of the humanoid robot dexterous knuckle bearing are: small size, but high load requirements, especially for axial load. To address these issues, the applicant has developed a new technical solution during actual production. Utility Model Content
[0004] To address the aforementioned technical shortcomings, the purpose of this utility model is to provide a robot finger bearing that has the advantage of improving the axial load capacity of the bearing.
[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:
[0006] This utility model provides a robot knuckle bearing, including an inner bearing ring and an outer bearing ring, and a plurality of balls located between the inner and outer bearing rings. The inner and outer bearing rings are respectively provided with a first arc-shaped covering surface and a second arc-shaped covering surface that are distributed toward the balls and allow the balls to be embedded. The outer bearing ring is provided with a support member located on one side of the balls and on one side of the second arc-shaped covering surface.
[0007] By adopting the above technical solution, the axial thrust is transmitted from the inner ring of the bearing through the first arc-shaped covering surface to the ball, then to the second arc-shaped covering surface and the support member, and finally to the outer ring of the bearing. The first and second arc-shaped covering surfaces contact the spherical surface of the ball, which facilitates the transmission of axial thrust through the first and second arc-shaped covering surfaces, thereby improving the axial load capacity of the bearing. The support member is designed to hold the ball and reduce ball slippage, and also facilitates the transmission of axial thrust to the outer ring of the bearing, meeting the high axial thrust requirements in the field of robotics.
[0008] Preferably, the first arc-shaped covering surface and the second arc-shaped covering surface cover one-quarter of the spherical surface of the ball.
[0009] Preferably, one end of the first arc-shaped covering surface extends beyond the outer wall of the bearing inner ring, and the end of the first arc-shaped covering surface extending beyond the outer wall of the bearing inner ring is distributed opposite to the support member.
[0010] Preferably, the support member includes an annular support plate disposed on the inner wall of the outer ring of the bearing, the support plate having a V-shaped support groove for one side of the ball to be embedded, the support groove being located on one side of the second arc-shaped covering surface, and a gap D1 existing between the support plate and the outer wall of the inner ring of the bearing.
[0011] Preferably, an annular oil baffle is provided on the outer wall of the inner ring of the bearing, and there is a gap D2 between the side of the oil baffle away from the inner ring of the bearing and the inner wall of the outer ring of the bearing. The oil baffle and the support plate are respectively located on both sides of the ball.
[0012] Preferably, the size of the gap D2 is 1 ± 0.2 mm.
[0013] Preferably, the outer ring of the bearing has an inclined surface extending to one side of the support plate on the end face opposite to the oil baffle.
[0014] The beneficial effects of this utility model are as follows: the axial thrust is transmitted from the inner ring of the bearing through the first arc-shaped covering surface to the ball, then to the second arc-shaped covering surface and the support member, and finally to the outer ring of the bearing. The first and second arc-shaped covering surfaces contact the spherical surface of the ball, which facilitates the transmission of axial thrust through the first and second arc-shaped covering surfaces, thereby improving the axial load capacity of the bearing. The support member is designed to hold the ball and reduce ball slippage, and also facilitates the transmission of axial thrust to the outer ring of the bearing, meeting the high axial thrust requirements in the field of robotics. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0016] Figure 1 This is a schematic diagram of the structure of this embodiment.
[0017] Explanation of reference numerals in the attached figures:
[0018] In the diagram: 1. Inner ring of bearing; 11. First arc-shaped covering surface; 12. Oil baffle; 2. Outer ring of bearing; 21. Second arc-shaped covering surface; 22. Support plate; 23. Support groove; 24. Inclined surface; 3. Ball bearing. Detailed Implementation
[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0020] A type of robot knuckle bearing, such as Figure 1 The bearing includes an inner ring 1 and an outer ring 2, and a plurality of balls 3 located between the inner ring 1 and the outer ring 2. The inner ring 1 and the outer ring 2 are respectively provided with a first arc-shaped covering surface 11 and a second arc-shaped covering surface 21 that are distributed toward the balls 3 and for the balls 3 to be embedded. The outer ring 2 is provided with a support member located on one side of the balls 3 and on one side of the second arc-shaped covering surface 21.
[0021] like Figure 1 The axial thrust is transmitted from the inner ring 1 of the bearing through the first arc-shaped covering surface 11 to the ball 3, then to the second arc-shaped covering surface 21 and the support member, and finally to the outer ring 2 of the bearing. The first arc-shaped covering surface 11 and the second arc-shaped covering surface 21 contact the spherical surface of the ball 3, which facilitates the transmission of axial thrust through the first arc-shaped covering surface 11 and the second arc-shaped covering surface 21, thereby improving the axial load capacity of the bearing. The support member is set up to hold the ball 3 and reduce the slippage of the ball 3. On the other hand, it also facilitates the transmission of axial thrust to the outer ring 2 of the bearing, which meets the high requirements for axial thrust in the field of robotics.
[0022] like Figure 1 The first arc-shaped covering surface 11 and the second arc-shaped covering surface 21 cover one-quarter of the spherical surface of the ball 3, which facilitates the transmission of axial thrust and also facilitates the increase of bearing speed. One end of the first arc-shaped covering surface 11 extends out of the outer wall of the bearing inner ring 1, and the end of the first arc-shaped covering surface 11 extending out of the outer wall of the bearing inner ring 1 is distributed opposite to the support member, which facilitates the transmission of axial thrust from the bearing inner ring 1 to the ball 3. The vertically distributed outer walls of the bearing inner ring 1 are located at both ends of the first arc-shaped covering surface 11, and the distances from the inner wall of the bearing outer ring 2 are different, which facilitates the subsequent setting of the oil baffle 12 and the support plate 22.
[0023] like Figure 1 The support component includes an annular support plate 22 disposed on the inner wall of the outer ring 2 of the bearing. The support plate 22 has a V-shaped support groove 23 for one side of the ball 3 to be embedded. The support groove 23 is V-shaped to reduce the contact area between the ball 3 and the support plate 22, which facilitates the increase of bearing speed. In addition, it also facilitates the support of the ball 3. The support groove 23 is located on one side of the second arc-shaped covering surface 21. There is a gap D1 between the support plate 22 and the outer wall of the inner ring 1 of the bearing. The size of the gap D1 is 2.5±0.2mm.
[0024] like Figure 1 An annular oil baffle 12 is provided on the outer wall of the inner ring 1 of the bearing. There is a gap D2 between the side of the oil baffle 12 away from the inner ring 1 and the inner wall of the outer ring 2 of the bearing. The oil baffle 12 and the support plate 22 are located on both sides of the ball 3, and the size of the gap D2 is 1±0.2mm. The oil baffle 12 is distributed near the side of the inner ring 1 where the force begins to be applied.
[0025] like Figure 1 A narrow space is formed between the oil baffle 12 and the inner wall of the outer ring 2 of the bearing, and a small gap is also formed between the support plate 22 and the outer wall of the inner ring 1 of the bearing. Both serve to isolate the grease from the outside of the bearing from entering the bearing, making it difficult for the grease to enter the bearing. When the inner ring 1 of the bearing rotates, it will generate centrifugal force, which makes it difficult for the grease to enter the bearing.
[0026] like Figure 1 The outer ring 2 of the bearing has an inclined surface 24 extending to one side of the support plate 22 on the end face away from the oil baffle 12.
[0027] This bearing can reach a working speed of 800 rpm, a working load of radial load Fr=40N, an axial load Fa=200N, and a continuous working calculated life of 1420h.
[0028] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.
Claims
1. A robot knuckle bearing, comprising an inner bearing ring (1) and an outer bearing ring (2) and a plurality of balls (3) located between the inner bearing ring (1) and the outer bearing ring (2), characterized in that, The inner ring (1) and outer ring (2) of the bearing are respectively provided with a first arc-shaped covering surface (11) and a second arc-shaped covering surface (21) that are distributed toward the ball (3) and for the ball (3) to be embedded. The outer ring (2) of the bearing is provided with a support member located on one side of the ball (3) and on one side of the second arc-shaped covering surface (21). The support member includes an annular support plate (22) disposed on the inner wall of the outer ring (2) of the bearing. The support plate (22) has a V-shaped support groove (23) for one side of the ball (3) to be embedded. The support groove (23) is located on one side of the second arc-shaped covering surface (21). There is a gap D1 between the support plate (22) and the outer wall of the inner ring (1) of the bearing. An annular oil baffle (12) is provided on the outer wall of the inner ring (1) of the bearing. There is a gap D2 between the side of the oil baffle (12) away from the inner ring (1) and the inner wall of the outer ring (2) of the bearing. The oil baffle (12) and the support plate (22) are located on both sides of the ball (3).
2. The robot finger bearing as described in claim 1, characterized in that, The first arc-shaped covering surface (11) and the second arc-shaped covering surface (21) cover one-quarter of the spherical surface of the ball (3).
3. A robot knuckle bearing as described in claim 1 or 2, characterized in that, One end of the first arc-shaped covering surface (11) extends out of the outer wall of the bearing inner ring (1), and the end of the first arc-shaped covering surface (11) extending out of the outer wall of the bearing inner ring (1) is distributed opposite to the support member.
4. A robot knuckle bearing as described in claim 1, characterized in that, The size of the gap D2 is 1 ± 0.2 mm.
5. A robot finger bearing as described in claim 1, characterized in that, The outer ring (2) of the bearing has an inclined surface (24) extending to one side of the support plate (22) on the side face away from the oil baffle (12).