Master wrist adjustable damping swivel bearing device

Abstract

The utility model discloses a kind of main wrist part adjustable damping slewing bearing device, bearing seat main body is equipped with rotating main shaft being rotatably connected with it in bearing seat main body;Sensor is installed on the rotating main shaft, the rotating shaft of the sensor is rotatably connected with bearing seat main body;Rotating main shaft is equipped with plum blossom nut being threadedly connected with it, rotating main shaft is also equipped with stop damping disc and wave spring pad and is installed;Stop damping disc and rotating main shaft synchronous rotation, wave spring pad is arranged between plum blossom nut and stop damping disc;The outside of bearing seat main body is equipped with damping elastic element, damping elastic element is adjacent to the setting of stop damping disc.The utility model is equipped with sensor in bearing seat main body, sensor can rotate synchronously with rotating main shaft, can implement feedback rotation data, structure is reliable and detection precision is high.

Description

Technical Field

[0001] This utility model belongs to the technical field of mechanical wrist accessories, specifically relating to an adjustable damping rotary bearing device for the main wrist. Background Technology

[0002] The robotic wrist assembly is an accessory on a gripping device, typically a core component connecting the arm and the end effector. The end of the wrist assembly is often rotatable for easy steering adjustment. The robotic wrist assembly includes a slewing bearing and a handle, which can rotate relative to each other, requiring high reliability from the slewing bearing. Existing patent publication CN220218504U discloses a multi-functional tunnel pipe-gripping robotic arm, including a slewing platform, a main arm, a main arm cylinder, a middle arm, a middle arm cylinder, a forearm, a forearm cylinder, a hammer cylinder, a hydraulic wrist, a lower connecting frame, and a grab bucket. The output end of the main arm cylinder is adapted to drive the main arm to pitch up and down relative to the slewing platform. One end of the middle arm is hinged to the top of the main arm, and a support plate is provided at the bottom. The output end of the middle arm cylinder is hinged to the support plate. The top of the forearm is hinged to the end of the middle arm furthest from the main arm cylinder, and a linkage rocker arm assembly is installed at the bottom of the forearm. The output end of the forearm cylinder is hinged to the forearm. Existing robotic arms have relatively simple rotary mechanisms, often lacking built-in sensors for feedback of rotational data. This necessitates the use of external sensors for data detection, significantly increasing manufacturing costs and compromising the stability of the detection process. Therefore, an adjustable damping rotary bearing device for the main wrist is needed to overcome these problems. Summary of the Invention

[0003] This invention addresses the problems existing in the prior art by designing an adjustable damping slewing bearing device for the main wrist. This invention incorporates a sensor within the bearing housing body, which rotates synchronously with the main shaft and can provide feedback on rotational data. The structure is reliable and the detection accuracy is high.

[0004] The objective of this invention is achieved through the following technical solution: an adjustable damping rotary bearing device for a main wrist, comprising a bearing housing body, within which a rotating spindle is rotatably connected; a sensor is mounted on the rotating spindle, the sensor's shaft being rotatably connected to the bearing housing body; a plum blossom-shaped nut is threadedly connected to the rotating spindle, and a stop damping disc and a wave spring washer are also fitted onto the rotating spindle; the stop damping disc rotates synchronously with the rotating spindle, and the wave spring washer is positioned between the plum blossom-shaped nut and the stop damping disc; a damping elastic element is provided on the outer side of the bearing housing body, the damping elastic element being adjacent to the stop damping disc.

[0005] Preferably, the bearing housing body includes a front cover and a rear cover, and a first fastener is provided between the front cover and the rear cover to fix the two; a bearing body is provided between the bearing housing body and the rotating spindle for connecting the two, and the bearing bodies are arranged in pairs.

[0006] Preferably, the outer wall of the rotating spindle is provided with an annular protrusion, and the bearing body is respectively disposed on both sides of the annular protrusion; the two sides of the annular protrusion are provided with limiting steps, and the bearing body is disposed between the limiting steps and the inner wall of the bearing seat body.

[0007] Preferably, the annular protrusion is provided with a limiting protrusion, and the bearing housing body is provided with an annular groove for accommodating the limiting protrusion, wherein the outer contour of the annular groove is adapted to the outer contour of the limiting protrusion.

[0008] The front and rear covers facilitate the installation of the rotating spindle into the bearing housing via the bearing body; the limiting steps facilitate the limiting of the bearing body; and the interplay between the limiting protrusion and the annular groove effectively restricts the rotation angle of the rotating spindle, providing better controllability. The annular protrusion also allows for easy adjustment of its position.

[0009] Preferably, the rotating spindle is provided with a first mounting groove for accommodating the sensor, and a second fastener for fixing the sensor and the rotating spindle is provided between them; the sensor is also provided with a pressure plate for limiting the position, and the sensor is rotatably connected to the bearing housing body.

[0010] Preferably, the sensor is provided with an annular groove, and a pressure plate is provided in the annular groove; the second fastener passes through the pressure plate and extends into the rotating spindle.

[0011] Preferably, a stop block is fixedly installed on the bearing housing body, and a coupling is provided between the stop block and the sensor's rotating shaft; a coupling is sleeved on the sensor's rotating shaft, and the coupling is rotatably connected to the sensor's rotating shaft; a strip-shaped groove is provided at the end of the coupling facing the stop block, and a strip-shaped protrusion is provided on the stop block; the strip-shaped protrusion is disposed in the strip-shaped groove, and the outer contour of the strip-shaped groove and the outer contour of the strip-shaped protrusion are adapted to each other; a set screw is also provided between the coupling and the sensor's rotating shaft, and the set screw passes through the coupling and is fitted against the surface of the sensor's rotating shaft.

[0012] The first mounting slot facilitates sensor installation; an annular groove on the sensor, secured by a pressure plate, ensures stable and reliable installation. A stop block limits the sensor's axial movement; a coupling between the stop block and the sensor allows for rotation of the sensor relative to the stop block; the coupling is fitted onto the sensor's shaft and further limited by a strip-shaped protrusion on the stop block, resulting in better concentricity between the coupling and the sensor. Set screws on the coupling further enhance its positioning, further improving concentricity between the coupling and the sensor; the sensor's rotation with the main shaft is more stable, leading to more accurate data detection.

[0013] Preferably, the bearing housing body has a damping elastic element in the groove, one end of the stop damping disc is attached to the damping elastic element, and the other end of the stop damping disc is attached to the plum blossom nut; the stop damping disc has a second mounting groove, and the second mounting groove has a wave spring pad.

[0014] Preferably, the wave spring pad is disposed between the inner wall of the second mounting groove and the end face of the plum blossom nut; the stop damping disc and the wave spring pad are both sleeved and installed on the outer layer of the rotating spindle; the stop damping disc is provided with a first protrusion, and the rotating spindle is provided with a first groove for accommodating the first protrusion; the outer contour of the first protrusion and the outer contour of the first groove are adapted to each other.

[0015] Preferably, the rotating spindle is provided with a number of mounting holes for connecting the handle; the bearing housing body is also provided with a wrist assembly that is fixedly connected thereto.

[0016] By rotating the plum-shaped nut, the axial distance between the stop damping disc and the bearing housing body can be adjusted, thereby adapting to the degree of elastic deformation of the damping elastic element. Since both the damping elastic element and the stop damping disc have a damping and buffering effect, it is convenient to adjust the relative angle between the rotary spindle and the handle. At the same time, the damping elastic element and the stop damping disc can further maintain the rotational position of the handle relative to the wrist assembly, resulting in better controllability of the rotary spindle's rotation. The wave-shaped spring pad compresses the stop damping disc, ensuring it fits tightly against the damping elastic element. The mounting holes facilitate the assembly of the handle and the rotary spindle.

[0017] Compared with existing technologies, this utility model has the following advantages: 1. By setting a rotating spindle inside the bearing housing body, the rotation of the rotating spindle and the handle is facilitated; a built-in sensor is provided on the rotating spindle to facilitate the detection and feedback of the rotation data of the handle relative to the wrist assembly; 2. By setting a stop damping disc on the rotating spindle, and cooperating with the damping elastic element on the bearing housing body, the rotating spindle has a damping effect when rotating, which can easily adapt to and adjust the rotation angle of the rotating spindle; since the damping elastic element and the stop damping disc have a damping effect, it is easy to maintain the rotation position of the handle relative to the wrist assembly, and the controllability is better. 3. By setting a plum blossom nut, the degree of elastic deformation of the damping elastic element can be easily adjusted, thereby facilitating the adjustment of the difficulty of rotating the rotating spindle, thus meeting different usage scenarios. 4. The adjustable damping slewing bearing device of the main wrist can meet the different operators' requirements for the damping of wrist rotation, and has better versatility. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present utility model; Figure 2 This is a schematic diagram of the internal structure of this utility model; Figure 3 This is an exploded view of the present invention; Figure 4 for Figure 3 A magnified view of a portion of position A in the middle; Figure 5 This is a 3D view of the stop block; Figure 6 This is a 3D view of the back cover; Figure 7 A 3D view of the rotating spindle; Figure 8 This is a schematic diagram of the usage state of this utility model; The markings in the diagram are: 1. Bearing housing body; 2. Rotating spindle; 21. Annular protrusion; 22. Limiting step; 23. Limiting protrusion; 24. First mounting groove; 3. Sensor; 31. Annular groove; 4. Plexicon nut; 5. Stop damping disc; 6. Waveform spring washer; 7. Damping elastic element; 8. Front cover; 9. Rear cover; 10. First fastener; 11. Bearing body; 12. Annular groove; 13. Second fastener; 14. Pressure plate; 15. Stop block; 151. Strip protrusion; 16. Coupling; 161. Strip groove; 17. Set screw; 18. Second mounting groove; 19. First protrusion; 20. First groove; 201. Mounting hole; 202. Handle; 203. Wrist assembly. Detailed Implementation

[0019] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings: like Figures 1 to 8As shown, this embodiment discloses an adjustable damping slewing bearing device for the main wrist. The device includes a bearing housing body 1, within which a rotating spindle 2 is rotatably connected. A sensor 3 is mounted on the rotating spindle 2, and the rotating shaft of the sensor 3 is rotatably connected to the bearing housing body 1. A plum blossom-shaped nut 4 is threadedly connected to the rotating spindle 2. A stop damping disc 5 and a wave spring washer 6 are also fitted onto the rotating spindle 2. The stop damping disc 5 rotates synchronously with the rotating spindle 2, and the wave spring washer 6 is positioned between the plum blossom-shaped nut 4 and the stop damping disc 5. A damping elastic element 7 is provided on the outer side of the bearing housing body 1, adjacent to the stop damping disc 5.

[0020] The bearing housing body 1 includes a front cover 8 and a rear cover 9, with a first fastener 10 between the front cover 8 and the rear cover 9 to fix them together. A bearing body 11 is provided between the bearing housing body 1 and the rotating spindle 2 to connect them, and the bearing bodies 11 are arranged in pairs. An annular protrusion 21 is provided on the outer wall of the rotating spindle 2, and the bearing bodies 11 are respectively disposed on both sides of the annular protrusion 21. Limiting steps 22 are provided on both sides of the annular protrusion 21, and the bearing bodies 11 are disposed between the limiting steps 22 and the inner wall of the bearing housing body 1. A limiting protrusion 23 is provided on the annular protrusion 21, and an annular groove 12 is provided inside the bearing housing body 1 to accommodate the limiting protrusion 23. The outer contour of the annular groove 12 is adapted to the outer contour of the limiting protrusion 23.

[0021] The rotating spindle 2 has a first mounting groove 24 for accommodating the sensor 3, and a second fastener 13 for fixing the sensor 3 and the rotating spindle 2 is provided between them; the sensor 3 is also provided with a pressure plate 14 for limiting the position, and the sensor 3 is rotatably connected to the bearing housing body 1. The sensor 3 has an annular groove 31, and the pressure plate 14 is provided in the annular groove 31; the second fastener 13 passes through the pressure plate 14 and extends into the rotating spindle 2. A stop block 15 is fixedly installed on the bearing housing body 1. A coupling 16 is provided between the stop block 15 and the rotating shaft of the sensor 3. The coupling 16 is sleeved on the rotating shaft of the sensor 3 and is rotatably connected to the rotating shaft of the sensor 3. The end of the coupling 16 facing the stop block 15 is provided with a strip-shaped groove 161, and the stop block 15 is provided with a strip-shaped protrusion 151. The strip-shaped protrusion 151 is disposed in the strip-shaped groove 161, and the outer contour of the strip-shaped groove 161 and the outer contour of the strip-shaped protrusion 151 are adapted to each other. A set screw 17 is also provided between the coupling 16 and the rotating shaft of the sensor 3. The set screw 17 passes through the coupling 16 and is fitted to the rotating shaft surface of the sensor 3.

[0022] The bearing housing body 1 has a groove with a damping elastic element 7. One end of the stop damping disc 5 is fitted onto the damping elastic element 7, and the other end of the stop damping disc 5 is fitted onto the plum blossom nut 4. The stop damping disc 5 has a second mounting groove 18, and the second mounting groove 18 has a wave spring pad 6. The wave spring pad 6 is located between the inner wall of the second mounting groove 18 and the end face of the plum blossom nut 4. The stop damping disc 5 and the wave spring pad 6 are both sleeved on the outer layer of the rotating spindle 2. The stop damping disc 5 has a first protrusion 19, and the rotating spindle 2 has a first groove 20 for accommodating the first protrusion 19. The outer contour of the first protrusion 19 matches the outer contour of the first groove 20. The rotating spindle 2 has several mounting holes 201 for connecting the handle 202. The bearing housing body 1 also has a wrist assembly 203 fixedly connected to it.

[0023] The specific operation process of this embodiment is as follows: By setting the front cover 8 and the rear cover 9, it is convenient to install the rotating spindle 2 into the bearing housing body 1 through the bearing body 11; by setting the limiting step 22, it is convenient to limit the bearing body 11; by the cooperation of the limiting protrusion 23 and the annular groove 12, it is convenient to limit the rotation angle of the rotating spindle 2, and the controllability is better. By setting the annular protrusion 21, it is convenient to adapt and adjust the position of the limiting protrusion 23.

[0024] The sensor 3 is easily installed by setting the first mounting groove 24. An annular groove 31 is provided on the sensor 3, and it is fixed by the pressure plate 14, making the installation of the sensor 3 more stable and reliable. A stop block 15 is provided to limit the axial movement of the sensor 3. A coupling 16 is provided between the stop block 15 and the sensor 3, facilitating the rotation of the sensor 3 relative to the stop block 15. The coupling 16 is sleeved on the rotating shaft of the sensor 3 and limited by the strip-shaped protrusion 151 on the stop block 15, thus ensuring better concentricity between the coupling 16 and the sensor 3. A set screw 17 is provided on the coupling 16 to further position it, further improving the concentricity between the coupling 16 and the sensor 3. The sensor 3 rotates more stably with the rotating spindle 2, resulting in more accurate data detection.

[0025] By rotating the plum-shaped nut 4, the axial distance between the stop damping disc 5 and the bearing housing body 1 can be adjusted, thereby adapting to the degree of elastic deformation of the damping elastic element 7. Since both the damping elastic element 7 and the stop damping disc 5 have a damping buffering effect, it is convenient to adjust the relative angle between the rotating spindle 2 and the handle 202. At the same time, the damping elastic element 7 and the stop damping disc 5 can further maintain the rotational position of the handle 202 relative to the wrist assembly 203, improving the controllability of the rotation of the rotating spindle 2. By setting the wave-shaped spring pad 6, the stop damping disc 5 is compressed, ensuring that the stop damping disc 5 is tightly fitted against the damping elastic element 7. The mounting hole 201 facilitates the assembly of the handle 202 and the rotating spindle 2.

[0026] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A main wrist adjustable damping slewing bearing device, comprising a bearing housing body (1), characterized in that, The bearing housing body (1) is provided with a rotating spindle (2) rotatably connected to it; a sensor (3) is installed on the rotating spindle (2), and the rotating shaft of the sensor (3) is rotatably connected to the bearing housing body (1); a plum blossom nut (4) is provided on the rotating spindle (2) and threadedly connected to it; a stop damping disc (5) and a wave spring washer (6) are also sleeved on the rotating spindle (2); the stop damping disc (5) rotates synchronously with the rotating spindle (2), and the wave spring washer (6) is set between the plum blossom nut (4) and the stop damping disc (5); a damping elastic element (7) is provided on the outside of the bearing housing body (1), and the damping elastic element (7) is arranged adjacent to the stop damping disc (5).

2. The adjustable damping slewing bearing device for the main wrist as described in claim 1, characterized in that, The bearing housing body (1) includes a front cover (8) and a rear cover (9), and a first fastener (10) is provided between the front cover (8) and the rear cover (9) to fix the two; a bearing body (11) is provided between the bearing housing body (1) and the rotating spindle (2) for connecting the two, and the bearing bodies (11) are arranged in pairs.

3. The adjustable damping slewing bearing device for the main wrist as described in claim 2, characterized in that, The outer wall of the rotating spindle (2) is provided with an annular protrusion (21), and the bearing body (11) is respectively provided on both sides of the annular protrusion (21); the two sides of the annular protrusion (21) are provided with limiting steps (22), and the bearing body (11) is located between the limiting steps (22) and the inner wall of the bearing seat body (1).

4. The adjustable damping slewing bearing device for the main wrist as described in claim 3, characterized in that, The annular protrusion (21) is provided with a limiting protrusion (23), and the bearing seat body (1) is provided with an annular groove (12) to accommodate the limiting protrusion (23). The outer contour of the annular groove (12) is adapted to the outer contour of the limiting protrusion (23).

5. The adjustable damping slewing bearing device for the main wrist as described in claim 1, characterized in that, The rotating spindle (2) is provided with a first mounting groove (24) for accommodating the sensor (3), and a second fastener (13) for fixing the sensor (3) and the rotating spindle (2) is provided; the sensor (3) is also provided with a pressure plate (14) for limiting position, and the sensor (3) is rotatably connected to the bearing seat body (1).

6. The adjustable damping slewing bearing device for the main wrist as described in claim 5, characterized in that, The sensor (3) is provided with an annular groove (31), and a pressure plate (14) is provided in the annular groove (31); the second fastener (13) passes through the pressure plate (14) and extends into the rotating spindle (2).

7. The adjustable damping slewing bearing device for the main wrist as described in claim 5, characterized in that, A stop block (15) is fixedly installed on the bearing housing body (1). A coupling (16) is provided between the stop block (15) and the rotating shaft of the sensor (3). The coupling (16) is sleeved on the rotating shaft of the sensor (3). The coupling (16) is rotatably connected to the rotating shaft of the sensor (3). The end of the coupling (16) facing the stop block (15) is provided with a strip groove (161). The stop block (15) is provided with a strip protrusion (151). The strip protrusion (151) is set in the strip groove (161). The outer contour of the strip groove (161) matches the outer contour of the strip protrusion (151). A set screw (17) is also provided between the coupling (16) and the rotating shaft of the sensor (3). The set screw (17) passes through the coupling (16) and is fitted to the rotating shaft surface of the sensor (3).

8. The adjustable damping slewing bearing device for the main wrist as described in claim 1, characterized in that, The bearing housing body (1) has a damping elastic element (7) in the groove. One end of the stop damping disc (5) is attached to the damping elastic element (7), and the other end of the stop damping disc (5) is attached to the plum blossom nut (4). The stop damping disc (5) has a second mounting groove (18), and the second mounting groove (18) has a wave spring pad (6).

9. The adjustable damping slewing bearing device for the main wrist as described in claim 8, characterized in that, The wave spring pad (6) is disposed between the inner wall of the second mounting groove (18) and the end face of the plum blossom nut (4); the stop damping disc (5) and the wave spring pad (6) are both sleeved and installed on the outer layer of the rotating spindle (2); the stop damping disc (5) is provided with a first protrusion (19), and the rotating spindle (2) is provided with a first groove (20) for accommodating the first protrusion (19); the outer contour of the first protrusion (19) and the outer contour of the first groove (20) are adapted to each other.

10. The adjustable damping slewing bearing device for the main wrist as described in claim 1, characterized in that, The rotating spindle (2) is provided with a number of mounting holes (201) for connecting the handle (202); the bearing seat body (1) is also provided with a wrist assembly (203) fixedly connected thereto.

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