CN209370281U - Robot arm bearing - Google Patents
Robot arm bearing Download PDFInfo
- Publication number
- CN209370281U CN209370281U CN201920006236.4U CN201920006236U CN209370281U CN 209370281 U CN209370281 U CN 209370281U CN 201920006236 U CN201920006236 U CN 201920006236U CN 209370281 U CN209370281 U CN 209370281U
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- inner ring
- outer ring
- ring
- rolling element
- sliding slot
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Abstract
This application discloses a kind of robot arm bearings, including inner ring, the outer ring being sheathed on outside inner ring and spherical rolling element, two sliding slots being parallel to each other are equipped on the outer circumference surface of inner ring and the inner peripheral surface of outer ring, the sliding slot of inner ring and the sliding slot of outer ring are oppositely arranged, rolling element is arranged between the sliding slot of inner ring and the sliding slot of outer ring, it include the first camber line and the second camber line that radius of curvature is all larger than rolling element radius on the shaft section of sliding slot, rolling element is contacted with the first camber line and the second camber line, so guarantee that there are four contact points for tool between rolling element and sliding slot, make the bearing that can bear radial load, axial load can be born again, improve the receiving load of bearing；Inner ring and outer ring, one of them is fixedly connected with the large arm of robot, and another one is fixedly connected with the forearm of robot, and the pivot center of inner ring deviates the pivot center of outer ring, the motion profile for changing forearm end increases forearm relative to the pivot region range between large arm.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of robot arm bearings.
Background technique
With the rapid development of science and technology, robot using more and more common, and robot arm configuration and leg
The design of structure is particularly critical, especially the design of the joint positions such as the elbow of robot and knee.It is in the prior art, machine
It is rotatablely connected between the large arm and forearm of human arm often through connecting shaft, the area that forearm is formed relative to the rotation of large arm
Domain range is circle, when the slewing area to forearm has particular requirement, need to be arranged additionally in the junction of large arm and forearm
Offset assembly is attached, and structure is complicated, is easy to happen failure, and will increase manufacturing cost.
Therefore, how to solve in the prior art the connection structure between large arm and forearm to the limit of forearm pivot region range
Problem processed becomes those skilled in the art's important technological problems to be solved.
Utility model content
To be overcome the problems, such as present in the relevant technologies at least to a certain extent, the application provides a kind of robot arm use
Bearing, the pivot center by connecting inner ring between robot's arm and forearm deviates the bearing of the pivot center of outer ring, real
While relative rotation between existing large arm and forearm, the motion profile of forearm end is changed, increases forearm relative to large arm
Between pivot region range.
The utility model is realized in this way: a kind of robot arm bearing, including inner ring, be sheathed on outside the inner ring
The outer ring in portion and the spherical rolling element being arranged between the inner ring and the outer ring, the inner ring and the outer ring, wherein
One is fixedly connected with the large arm of robot, and another one is fixedly connected with the forearm of robot；The outer circumference surface of the inner ring and
Two sliding slots being parallel to each other, the sliding slot of the inner ring and the institute of the outer ring are equipped on the inner peripheral surface of the outer ring
It states sliding slot to be oppositely arranged, the rolling element is arranged between the sliding slot of the inner ring and the sliding slot of the outer ring, institute
State the first camber line and the second camber line for being all larger than the rolling element radius on the shaft section of sliding slot including radius of curvature, the rolling
Body is contacted with first camber line and the second camber line；The pivot center of the inner ring deviates the pivot center of the outer ring.
Preferably, be provided with the inner hole through the inner ring both ends of the surface on the inner ring, the axis of the inner hole with it is described
The pivot center of inner ring is overlapped.
Preferably, the extended interconnecting piece having for being fixedly connected with the large arm, the connection on the end face of the inner ring
The axis in portion is overlapped with the pivot center of the inner ring.
Preferably, the interconnecting piece is cylindrical structure, is provided with screw thread on the lateral wall of the interconnecting piece.
Preferably, the interconnecting piece is special-shaped column structure.
Preferably, the cross-sectional shape of the inner hole is circle, is provided with keyway on the side wall of the inner hole.
Preferably, the inner hole is irregularly-shaped hole.
Preferably, the line between the centre of sphere of the contact point and the rolling element of the rolling element and the sliding slot with it is described
Angle between the pivot center of outer ring is 60 degree.
Preferably, the outer circumference surface of the outer ring is in cydariform.
Preferably, retainer is provided between the inner ring and the outer ring and for sealing the inner ring and the outer ring
Between gap sealing cover, the rolling element is arranged in inside the pocket hole of the retainer, and the sealing cover is fixed by circlip
The viewport that situation is rolled for observing the rolling element is provided on the both ends of the inner ring and the outer ring, the sealing cover
And for the oil filler point to injection lubricating oil between the inner ring and the outer ring.
The technical scheme provided by the application includes following the utility model has the advantages that
In robot arm bearing provided by the present application, exist including inner ring, the outer ring being sheathed on outside inner ring and setting
Spherical rolling element between inner ring and outer ring, one of inner ring and outer ring are fixedly connected with the large arm of robot, another one
It is fixedly connected with the forearm of robot.Two cunnings being parallel to each other are equipped on the outer circumference surface of inner ring and the inner peripheral surface of outer ring
Slot, the sliding slot of inner ring and the sliding slot of outer ring are oppositely arranged, and rolling element is arranged between the sliding slot of inner ring and the sliding slot of outer ring, sliding slot
Shaft section on include that radius of curvature is all larger than the first camber line and the second camber line of rolling element radius, rolling element and the first camber line and
Second camber line contacts and the pivot center of inner ring deviates the pivot center of outer ring.So set, rolling element and inner ring and outer ring
On the first camber line and the second camber line contact, i.e., tool prevents inner ring and outer ring there are four contact point between rolling element and sliding slot
Between jump, make the bearing that can bear radial load and bear axial load, improve the receiving load of bearing.
The large arm and forearm of robot are connect with the inner ring and outer ring of the bearing respectively, and the pivot center of inner ring deviates the rotation axis of outer ring
Line changes the motion profile of end of the forearm far from large arm while relative rotation between realization large arm and forearm, increases
Forearm is relative to the pivot region range between large arm.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram one of robot arm bearing shown in the utility model embodiment；
Fig. 2 is the enlarged drawing of I in Fig. 1；
Fig. 3 is a kind of structural schematic diagram two of robot arm bearing shown in the utility model embodiment；
Fig. 4 is a kind of structural schematic diagram three of robot arm bearing shown in the utility model embodiment；
Fig. 5 is a kind of structural schematic diagram four of robot arm bearing shown in the utility model embodiment.
Appended drawing reference:
Inner ring -1；Outer ring -2；Rolling element -3；Sliding slot -4；First camber line -5；Second camber line -6；Interconnecting piece -7；Inner hole -8；
Retainer -9；Sealing cover -10.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, below by the technology to the utility model
Scheme is described in detail.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Obtained all other embodiment is put, the range that the utility model is protected is belonged to.
Present embodiment is designed to provide a kind of robot arm bearing, by robot's arm and small
The bearing that the pivot center of the pivot center deviation outer ring of inner ring is connected between arm, relatively rotates between realization large arm and forearm
Meanwhile the motion profile of forearm end is changed, forearm is increased relative to the pivot region range between large arm.
Hereinafter, being illustrated referring to attached drawing to embodiment.In addition, embodiments illustrated below is not to recorded in claim
Utility model content rise any restriction effect.In addition, the full content of composition represented by following example is not limited to conduct
Necessary to the solution of utility model documented by claim.
Referring to Fig.1~5, the structural schematic diagram of robot arm bearing in some exemplary embodiments is shown.This reality
The robot arm bearing for applying example offer includes inner ring 1, the outer ring being sheathed on outside inner ring 12 and is arranged in inner ring 1 and outer ring
Spherical rolling element 3 between 2, one of inner ring 1 and outer ring 2 are fixedly connected with the large arm of robot, another one and machine
The forearm of people is fixedly connected.Two sliding slots being parallel to each other 4 are equipped on the outer circumference surface of inner ring 1 and the inner peripheral surface of outer ring 2,
The sliding slot 4 of inner ring 1 is oppositely arranged with the sliding slot 4 of outer ring 2, rolling element 3 be arranged in inner ring 1 sliding slot 4 and outer ring 2 sliding slot 4 it
Between, it include the first camber line 5 and the second camber line 6 that radius of curvature is all larger than 3 radius of rolling element, rolling element 3 on the shaft section of sliding slot 4
Contacted with the first camber line 5 and the second camber line 6 and the pivot center of inner ring 1 deviate outer ring 2 pivot center.So set, rolling
Kinetoplast 3 on inner ring 1 and outer ring 2 the first camber line 5 and the second camber line 6 contact, i.e., between rolling element 3 and sliding slot 4 have four
A contact point prevents from jumping between inner ring 1 and outer ring 2, makes the bearing that can bear radial load and bears axial carry
Lotus improves the receiving load of bearing.The large arm and forearm of robot are connect with the inner ring of the bearing 1 and outer ring 2 respectively, inner ring
1 pivot center deviates the pivot center of outer ring 2, while relative rotation between realization large arm and forearm, changes forearm
The motion profile of end far from large arm, increases forearm relative to the pivot region range between large arm.
It should be noted that the inner ring 1 of the bearing can not only be connect with the large arm of robot, but also can be small with robot
Arm connection, specific connection is determined according to performance, below in order to describe convenience, by the large arm of the inner ring 2 of bearing and robot
Connection.
In implementation, for convenient for the connection between inner ring 1 and robot's arm, setting runs through 1 both ends of the surface of inner ring on inner ring 1
Inner hole 8, the axis of inner hole 8 is overlapped with the pivot center of inner ring 1, and inner ring 1 is not symmetrical structure, and the inner hole 8 of inner ring 1 is close to interior
It encloses 1 marginal position and is maintained a certain distance with the edge of inner ring 1.At this point, needing to set between the large arm and forearm of robot
Mounting hole and connecting shaft are set, connecting shaft is fixedly connected after passing through inner hole 8 with inner ring 1, and both ends pass through mounting hole and fix with large arm
Connection, prevents the relative rotation between connecting shaft and large arm and inner ring 1.Can be between connecting shaft and mounting hole and inner hole 8
Cross cooperation or interference fit.
In implementation, to further prevent the relative rotation between connecting shaft and inner ring 1, it can be adopted between connecting shaft and inner ring 1
With key connection.The cross section of connecting shaft is circle, and the cross-sectional shape of inner hole 8 is also round, manufacture easy to process.In inner hole 8
Side wall and connecting shaft lateral wall on open up keyway, connecting shaft passes through after inner hole 8 by the way that key to be mounted in keyway, thus anti-
The only relative rotation between connecting shaft and inner ring 1.In specific implementation process, key and connecting shaft design can also be integrated shape
Formula, opens up keyway identical with key-shaped shape on the side wall of inner hole 8, after connecting shaft passes through inner hole 8, can not relative to inner ring 1 into
Row rotation, is fixed at the both ends of inner ring 1 by check ring.
In implementation, inner hole 8 or irregularly-shaped hole, the cross-sectional shape phase of the cross-sectional shape and the irregularly-shaped hole of connecting shaft
Together, not only guaranteed that connecting shaft can pass through inner hole 8, but also the relative rotation between connecting shaft and inner ring 1 can be prevented, avoided to key
The use of the anti-rotation structures such as slot simplifies connection structure.The cross-sectional shape of irregularly-shaped hole can be regular hexagon, regular pentagon or just
Quadrangle determines as the case may be.
In preferred embodiment, the interconnecting piece 7 for being fixedly connected with the large arm can also be set on the end face of inner ring 1,
Interconnecting piece 7 and 1 integral structure of inner ring improve the reliability of connection, the axis of interconnecting piece 7 and the pivot center of inner ring 1
It is overlapped, inner ring 1 is directly fixedly connected with large arm by interconnecting piece 7, reduces the use to above-mentioned connecting shaft.
In implementation, interconnecting piece 7 is cylindrical structure, is provided with screw thread on the lateral wall of interconnecting piece 7.At this point, by interconnecting piece 7
It is arranged in inside the mounting hole of large arm, is connect with being threaded on interconnecting piece 7 by the end of interconnecting piece 7 and large arm by bolt
Between it is fixed, avoid the inner ring 1 of the bearing relative to jumping between robot's arm or deviate from out of mounting hole, guarantee machine
The reliability connected between device National People's Congress arm and forearm, that improves the bearing uses safety index.
In implementation, the shape of interconnecting piece 7 may be special-shaped column structure, i.e., the cross-sectional shape of interconnecting piece 7 is non-circular,
The relative rotation between interconnecting piece 7 and large arm can be prevented, is fixed on the positioning in the end of interconnecting piece 7 by shaft end ring.
It should be noted that above-mentioned interconnecting piece 7 can be positioned only on an end face of inner ring 1, interconnecting piece 7 passes through large arm
It is fixed after the mounting hole of end by nut or shaft end ring.Above-mentioned interconnecting piece 7 can also be in two end faces of inner ring 1
On be respectively provided with, at this point, large arm end needs to be arranged two linking arms being parallel to each other, inner ring 1 is placed between two linking arms,
Mounting hole for installing interconnecting piece 7 is set on linking arm, and mounting hole is " u "-shaped hole, the open end in " u "-shaped hole and linking arm
End face is concordant, and the interconnecting piece 7 of inner ring 1 enters the mounting hole of two linking arms by the open end in " u "-shaped hole, then passes through bolt
Equal parts block the opening in " u "-shaped hole, prevent the interconnecting piece 7 of inner ring 1 from deviating from from " u "-shaped mouth.
In addition, above-mentioned inner hole 8 and 7 center line of interconnecting piece are bigger relative to the offset between the pivot center of outer ring, machine
Device people forearm is bigger relative to the moving region range of large arm, can specifically determine as the case may be.
Line between the centre of sphere of the contact point and rolling element 3 of rolling element 3 and sliding slot 4 and between the pivot center of outer ring 2
With certain angle, the angle is bigger, and the axial control force of the bearing is poorer, and the angle is smaller, the axial control force of the bearing
Better.Generally by angle control between 55 degree~65 degree.In preferred embodiment, 60 degree are set by the angle, is effectively protected
Demonstrate,prove the axial control force of the bearing.
In implementation, the outer circumference surface of outer ring 2 is in cydariform, i.e. the outer circumference surface of outer ring 2 has certain arc along its axis direction
Degree, convenient for being located by connecting between outer ring 2 and forearm, and it is certain to allow the axial direction between forearm and outer ring 2 along outer ring 2 to have
Oscillating quantity, the further expansion scope of activities of forearm.
Retainer 9 is provided in the present embodiment, between the inner ring 1 and outer ring 2 of the bearing and for sealing inner ring 1 and outer ring
The sealing cover 10 in gap between 2.Rolling element 3 is arranged in inside the pocket hole of retainer 9, and retainer 9 can wrap 3 part of rolling element
It wraps up in, and two adjacent rolling elements 3 is made to keep certain spacing, avoid colliding between rolling element 3, increase the rigid of the bearing
Property.During bearing working, since the coefficient of sliding friction will cause bearing heating and abrasion, retainer 9 need to have certain strong
Degree, thermal conductive resin, coefficient of friction be small and wearability, is typically chosen as mild steel or brass, specifically can be determines according to actual conditions.
Sealing cover 10 can prevent extraneous dust impurity from entering inside sliding slot 4, and the operating with bearing is avoided to generate shadow
It rings, meanwhile, the outflow of lubrication oil inside sliding slot 4 is also prevented to a certain extent, guarantees the lubricant effect of bearing.Sealing cover 10 is logical
The both ends that circlip is fixed on inner ring 1 and outer ring 2 are crossed, the viewport for rolling situation for observing rolling element 3 is provided on sealing cover 10
And for can clearly observe the rolling of Bearing inner by viewport to the oil filler point for injecting lubricating oil between inner ring 1 and outer ring 2
The operating condition and lubricating oil of kinetoplast 3 or the amount of lubricating grease, preferably to repair maintenance or replacement to the bearing；Note
The presence of oilhole is convenient for adding lubricating oil or lubricating grease into the confined space between inner ring 1 and outer ring 2.It is also set up at oil filler point
There is check valve, for injecting lubricating oil into confined space, prevents lubricating oil from flowing out out of confined space.
The material of inner ring 1, outer ring 2 and rolling element 3 is bearing steel, can also select other materials as the case may be.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with the power
Subject to the protection scope that benefit requires.
Claims (10)
1. a kind of robot arm bearing characterized by comprising inner ring (1) is sheathed on the outer of the inner ring (1) outside
The rolling element (3) of spherical shape for enclosing (2) and being arranged between the inner ring (1) and the outer ring (2), the inner ring (1) and described
Outer ring (2), one of them are fixedly connected with the large arm of robot, and another one is fixedly connected with the forearm of robot；
Two sliding slots being parallel to each other are equipped on the outer circumference surface of the inner ring (1) and the inner peripheral surface of the outer ring (2)
(4), the sliding slot (4) of the inner ring (1) is oppositely arranged with the sliding slot (4) of the outer ring (2), the rolling element (3)
It is arranged between the sliding slot (4) of the inner ring (1) and the sliding slot (4) of the outer ring (2), the axis of the sliding slot (4)
It include the first camber line (5) and the second camber line (6) that radius of curvature is all larger than the rolling element (3) radius, the rolling on section
Body (3) is contacted with first camber line (5) and the second camber line (6)；
The pivot center of the inner ring (1) deviates the pivot center of the outer ring (2).
2. robot arm bearing according to claim 1, which is characterized in that be provided with and run through on the inner ring (1)
The inner hole (8) of inner ring (1) both ends of the surface, the axis of the inner hole (8) are overlapped with the pivot center of the inner ring (1).
3. robot arm bearing according to claim 1, which is characterized in that extended on the end face of the inner ring (1)
There are the interconnecting piece (7) for being fixedly connected with the large arm, the axis of the interconnecting piece (7) and the rotation axis of the inner ring (1)
Line is overlapped.
4. robot arm bearing according to claim 3, which is characterized in that the interconnecting piece (7) is cylindrical body knot
Structure is provided with screw thread on the lateral wall of the interconnecting piece (7).
5. robot arm bearing according to claim 3, which is characterized in that the interconnecting piece (7) is Special-Shaped Column knot
Structure.
6. robot arm bearing according to claim 2, which is characterized in that the cross-sectional shape of the inner hole (8)
For circle, keyway is provided on the side wall of the inner hole (8).
7. robot arm bearing according to claim 2, which is characterized in that the inner hole (8) is irregularly-shaped hole.
8. robot arm bearing according to claim 1, which is characterized in that the rolling element (3) and the sliding slot
(4) line between the centre of sphere of contact point and the rolling element (3) and the angle between the pivot center of the outer ring (2) are
60 degree.
9. robot arm bearing according to claim 1, which is characterized in that the outer circumference surface of the outer ring (2) is in
Cydariform.
10. robot arm bearing according to claim 1, which is characterized in that the inner ring (1) and the outer ring
(2) retainer (9) and the sealing cover (10) for sealing gap between the inner ring (1) and the outer ring (2) are provided between,
The rolling element (3) is arranged inside the pocket hole of the retainer (9), and the sealing cover (10) is fixed in described by circlip
The both ends of (1) and the outer ring (2) are enclosed, is provided on the sealing cover (10) and rolls situation for observing the rolling element (3)
Viewport and between the inner ring (1) and the outer ring (2) injection lubricating oil oil filler point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920006236.4U CN209370281U (en) | 2019-01-03 | 2019-01-03 | Robot arm bearing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920006236.4U CN209370281U (en) | 2019-01-03 | 2019-01-03 | Robot arm bearing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209370281U true CN209370281U (en) | 2019-09-10 |
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ID=67829226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920006236.4U Active CN209370281U (en) | 2019-01-03 | 2019-01-03 | Robot arm bearing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209370281U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109488682A (en) * | 2019-01-03 | 2019-03-19 | 临清市海瑞轴承制造有限公司 | Robot arm bearing |
-
2019
- 2019-01-03 CN CN201920006236.4U patent/CN209370281U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109488682A (en) * | 2019-01-03 | 2019-03-19 | 临清市海瑞轴承制造有限公司 | Robot arm bearing |
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