Wave speed reducer special for robot joint

Abstract

The invention relates to the technical field of speed reducers, and discloses a special wave speed reducer for a robot joint. A flexible gear is installed on an inner ring of the roller crossed bearing, a rigid gear is installed on the outer side of the flexible gear, a lubricating mechanism is installed on the inner wall, close to the flexible gear, of the rigid gear, a wave generator is installed in the flexible gear, the lubricating mechanism comprises a fixing ring, a through hole and a lubricating layer, and the fixing ring is installed on the inner wall, close to the flexible gear, of the rigid gear. Through cooperative use of the fixing ring, the through hole and the lubricating layer, lubricating oil in the fixing ring can be conveyed to the lubricating layer through the through hole, when the flexible gear rotates, the lubricating oil adsorbed on the lubricating layer can be directly smeared to the outer surface of the flexible gear, and the lubricating oil can gradually permeate between the flexible gear and the rigid gear; the transmission position of the outer surface of the flexible gear and the inner wall of the rigid gear is lubricated, so that abrasion of the speed reducer caused by lack of lubricating oil can be reduced, the internal temperature of the speed reducer is reduced, and work of the speed reducer is not affected.

Description

Technical Field

[0001] The invention relates to the technical field of reducers, and in particular to a special wave reducer for robot joints. Background Art

[0002] Due to its unique harmonic transmission principle, the harmonic reducer has the characteristics of compact structure, large reduction ratio, high precision and low noise. With the continuous development of robotics technology, the harmonic reducer has gradually become the preferred transmission device for robot joints, especially in the field of humanoid robots. Harmonic reducers are widely used due to their small size, light weight and large carrying capacity.

[0003] In order to promote the operation of existing reducers, grease or lubricating oil is usually applied to the meshing transmission position between the rigid wheel and the flexible wheel, and then the rigid wheel and the flexible wheel are assembled for use. The meshing transmission clearance of the rigid wheel and the flexible wheel used after assembly is small, which is not conducive to workers adding lubricating products to the meshing transmission position in the later stage. When there is a lack of lubrication between them, wear will be aggravated and the transmission efficiency of the reducer will be reduced. Abnormal noise and vibration will also be generated, affecting the overall performance of the robot. As the friction increases, additional heat will be generated, causing the internal temperature of the reducer to rise, which will affect the operation of the reducer.

[0004] To this end, the present invention provides a wave reducer specifically for robot joints. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The present invention provides a special wave reducer for robot joints, comprising a roller cross bearing; a flexible wheel is installed on the inner ring of the roller cross bearing, a rigid wheel is installed on the outer side of the flexible wheel, a lubrication mechanism is installed on the inner wall of the rigid wheel close to the flexible wheel, and a wave generator is installed inside the flexible wheel; In order to lubricate the meshing transmission position between the flexible wheel and the rigid wheel, the lubrication mechanism includes a fixing ring, a through hole and a lubricating layer. The rigid wheel is installed with a fixing ring on the inner wall close to the flexible wheel. The bottom of the fixing ring is provided with a through hole, and the inner wall of the fixing ring is provided with a lubricating layer.

[0007] Preferably, an oil filling hole is provided inside the rigid wheel close to the fixing ring, and a plug is mounted inside the oil filling hole.

[0008] Preferably, the outer wall of the fixing ring is provided with a docking port, and the docking port and the oil filling hole are on the same horizontal line.

[0009] Preferably, a sealing ring is provided on the inner wall of the rigid wheel close to the docking port.

[0010] Preferably, in order to dissipate heat inside the reducer, a plurality of groups of magnetic rods are slidably installed on the end of the fixed ring away from the wave generator, a transmission groove is provided inside the magnetic rod, a transmission gear is rotatably installed on the side of the fixed ring close to the transmission groove, an impeller is installed at one end of the transmission gear, a plurality of groups of magnetic blocks are equidistantly installed on the outer ring of the flexible wheel close to the bottom end of the magnetic rod, and a plurality of groups of heat dissipation holes are equidistantly provided inside the rigid wheel.

[0011] Preferably, in order to prevent the lubricating oil from settling inside the fixing ring, a metal rod is installed on one end of the transmission gear through the inside of the fixing ring, and stirring rods are equidistantly arranged on the outer surface of the metal rod.

[0012] Preferably, in order to achieve fixed connection between the inner and outer rings of the roller cross bearing and the flexible wheel and the rigid wheel respectively, cylindrical pins are installed through the outer ring of the roller cross bearing and the interior of the rigid wheel.

[0013] Preferably, a connecting flange is installed inside one end of the flexible wheel close to the roller cross bearing, and screws are installed through the connecting flange, the flexible wheel and the inner ring of the roller cross bearing.

[0014] Preferably, in order to realize the assembly of the wave generator, the wave generator includes a hub, a cross slider, an elliptical cam, a flexible bearing, a gasket and a retaining ring, a hub is installed inside the end of the flexible wheel away from the connecting flange, a cross slider is installed on the outside of the hub, an elliptical cam is mounted on one end of the cross slider, a flexible bearing is installed on the outside of the elliptical cam, a gasket is installed on the outside of the hub close to the elliptical cam, and a retaining ring is installed on the outside of the hub close to the gasket.

[0015] 1. The beneficial effects of the present invention are as follows: the wave reducer for robot joints described in the present invention is used in combination with a fixing ring, a through hole and a lubricating layer. The lubricating oil inside the fixing ring will be transported to the lubricating layer through the through hole. When the flexible wheel rotates, the lubricating oil adsorbed on the lubricating layer can be directly applied to the outer surface of the flexible wheel. The lubricating oil will gradually penetrate between the flexible wheel and the rigid wheel, so that the outer surface of the flexible wheel and the transmission position of the inner wall of the rigid wheel can be lubricated, thereby reducing the wear of the reducer caused by lack of lubricating oil and reducing the internal temperature of the reducer, which will not affect the operation of the reducer.

[0016] 2. The wave reducer specially used for robot joints described in the present invention is used in combination with an oil filling hole, a docking port, a sealing ring and a plug. The oil filling hole and the docking port between the fixed ring and the steel wheel are in the same axial position, and the two are sealed by a sealing ring. The worker can inject lubricating oil into the interior of the fixed ring at any time by removing the plug from the oil filling hole, thereby facilitating the worker's operation.

[0017] 3. The wave reducer specially used for robot joints described in the present invention is used in combination with a magnetic rod, a transmission groove, a transmission gear and an impeller. When the flexible wheel rotates, the magnetic block is located at the bottom end of the magnetic rod. When the magnetic block and the magnetic rod generate a repulsive force, the magnetic rod will be prompted to move upward to move the transmission groove. The transmission groove prompts the transmission gear to drive the impeller to rotate. When the magnetic block is not subjected to the repulsive force, the magnetic rod will reset and move downward under the action of the spring. The forward and reverse rotation of the impeller can promote the flow of heat inside the reducer, prompting the heat inside the reducer to be dissipated through the heat dissipation holes, thereby avoiding heat accumulation and extending the service life of the reducer.

[0018] 4. The wave reducer specially used for robot joints described in the present invention is used in combination with a metal rod and a stirring rod. While the impeller is driven to rotate by the transmission gear, the metal rod will drive the outer stirring rod to rotate to stir the lubricating oil stored in the fixed ring to prevent the lubricating oil from settling inside the fixed ring and generating sediment. At the same time, the metal rod will introduce part of the heat on the impeller into the lubricating oil, thereby increasing the temperature of the lubricating oil and reducing its viscosity, thereby avoiding affecting the application of the lubricating oil on the transmission end of the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a stereogram of an embodiment of the present invention; Figure 2 is an exploded view of an embodiment of the present invention; Figure 3 It is a schematic diagram of part of the internal structure of the present invention; Figure 4 yes Figure 3 A partial enlarged view of point A in the middle.

[0020] Description of reference numerals: 1. Roller cross bearing; 101. Cylindrical pin; 2. Flexible wheel; 201. Connecting flange; 202. Screw; 3. Rigid wheel; 301. Oil filling hole; 302. Plug; 303. Sealing ring; 4. Wave generator; 401. Wheel hub; 402. Cross slider; 403. Elliptical cam; 404. Flexible bearing; 405. Gasket; 406. Snap ring; 5. Lubricating mechanism; 501. Fixing ring; 502. Through hole; 503. Lubricating layer; 6. Docking port; 7. Magnetic rod; 701. Transmission groove; 702. Transmission gear; 703. Impeller; 704. Magnetic block; 705. Heat dissipation hole; 8. Metal rod; 801. Stirring rod. DETAILED DESCRIPTION

[0021] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0022] Embodiment 1 The following is a further detailed description of the technical solution of the present invention in conjunction with the accompanying drawings and specific embodiments. Figures 1 to 4 , this application provides a special wave reducer for robot joints, please refer to Figure 1 , Figure 3 and Figure 4 , comprising a roller cross bearing 1; a flexible wheel 2 is mounted on the inner ring of the roller cross bearing 1, a rigid wheel 3 is mounted on the outer side of the flexible wheel 2, a lubrication mechanism 5 is mounted on the inner wall of the rigid wheel 3 close to the flexible wheel 2, and a wave generator 4 is mounted inside the flexible wheel 2; The lubrication mechanism 5 includes a fixed ring 501, a through hole 502 and a lubricating layer 503. The fixed ring 501 is installed on the inner wall of the rigid wheel 3 close to the flexible wheel 2. The interior of the fixed ring 501 is in a cavity state. Lubricating oil is stored in the interior of the fixed ring 501. The bottom of the fixed ring 501 is provided with a through hole 502. The inner wall of the fixed ring 501 is provided with a lubricating layer 503. The lubricating layer 503 is a sponge material. The inner wall of the lubricating layer 503 is in contact with the outer surface of the flexible wheel 2.

[0023] Please refer to Figure 3 An oil filling hole 301 is provided inside the rigid wheel 3 near the fixing ring 501 , and a plug 302 is mounted inside the oil filling hole 301 .

[0024] Please refer to Figure 4 The outer wall of the fixing ring 501 is provided with a docking port 6 , and the docking port 6 is on the same horizontal line as the oil filling hole 301 .

[0025] Please refer to Figure 4 A sealing ring 303 is provided on the inner wall of the rigid wheel 3 close to the docking port 6 .

[0026] Specifically, the reducer is composed of a roller cross bearing 1, a flexible wheel 2, a rigid wheel 3 and a wave generator 4, and the lubricating mechanism 5 is used to lubricate the meshing transmission position between the flexible wheel 2 and the rigid wheel 3. The oil injection hole 301 and the docking interface 6 between the fixed ring 501 and the rigid wheel 3 are in the same axial position, and the two are sealed by a sealing ring 303. The worker can inject lubricating oil into the interior of the fixed ring 501 at any time by removing the plug 302 from the inside of the oil injection hole 301. The lubricating oil inside the fixed ring 501 will be transported to the lubricating layer 503 through the through hole 502. When the flexible wheel 2 rotates, the lubricating oil adsorbed on the lubricating layer 503 can be directly applied to the outer surface of the flexible wheel 2, so that the outer surface of the flexible wheel 2 and the transmission position of the inner wall of the rigid wheel 3 can be lubricated.

[0027] Please refer to Figure 3 and Figure 4 A plurality of groups of magnetic rods 7 are slidably installed at one end of the fixed ring 501 away from the wave generator 4, a transmission groove 701 is arranged inside the magnetic rod 7, a transmission gear 702 is rotatably installed on the side of the fixed ring 501 close to the transmission groove 701, an impeller 703 is installed at one end of the transmission gear 702, a plurality of groups of magnetic blocks 704 are equidistantly installed on the outer ring of the flexible wheel 2 close to the bottom end of the magnetic rod 7, a plurality of groups of heat dissipation holes 705 are equidistantly arranged inside the rigid wheel 3, and the impeller 703 is made of metal material, which can play a heat conduction role in the reducer.

[0028] Specifically, in order to dissipate heat inside the reducer, when the flexible wheel 2 rotates, the magnetic block 704 is located at the bottom of the magnetic rod 7. When the magnetic block 704 and the magnetic rod 7 generate a repulsive force, the magnetic rod 7 is prompted to move upward to move the transmission slot 701. The transmission slot 701 prompts the transmission gear 702 to drive the impeller 703 to rotate. When the magnetic block 704 is not subjected to the repulsive force, the magnetic rod 7 will reset and move downward under the action of the spring. The back and forth rotation of the impeller 703 can promote the flow of heat inside the reducer. By accelerating the flow of heat inside the reducer, the gas flows through the multiple groups of heat dissipation holes 705, and the heat inside the reducer is dissipated through the multiple groups of heat dissipation holes 705, which can avoid heat accumulation and affect the service life of the reducer.

[0029] Please refer to Figure 4 One end of the transmission gear 702 passes through the interior of the fixed ring 501 and is installed with a metal rod 8, the metal rod 8 is made of metal material, the metal rod 8 is connected to the impeller 703 that passes through the interior of the transmission gear 702, and has a heat conducting effect, and the outer surface of the metal rod 8 is equidistantly provided with stirring rods 801.

[0030] Specifically, in order to prevent the lubricating oil from settling inside the fixed ring 501, when the transmission gear 702 drives the impeller 703 to rotate, the metal rod 8 will drive the outer stirring rod 801 to rotate, so that the metal rod 8 and the stirring rod 801 stir the lubricating oil stored inside the fixed ring 501, so as to prevent the lubricating oil from settling inside the fixed ring 501 and generating sediment, which will affect the use of the lubricating oil in the later stage. At the same time, the metal rod 8 will introduce part of the heat on the impeller 703 into the lubricating oil, thereby increasing the temperature of the lubricating oil and reducing its viscosity, so as to avoid increasing the viscosity of the lubricating oil when the external temperature is low, thereby affecting the application of the lubricating oil to the transmission end of the reducer.

[0031] Please refer to Figure 1 and Figure 2 A cylindrical pin 101 is installed through the outer ring of the roller cross bearing 1 and the interior of the rigid wheel 3.

[0032] Please refer to Figure 1 and Figure 2 A connecting flange 201 is installed inside one end of the flexible wheel 2 close to the roller cross bearing 1, and screws 202 are installed through the connecting flange 201, the flexible wheel 2 and the inner ring of the roller cross bearing 1.

[0033] Specifically, in order to achieve a fixed connection between the inner and outer rings of the roller cross bearing 1 and the flexible wheel 2 and the rigid wheel 3 respectively, the worker can use a cylindrical pin 101 to pass through the outer ring of the roller cross bearing 1 and the inside of the rigid wheel 3 to fix the outer ring of the roller cross bearing 1 and the rigid wheel 3, and then use a screw 202 to pass through the connecting flange 201, the flexible wheel 2 and the inner ring of the roller cross bearing 1 to connect the flexible wheel 2 to the inner ring of the roller cross bearing 1, thereby achieving assembly between the roller cross bearing 1, the flexible wheel 2 and the rigid wheel 3.

[0034] Please refer to Figure 1 and Figure 2 The wave generator 4 includes a hub 401, a cross slider 402, an elliptical cam 403, a flexible bearing 404, a gasket 405 and a retaining ring 406. The hub 401 is installed inside the end of the flexible wheel 2 away from the connecting flange 201, the cross slider 402 is installed on the outside of the hub 401, the elliptical cam 403 is installed on one end of the cross slider 402, the flexible bearing 404 is installed on the outside of the elliptical cam 403, the gasket 405 is installed on the outside of the hub 401 close to the elliptical cam 403, and the retaining ring 406 is installed on the outside of the hub 401 close to the gasket 405.

[0035] Specifically, in order to realize the assembly of the wave generator 4, the elliptical cam 403 is clamped inside the flexible bearing 404, the deforming tooling is tightened and pressed with screws, and then the cross slider 402 is clamped and installed on the side of the elliptical cam 403, and then the wheel hub 401 is passed through the cross slider 402 and the inside of the elliptical cam 403, and then the gasket 405 is installed on the outside of one end of the wheel hub 401, and finally the retaining ring 406 is clamped in the groove on the outside of one end of the wheel hub 401 with a retaining ring pliers, and finally assembled into the wave generator 4, through which the stability and reliability of the transmission system can be ensured.

[0036] Working principle: The worker fixes the wave generator 4 by pressing it into the inside of the flexible wheel 2 while rotating it, and then uses the cylindrical pin 101 to pass through the inside of the roller cross bearing 1 and the rigid wheel 3 to fix the roller cross bearing 1 and the rigid wheel 3. Then, the screw 202 is used to pass through the connecting flange 201, the flexible wheel 2 and the inside of the roller cross bearing 1 to connect the flexible wheel 2 with the roller cross bearing 1, thereby realizing the assembly between the roller cross bearing 1, the flexible wheel 2 and the rigid wheel 3. Finally, the assembled wave generator 4 is installed in the inside of the flexible wheel 2 to form a complete reducer.

[0037] An example of the present specific implementation mode is described above, but the present embodiment is not limited to the above-mentioned specific implementation mode, which is merely illustrative and not restrictive. A person skilled in the art may make many forms inspired by the present embodiment, all of which are protected by the present embodiment.

Claims

1. A wave reducer for robot joints, comprising a roller cross bearing (1); characterized in that: The inner ring of the roller cross bearing (1) is mounted with a flexible wheel (2), the outer side of the flexible wheel (2) is mounted with a rigid wheel (3), the inner wall of the rigid wheel (3) close to the flexible wheel (2) is mounted with a lubrication mechanism (5), and the interior of the flexible wheel (2) is mounted with a wave generator (4); The lubrication mechanism (5) comprises a fixing ring (501), a through hole (502) and a lubricating layer (503); the fixing ring (501) is installed on the inner wall of the rigid wheel (3) close to the flexible wheel (2); the bottom of the fixing ring (501) is provided with a through hole (502); and the inner wall of the fixing ring (501) is provided with a lubricating layer (503).

2. A special wave reducer for robot joints according to claim 1, characterized in that: An oil filling hole (301) is provided inside the rigid wheel (3) close to the fixing ring (501), and a plug (302) is mounted in engagement with the inside of the oil filling hole (301).

3. A special wave reducer for robot joints according to claim 2, characterized in that: The outer wall of the fixing ring (501) is provided with a docking port (6), and the docking port (6) and the oil injection hole (301) are on the same horizontal line.

4. A special wave reducer for robot joints according to claim 3, characterized in that: A sealing ring (303) is provided on the inner wall of the rigid wheel (3) close to the docking port (6).

5. The wave reducer for robot joints according to claim 3 is characterized in that: A plurality of groups of magnetic rods (7) are slidably mounted on one end of the fixed ring (501) away from the wave generator (4); a transmission groove (701) is provided inside the magnetic rod (7); a transmission gear (702) is rotatably mounted on the side of the fixed ring (501) close to the transmission groove (701); an impeller (703) is mounted on one end of the transmission gear (702); a plurality of groups of magnetic blocks (704) are equidistantly mounted on the outer ring of the flexible wheel (2) close to the bottom end of the magnetic rod (7); and a plurality of groups of heat dissipation holes (705) are equidistantly provided inside the rigid wheel (3).

6. A special wave reducer for robot joints according to claim 5, characterized in that: One end of the transmission gear (702) passes through the interior of the fixing ring (501) and is provided with a metal rod (8), and stirring rods (801) are equidistantly arranged on the outer surface of the metal rod (8).

7. The wave reducer for robot joints according to claim 1, characterized in that: A cylindrical pin (101) is installed through the outer ring of the roller cross bearing (1) and the interior of the rigid wheel (3).

8. The wave reducer for robot joints according to claim 1, characterized in that: A connecting flange (201) is installed inside one end of the flexspline (2) close to the roller cross bearing (1), and screws (202) are installed through the connecting flange (201), the flexspline (2) and the inner ring of the roller cross bearing (1).

9. The wave reducer for robot joints according to claim 1, characterized in that: The wave generator (4) comprises a wheel hub (401), a cross slider (402), an elliptical cam (403), a flexible bearing (404), a gasket (405) and a snap ring (406); the wheel hub (401) is installed inside the end of the flexible wheel (2) away from the connecting flange (201); the cross slider (402) is installed on the outside of the wheel hub (401); the elliptical cam (403) is installed in a snap-fitting manner at one end of the cross slider (402); the flexible bearing (404) is installed on the outside of the elliptical cam (403); the gasket (405) is installed on the outside of the wheel hub (401) close to the elliptical cam (403); and the snap ring (406) is installed on the outside of the wheel hub (401) close to the gasket (405).

Images